CN106320773B - A kind of Bidirectional mobile intelligent parking garage Yi Che robots - Google Patents
A kind of Bidirectional mobile intelligent parking garage Yi Che robots Download PDFInfo
- Publication number
- CN106320773B CN106320773B CN201610913800.1A CN201610913800A CN106320773B CN 106320773 B CN106320773 B CN 106320773B CN 201610913800 A CN201610913800 A CN 201610913800A CN 106320773 B CN106320773 B CN 106320773B
- Authority
- CN
- China
- Prior art keywords
- mobile intelligent
- parking garage
- intelligent parking
- vehicle frame
- yoke
- 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.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
Abstract
A kind of Bidirectional mobile intelligent parking garage Yi Che robots, it is simple in structure, height of chassis above ground is low, suitable for carrying the various station wagons of fortune, the clamp system of clamp arm is used as particularly using steel wire rope, the height of complete vehicle structure is more reduction of, clamping that can be freely to the wheelbase of various station wagons, padded rack is parked and power-assisted jacking unloads laying mechanism and to the various complicated structures such as being found by shifting vehicle wheel position without the excessive of parking wheel position in similar product.Because traveling only needs the traction power of smaller in orbit.The driving power for being useful for overlapping the current collector for trolley conductor for electrical source of power and charging in the case where the whippletree of the front portion of vehicle frame or rear portion is set a roof beam in place or being contacted with row shifting guide rail side.When robot is in the trolley grooved rail position with power supply source, by current-collector by external power be used as driving power and while charge, then enabled in no external supply of electric power storage battery electricity conduct drive power.
Description
Technical field
The present invention relates to parking equipment technical field, and in particular to a kind of Bidirectional mobile intelligent parking garage moves vehicle device device
People.
Background technology
In recent years, as Domestic Automotive Industry and the fast development of urbanization, Urban vehicles poputation are continuously increased,
There is the problem of parking difficulty in succession in large, medium and small city.Mechanical solid parking lot storehouse is accompanied by parking difficulty problem and progressively sends out
The new industry that exhibition is got up, is known as and solves the problems, such as population, building dense area, the preferred means of common service area parking difficulty.
At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, can be with according to the difference in space telescopic direction
It is divided into following several：Lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., wherein rising
Drop cross sliding type parking systems be current technology it is the most ripe, using most forms.And existing plain edition garage parking must be by
Manually accurately it is parked in tedious steps when hanging scaffold and shift position the difficulty lifted and more waiting.It is even if organic at present
Device people shutdown system need to also install the complicated structure such as power lifting body and padded parking platform position additional again on independent warehouse compartment, and need
Have and manually drive precisely to be parked in fixation parking platform position to be moved away from.
The content of the invention
In order to solve the deficiencies in the prior art, a kind of Bidirectional mobile intelligent parking garage that provides of the invention moves vehicle device device
People.
The technical solution that the present invention uses is：A kind of Bidirectional mobile intelligent parking garage Yi Che robots, including car
Frame, the vehicle frame are made of channel steel, and the inner side of the channel steel is equipped with grooved rail, and the bottom of frame is equipped with several power
Mechanism, the actuating unit quantity are 3, are separately mounted to the both ends of vehicle frame with middle, each actuating unit is equal
Equipped with corresponding action wheel shaft, the rear and front end of the vehicle frame is additionally provided with visual sensor, distance measuring sensor and spacing opens
Close, some groups of yoke mechanisms are equipped with the vehicle frame, every group of yoke mechanism is slided by two and clamp yoke component group
Into the slip clamps grooved rail horizontal sliding of the yoke component along the inner side of channel steel, and the slip is clamped on yoke component
Equipped with pulley, described slip, which clamps, is equipped with steel wire rope between the pulley on yoke component, and the two of every group of yoke mechanism
A slide clamps the function that yoke component is translated realization clamping vehicle tyre by steel wire rope drive in opposite directions along grooved rail.The slip
Clamping yoke component includes the shaft end fixed plate at both ends and the telescopic rod for clamping vehicle tyre, in the shaft end fixed plate
Equipped with short axle is slided, the slip short axle is fixed in grooved rail, and the slip short axle coordinates with the sliding of shaft end fixed plate, institute
The slip clamping yoke component stated further includes the flexible tubing string among the shaft end fixed plate at both ends, and the flexible tubing string includes outer
Tube chamber, the outer lumen is interior to be equipped with two sections of telescoping tubes, and telescoping tube is hollow structure, and pipe is equipped with the telescoping tube of described one end
Shape motor, the front end of the tube shaped electric machine are equipped with nut, and the screw rod of tube shaped electric machine shaft end is fixed on another through nut extension
In the telescoping tube at end.
Outer tubing string is additionally provided with the outside of the flexible tubing string, the wall of the flexible tubing string is equipped with pin, and described is outer
The wall of tubing string is equipped with guide groove, and the pin coordinates with guide groove sliding.
The outer wall of one end equipped with tube shaped electric machine of the telescoping tube is equipped with lead pin, and the lead pin is with being oriented to
Groove sliding coordinates.
Guide groove side on the wall of the outer tubing string is also welded with reinforcing plate.
The external part for extending the telescoping tube outside vehicle frame is equipped with the sliding sleeve bobbin that can make radial rotating.
It is additionally provided with the shaft end fixed plate as the long wheel shaft of slip for sliding clamping yoke component load-bearing locomotive function,
The quantity of the long wheel shaft of slip is two, respectively positioned at the front and rear sides of flexible tubing string.
Two of the yoke mechanism are additionally provided with limitation jacking block between sliding clamping yoke component.
Two of the yoke mechanism are additionally provided with limit switch between sliding clamping yoke component.
The bottom of frame is additionally provided with some action wheel shafts.
The beneficial effects of the invention are as follows：The present invention provides a kind of Bidirectional mobile intelligent parking garage Yi Che robots, knot
Structure is simple, and height of chassis above ground is low, suitable for carrying the various station wagons of fortune, particularly using steel wire rope as the clamp system of clamp arm, more
The height of complete vehicle structure is reduction of, clamping that can be freely to the wheelbase of various station wagons, without stopping in similar product
The excessive of wheel position padded parks rack and power-assisted jacking unloads laying mechanism and to the various complicated structures such as being found by shifting vehicle wheel position
Make.Because traveling only needs the traction power of smaller in orbit.It is useful for overlapping in the case where the whippletree of the front portion of vehicle frame or rear portion is set a roof beam in place
Current collector for trolley conductor for electrical source of power and charging is contacted with row and moves driving power on guide rail side.When robot is in band
When having the trolley grooved rail position of power supply source, by current-collector by external power be used as driving power and while charge, not outside
Storage battery electricity is then enabled when carrying out supply of electric power as driving power.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is polycrystalline substance schematic diagram of the present invention.
Fig. 3 is enlarged drawing at A of the present invention.
Fig. 4 is enlarged drawing at B of the present invention.
1- vehicle frames in figure, 2-, which is slided, clamps yoke component, 3- steel wire ropes, and 4- stretches tubing string, and 5- slides long wheel shaft, 6- limitations
Jacking block, 7- limit switches, 8-action wheel shaft, 11- grooved rails, 21- pulleys, 22- shaft ends fixed plate, 23- telescopic rods, 41- stretch
Pipe, the outer tubing strings of 42-, 43- pins, 44- sliding sleeve bobbins, 45- guide grooves, 46- lead pins, 47- tube shaped electric machines