CN105986688A - AGV car carrier - Google Patents
AGV car carrier Download PDFInfo
- Publication number
- CN105986688A CN105986688A CN201510069228.0A CN201510069228A CN105986688A CN 105986688 A CN105986688 A CN 105986688A CN 201510069228 A CN201510069228 A CN 201510069228A CN 105986688 A CN105986688 A CN 105986688A
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- CN
- China
- Prior art keywords
- support body
- dolly
- automobile carrier
- agv automobile
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- E04H6/08—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
- E04H6/24—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 characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
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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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to an AGV car carrier which comprises two trolleys same in the structure and a connecting mechanism for connecting the two trolleys, wherein each of the trolleys comprises a frame and a walking mechanism, a universal wheel set, an arm clamping mechanism and an electric control system which are arranged on the frame; one end, close to the walking mechanism, of each trolley is arranged as a front end of the trolley while the other end, close to the universal wheel set, of each trolley is arranged as a rear end of each trolley; the rear ends of the two trolleys are oppositely arranged; each of the trolleys further comprises a battery and an automatic charging device which are arranged on the frame; the battery and the automatic charging device are both connected with the electric control system. Compared with the prior art, the AGV car carrier provided by the invention has the advantages that the AGV car carrier can realize the self-guiding for freely walking path under the guidance of the parking control system, the parking space is saved, the car can be safely and quickly parked and taken and the maintenance is simple and convenient.
Description
Technical field
The present invention relates to a kind of AGV automobile carrier, particularly relate to a kind of wireless and energy is autonomous
Guiding, the AGV automobile carrier of any route of conduct.
Background technology
Along with parking comfort level requirement is improved constantly by people, fully automatic stereo-parking garage is because stopping
The features such as conveniently, Transport Vehicle speed is fast, safety is high, fault is few are increasingly used by market.
In fully automatic stereo-parking garage, automobile carrier is one of the critical piece in this kind of garage parking, belongs to
Most crucial parts.Use which type of carrier version direct relation fully automatic stereo-parking garage
Performance.
The carrier form of the access automobile released in fully automatic stereo-parking garage in the market is main
Having these several forms of sweep formula, comb-tooth-type, folder rubber-tyred, sweep formula carrier to take because involving
Empty wagons plate or deposit the situation of empty wagons plate, belongs to a kind of form that Transport Vehicle is the slowest；Comb-tooth-type carrier
Requiring that the floor height of every layer is higher, space availability ratio is not the most economical；Folder rubber-tyred carrier is this
Space-efficient one form in a little carrier forms.
As the patent No. 201010622917.7 discloses: " a kind of Intelligent carrier for mechanical car garage,
It includes control system, wheelspan detent mechanism, and the identical front-wheel carrier of structure and trailing wheel are removed
Fortune device；Described front-wheel carrier and trailing wheel carrier all include support body, bidirectional walking mechanism, jig arm
Mechanism and four rotatable jig arm, bidirectional walking mechanism is arranged at bottom support body, and arm mechanism fills
Being located at described support body, each two jig arm is one group and is respectively arranged at support body both sides, described arm mechanism
Four jig arm described in drive connection；Described wheelspan detent mechanism connects described front-wheel carrier and trailing wheel
Carrier.”
With upper type, in addition to sweep formula, the carrier of other several forms is all to use wired connection
, and can only linear running, owing to being limited by winder cable length, so carrier is
Multipotency linear running distance away from about 2 vehicle commander's degree of initial condition.This stops to intensity, far
Stop and bring puzzlement in distance carrying vehicle and arbitrarily space, therefore, a kind of wireless, can be autonomous
Guide and free walker footpath route, save space, Transport Vehicle quickly, performance safety, easy maintenance
Carrier urgently propose.
Summary of the invention
Present invention aims to the deficiencies in the prior art and a kind of parking systems is provided
AGV automobile carrier, this carrier can independently guide, free walker footpath route, saves space, access
Car is fast, performance safety, easy maintenance.
The main technical schemes that the AGV automobile carrier provided according to the present invention uses is: include two
The dolly that structure is identical, and connect two described dollies bindiny mechanism, described dolly include support body,
It is arranged on the walking mechanism on described support body, universal wheels, arm mechanism and electric control system,
Near the front end that one end is described dolly of described walking mechanism on described dolly, near described ten thousand
To the rear end that one end of wheels is described dolly, the rear end of two described dollies is oppositely arranged, and also wraps
Include the battery and automatic charge device being located on described support body, described battery and described automatic charging dress
Put and be all connected with described electric control system.
The AGV automobile carrier that the present invention provides also uses following attached technical scheme:
Described walking mechanism include installing rack, the motor being located on described installing rack, by described motor
The drive sprocket that drives, be provided with the running wheel of driven sprocket, and connect described drive sprocket and
The chain of described driven sprocket.
Described motor is two and is respectively provided at both sides before and after described installing rack, described hoofing part
Wheel is two and is respectively provided at the left and right sides of described installing rack, and one of them motor drives a row
Walking driving wheel, another motor drives another running wheel, and two described motors are center pair
Claim both sides before and after described installing rack respectively.
By turning to, support wheel is rotating to be arranged on described support body described installing rack.
The described axle center turning to support wheel is positioned at two described running wheel fulcrum lines as base
Isosceles triangle apex.
Each described dolly is provided with arm mechanism described in two groups, and described in two groups, arm mechanism symmetry sets
In described support body both sides, described battery is described in two groups between arm mechanism.
Described arm mechanism include two jig arm being hinged on described support body, motor, reductor and
Worm-and-wheel gear；Described motor drives described reductor, described reductor to interlock described worm gear snail
Linkage, described worm-and-wheel gear interlocks described jig arm.
It is equipped with the two described walking mechanisms of set on each described dolly, and two overlaps described universal wheels,
Two overlap described walking mechanism is located at the front lower portion of described support body side by side, and two overlap described universal wheels also
Row are located at the rear end lower of described support body.
The wheel position detecting device that also includes being located on described support body, automobile chassis height detection with
Crashproof detection safety device, obstacle detector.
Described crashproof detection safety device includes hollow rubber case, pneumatic detector and the company sealed
Connect the PVC hose of described hollow rubber case and described pneumatic detector；Described hollow rubber case is positioned at institute
State support body front end.
Described automobile chassis height detection is arranged on the front end of described support body.
Described obstacle detector is positioned at the front center of described support body.
Described electric control system includes driving control system for electric machine and safety device, described peace
Full protection device includes sound, light alarming device and emergency braking apparatus.
The AGV automobile carrier provided according to the present invention compared with prior art has the advantage that head
First, the present invention can realize autonomous guiding, free walker footpath route under the guiding of parking ground control system,
Both saved parking lot space, again can Transport Vehicle safe, quick, easy maintenance；Secondly, OK
Walking mechanism has differential can reach the function turned to by controlling left and right sides running wheel, it is achieved
Omnibearing ambulation, make equipment dolly under automatic running status can do advance, retreat traveling and can hang down
Straight turning, mobility is good；Again, crashproof detection safety apparatus structure is simple, and parts are few, sensitive
Degree height, by hollow rubber case as extraneous contact part, on the premise of not colliding, it is possible to
Make dolly more in-plant near external object, with infrared detector of the prior art, radar
Detector is compared, and is not easily susceptible to external environmental interference so that the present invention can be compacter by automobile
Arrangement, save space, improve garage area utilization rate.
Accompanying drawing explanation
View when Fig. 1 is that in AGV automobile carrier of the present invention, arm mechanism is opened.
Fig. 2 is the enlarged drawing of A in Fig. 1.
Fig. 3 is the enlarged drawing of B in Fig. 1.
Fig. 4 is the enlarged drawing of C in Fig. 1.
View when Fig. 5 is that in AGV automobile carrier of the present invention, arm mechanism shrinks.
Fig. 6 is the structural representation of dolly in the present invention.
Fig. 7 is the side-looking structural representation of dolly in the present invention.
Fig. 8 is the front schematic view after AGV automobile carrier of the present invention gripping automobile.
Fig. 9 is the side schematic view after AGV automobile carrier of the present invention gripping automobile.
Figure 10 is that AGV automobile carrier of the present invention applies pattern schematic diagram in engineering.
Detailed description of the invention
See Fig. 1 to Figure 10, the AGV automobile carrier embodiment provided according to the present invention, including
The dolly 1 that two structures are identical, and connect the bindiny mechanism 3 of two described dollies 1, described dolly
1 includes support body 9, the walking mechanism 5 being arranged on described support body 9, universal wheels 7, jig arm machine
Structure and electric control system 10, on described dolly 1, the one end near described walking mechanism 5 is institute
State the front end of dolly 1, near the rear end that one end is described dolly 1 of described universal wheels 7, two
The rear end of individual described dolly 1 is oppositely arranged, and described dolly 1 is slidably matched with described bindiny mechanism 3,
Also include being located at the battery 2 on described support body 9 and automatic charge device 4, described battery 2 and described
Automatic charge device 4 is all connected with described electric control system 10.The present invention is by dolly 1
On battery 2 and automatic charge device 4 are set, the most not by winder cable length
Limit, substantially prolongs transport distance, can carry out turning round, the action such as rotation, for stereoscopic vehicle
During storehouse, can independently be guided by intelligence control system and free walker footpath route, saving space, improve
Transport Vehicle speed, and performance safety, easy maintenance.AGV is (Automated Guided
Vehicle) abbreviation, implies that " automatical pilot transportation vehicle ".
Seeing Fig. 1 to Fig. 9, according to the above embodiments of the present invention, each described dolly is provided with two
Organizing described arm mechanism 6, arm mechanism 6 described in two groups is symmetrically arranged at described support body 9 both sides, described
Battery 2 is described in two groups between arm mechanism 6.It is provided with battery 2 between two groups of arm mechanisms 6
Fixed bit, described battery 2 is arranged on described battery 2 fixed bit.Dolly 1 compact conformation, will
Battery 2 is arranged between two arm mechanisms 6, and center of gravity is positioned in dolly 1, more steady during operation.
See Fig. 1 and Fig. 5 to Fig. 7, according to the above embodiments of the present invention, on each described dolly 1
Being equipped with the two described walking mechanisms of set 5, and two overlap described universal wheels 7, two overlap described walking mechanism 5
Being located at the front lower portion of described support body 9 side by side, two overlap described universal wheels 7 is located at described support body 9 side by side
Rear end lower.Two dollies 1 linked together by bindiny mechanism 3, the rear end of two dollies 1
Relatively.Walking mechanism 5 is positioned at the two ends of AGV automobile carrier, it is simple to the rotation of AGV automobile carrier,
Turn round convenient, sensitive.
Seeing Fig. 1 and Fig. 2, according to the above embodiments of the present invention, described walking mechanism 5 includes installing
Frame 51, the motor 52 being located on described installing rack 51, the drive sprocket 53 driven by described motor 52,
It is provided with the running wheel 55 of driven sprocket 54, and connects described drive sprocket 53 and described driven chain
The chain 56 of wheel 54.This walking mechanism 5 simple in construction, easy to assembly.Described motor 52 be two also
Being respectively provided at both sides before and after described installing rack 51, described running wheel 55 is two and sets respectively
In the left and right sides of described installing rack 51, one of them motor 52 drives a running wheel 55,
Another motor 52 drives another running wheel 55, and two described motors 52 are centrosymmetric point
Not both sides before and after described installing rack 51.This kind of structure is arranged simple, and compact conformation specifically makes
Used time has differential can reach the function turned to by controlling left and right sides running wheel 55, it is achieved
Omnibearing ambulation, make equipment dolly 1 under automatic running status can do advance, retreat traveling and can hang down
Straight turning, mobility is good.
Seeing Fig. 2, according to the above embodiments of the present invention, described installing rack 51 is by turning to support wheel
57 rotating are arranged on described support body 9.The described axle center turning to support wheel 57 is positioned at two institutes
State the isosceles triangle apex that running wheel 55 fulcrum line is base.Turn to and support wheel 57
Setting makes walking mechanism 5 angle of turn more accurate, and is easy to the adjustment of turn direction, reply
During complicated detour, reply is freely.
Seeing Fig. 1 and Fig. 4 to Fig. 6, according to the above embodiments of the present invention, described arm mechanism 6 wraps
Include two jig arm 61 being hinged on described support body 9, motor 64, reductor 62 and worm-and-wheel gear
63；Described motor 64 drives described reductor 62, described reductor 62 to interlock described worm and gear machine
Structure 63, described worm-and-wheel gear 63 interlocks described jig arm 61.Described worm-and-wheel gear 63 includes
Worm screw on support body 9 and the worm gear being located in jig arm 61 are set.This arm mechanism 6 simple in construction, dress
Just, each jig arm 61 is directly driven formula by worm-and-wheel gear 63, is active in one's movements, and uses peace
Complete reliable.When gripping wheel, motor 64 is by driving reductor 62, thus drives worm screw to rotate,
Worm screw engages drive jig arm 61 and rotates with the worm gear in jig arm 61, the fortune in the same direction of two jig arm 61 in left and right
Dynamic, reach to clamp the function raising tire.Arm mechanism 6 is opened when preparing clamping automobile tire,
Now jig arm 61 is shown by support body 9, and when terminating bicycle parking, arm mechanism 6 swings back in support body 9.
See Fig. 2 to Fig. 4, according to the above embodiments of the present invention, also include being located at described support body 9
On wheel position detecting device, automobile chassis height detection and crashproof detection safety device 8, obstacle
Analyte detection device 11.The present invention is under the auxiliary of above-mentioned various detection devices, safer during use
Reliably.
See Fig. 1 and Fig. 5 to Fig. 9, according to the above embodiments of the present invention, described crashproof detection safety
Device 8 includes the hollow rubber case 81, the pneumatic detector 82 that seal and connects described hollow rubber case
81 with the PVC hose 83 of described pneumatic detector 82；Described hollow rubber case 81 is positioned at described support body 9
Front end.This crashproof detection safety device 8 simple in construction, parts are few, highly sensitive, by hollow rubber
Leather sheath 81 is as extraneous contact part, on the premise of not colliding, it is possible to make dolly 1 closer to distance
Close external object, compared with infrared detector of the prior art, radar detedtor, no
It is vulnerable to external environmental interference so that overall compact for automobile arrangement can be saved sky by the present invention
Between, improve the area utilization rate in garage.In traveling process of the present invention, encounter barrier or entering
When encountering object below chassis during automobile chassis, initially strike in crashproof detection safety device 8
Empty rubber case 81, the hollow rubber case 81 of sealing compresses under external force, in will being sealed by connection
83 compressed gas of PVC hose of empty rubber case 81 and pneumatic detector 82 deliver to pneumatic detector 82
On, after pneumatic detector 82 detects pneumatic change, output signal to control system at once, control
System controls carrier the most immediately and stops advancing.
See Fig. 1 and Fig. 5 to Fig. 9, according to the above embodiments of the present invention, described automobile chassis height
Detection is arranged on the front end of described support body 9.Described obstacle detector 11 is positioned at described support body 9
Front center.Easy for installation, detect sensitive.
Seeing Fig. 1, according to the above embodiments of the present invention, described electric control system 10 includes electricity
Machine driving control system and safety device, described safety device includes sound, light warning dress
Put and emergency braking apparatus.It is effectively increased the security performance of the present invention.
Below in conjunction with Fig. 8 to Figure 10, the running of AGV automobile carrier is carried out specifically
Bright.
The walking situation of AGV automobile carrier: the two ends of AGV automobile carrier are altogether equipped with four set walkings
Mechanism 5, this four sets walking mechanism 5 is controlled by software, it is possible to achieve synchronize to advance, asynchronous traveling,
Speed discrepancy also by two running wheels 55 often overlapping walking mechanism 5 realizes vertical turn,
Garage AGV automobile carrier is from can only advancing and become and can walk with any direction, particularly to not by straight line
The parking in rule place, effect of this type of AGV automobile carrier is more prominent, because this type of AGV vapour
Car carrier directly walks in ground, and automobile is also directly to be stopped at ground simultaneously, as long as there being elevator
With gateway, just full-automatic parking stall can be made in plane parking stall, different number can be set simultaneously
The AGV automobile carrier of amount meets different client's demand to the Transport Vehicle time.This type of automatically stops
Garage configuration is very flexible, and the detection to barrier that additionally AGV automobile carrier is installed fills with collision avoidance
Put, it can be ensured that the AGV automobile carrier in same course can be dodged each other, does not touches
Hit.
Storage/access car process: automobile gateway stop good after, master control system can according to car gage and
Actual Parking situation, distributes parking stall, and issues a command to elevator and allow it be elevated to designated floor,
Elevator accepts action after instruction, and master control system can issue instructions to certain of place floor simultaneously
AGV automobile carrier, notifies its bicycle parking, after AGV automobile carrier accepts instruction, moves from charge point
Go out, drive to the marquis such as the aircraft lifts specified according to oneself's guiding function.Elevator transports to automobile
After designated floor, AGV automobile carrier sails into below the automobile chassis in elevator from the outside, when it
In a dolly 11 detect and stop after front wheel positions, another dolly 12 then moves on, until
Stopping after rear wheel position being detected, two dollies 1 carry out gripping action simultaneously subsequently, and automobile is lifted,
After completing Deng gripping, connect and lock front dolly 1 and the retaining mechanism in the connection member 3 of rear dolly 1
Action locks front dolly 1 with rear dolly 1, and then AGV automobile carrier just sails out of elevator, AGV
Automobile carrier is according to instruction, it is achieved autonomous management and autonomous guiding are moved automobile on appointment parking stall to.
If AGV automobile carrier does not receive follow-up Transport Vehicle instruction, then AGV automobile after bicycle parking completes
Carrier can carry out recharging to nearest charge point by autonomous operation.Pick up the car process in contrast.
AGV automobile carrier recharging situation: when not having task, AGV automobile carrier is to receive
Being parked on charge position after shortening minimum dimension into, be charged operation voluntarily, this position can also set
Put on travelling platform, on piler or in warehouse compartment, do not tire out at this and state, real according to AGV automobile carrier
Border needs to arrange, and an AGV automobile carrier can have multiple charge point position.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is the most concrete
In detail, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.Should be understood that
It is, for the person of ordinary skill of the art, without departing from the inventive concept of the premise,
Can also make some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, originally
The protection domain of patent of invention should be as the criterion with claims.
Claims (10)
1. an AGV automobile carrier, including the dolly that two structures are identical, and connects two institutes
State the bindiny mechanism of dolly, described dolly include support body, the walking mechanism being arranged on described support body,
Universal wheels, arm mechanism and electric control system, near described walking mechanism on described dolly
The front end that one end is described dolly, near the rear end that one end is described dolly of described universal wheels,
The rear end of two described dollies is oppositely arranged, it is characterised in that: also include being located on described support body
Battery and automatic charge device, described battery and described automatic charge device all with described electrical control
System connects.
2. AGV automobile carrier as claimed in claim 1, it is characterised in that: described walking mechanism
The motor that including installing rack, is located on described installing rack, by described motor-driven drive sprocket,
It is provided with the running wheel of driven sprocket, and connects described drive sprocket and the chain of described driven sprocket
Bar.
3. AGV automobile carrier as claimed in claim 2, it is characterised in that: described motor is two
Individual and be respectively provided at both sides before and after described installing rack, described running wheel is two and sets respectively
In the left and right sides of described installing rack, one of them motor drives a running wheel, another
Motor drives another running wheel.
4. AGV automobile carrier as claimed in claim 3, it is characterised in that: described installing rack leads to
Cross and turn to support to take turns rotating being arranged on described support body.
5. AGV automobile carrier as claimed in claim 4, it is characterised in that turn to support described in:
The axle center of wheel is positioned at the isosceles triangle summit with two described running wheel fulcrum lines as base
Place.
6. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: every
Individual described dolly is provided with arm mechanism described in two groups, and arm mechanism described in two groups is symmetrically arranged at described
Support body both sides, described battery is described in two groups between arm mechanism.
7. AGV automobile carrier as claimed in claim 6, it is characterised in that: described arm mechanism
Including two jig arm being hinged on described support body, motor, reductor and worm-and-wheel gear；Institute
Stating motor drives described reductor, described reductor to interlock described worm-and-wheel gear, described worm gear
Worm mechanism interlocks described jig arm.
8. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: every
It is equipped with the two described walking mechanisms of set on individual described dolly, and two overlap described universal wheels, two set institutes
Stating walking mechanism and be located at the front lower portion of described support body side by side, two overlap described universal wheels is located at side by side
The rear end lower of described support body.
9. the AGV automobile carrier as described in claim 1-5 any one, it is characterised in that: also
Including the wheel position detecting device being located on described support body, automobile chassis height detection and crashproof inspection
Survey safety device, obstacle detector.
10. AGV automobile carrier as claimed in claim 9, it is characterised in that: described crashproof inspection
Survey safety device include the hollow rubber case, the pneumatic detector that seal and connect described hollow rubber
Set and the PVC hose of described pneumatic detector；Described hollow rubber case is positioned at described support body front end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510069228.0A CN105986688A (en) | 2015-02-09 | 2015-02-09 | AGV car carrier |
| PCT/CN2016/071389 WO2016127764A1 (en) | 2015-02-09 | 2016-01-19 | Agv automobile carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510069228.0A CN105986688A (en) | 2015-02-09 | 2015-02-09 | AGV car carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105986688A true CN105986688A (en) | 2016-10-05 |
Family
ID=56615412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510069228.0A Pending CN105986688A (en) | 2015-02-09 | 2015-02-09 | AGV car carrier |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105986688A (en) |
| WO (1) | WO2016127764A1 (en) |
Cited By (12)
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| CN106703490A (en) * | 2017-01-25 | 2017-05-24 | 沈阳通用机器人技术股份有限公司 | Automobile tyre clamping and conveying device |
| CN107419934A (en) * | 2017-09-08 | 2017-12-01 | 大洋泊车股份有限公司 | A kind of three-dimensional parking device |
| CN107878138A (en) * | 2017-10-31 | 2018-04-06 | 杭州极木科技有限公司 | Heavy-load transportation platform |
| CN108005447A (en) * | 2017-12-13 | 2018-05-08 | 深圳怡丰自动化科技有限公司 | Clamp arm, clamp assemblies and the carrier using the clamp assemblies |
| CN108266032A (en) * | 2018-04-04 | 2018-07-10 | 合肥中科蓝睿科技有限公司 | A kind of parking systems vehicle carrier |
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| CN108756369A (en) * | 2018-06-08 | 2018-11-06 | 河北机电职业技术学院 | Stereo garage and vehicle come in and go out parking method automatically |
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| CN109515221A (en) * | 2018-10-25 | 2019-03-26 | 深圳怡丰自动化科技有限公司 | A kind of charging unit and its vehicle carrier charging system using it |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
| CN110863682A (en) * | 2019-11-06 | 2020-03-06 | 河北高西宅智能车库工程有限公司 | Ultra-thin centre gripping formula carrier |
| CN111576969A (en) * | 2020-06-01 | 2020-08-25 | 江苏小白兔智造科技有限公司 | Automobile carrying robot with telescopic chassis |
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| CN106223675B (en) * | 2016-09-19 | 2018-07-24 | 北京泊宝机器人科技有限公司 | A kind of automobile automatic transporting AGV and its control method |
| CN106245958A (en) * | 2016-09-19 | 2016-12-21 | 沈阳通用机器人技术股份有限公司 | A kind of automatic parking device |
| CN108100065A (en) * | 2016-10-29 | 2018-06-01 | 熵零技术逻辑工程院集团股份有限公司 | A kind of crawler-type carrier vehicle |
| CN109305247B (en) * | 2017-07-26 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | AGV variable pitch mechanism parks |
| CA3132616A1 (en) * | 2019-03-06 | 2020-09-10 | Cheetah Robotic Parking Systems, Llc | Transport robot and method for automated parking |
| CN110162056A (en) * | 2019-06-02 | 2019-08-23 | 安徽工业大学 | A kind of light guidance follow-up mechanism and method |
| JP2023003240A (en) * | 2021-06-23 | 2023-01-11 | トヨタ自動車株式会社 | Vehicle transporting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106703490A (en) * | 2017-01-25 | 2017-05-24 | 沈阳通用机器人技术股份有限公司 | Automobile tyre clamping and conveying device |
| CN107419934A (en) * | 2017-09-08 | 2017-12-01 | 大洋泊车股份有限公司 | A kind of three-dimensional parking device |
| CN107878138A (en) * | 2017-10-31 | 2018-04-06 | 杭州极木科技有限公司 | Heavy-load transportation platform |
| CN108005447A (en) * | 2017-12-13 | 2018-05-08 | 深圳怡丰自动化科技有限公司 | Clamp arm, clamp assemblies and the carrier using the clamp assemblies |
| CN108005447B (en) * | 2017-12-13 | 2024-04-19 | 深圳怡丰自动化科技有限公司 | Clamp arm, clamping assembly and carrier using same |
| CN108699852A (en) * | 2018-04-03 | 2018-10-23 | 松灵机器人（东莞）有限公司 | Automated guided vehicle robot and its clamping device |
| CN108266032B (en) * | 2018-04-04 | 2023-11-17 | 合肥中科蓝睿科技有限公司 | Three-dimensional garage vehicle carrier |
| CN108266032A (en) * | 2018-04-04 | 2018-07-10 | 合肥中科蓝睿科技有限公司 | A kind of parking systems vehicle carrier |
| CN108756369A (en) * | 2018-06-08 | 2018-11-06 | 河北机电职业技术学院 | Stereo garage and vehicle come in and go out parking method automatically |
| CN109515221A (en) * | 2018-10-25 | 2019-03-26 | 深圳怡丰自动化科技有限公司 | A kind of charging unit and its vehicle carrier charging system using it |
| CN109515221B (en) * | 2018-10-25 | 2023-10-20 | 深圳怡丰自动化科技有限公司 | Charging device and vehicle carrier charging system using same |
| CN109441186B (en) * | 2018-10-25 | 2024-02-20 | 深圳怡丰自动化科技有限公司 | Carrier, vehicle carrier and charging system thereof |
| CN109441186A (en) * | 2018-10-25 | 2019-03-08 | 深圳怡丰自动化科技有限公司 | A kind of floor truck, vehicle carrier and its charging system |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
| CN110863682A (en) * | 2019-11-06 | 2020-03-06 | 河北高西宅智能车库工程有限公司 | Ultra-thin centre gripping formula carrier |
| CN111576969A (en) * | 2020-06-01 | 2020-08-25 | 江苏小白兔智造科技有限公司 | Automobile carrying robot with telescopic chassis |
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| WO2016127764A1 (en) | 2016-08-18 |
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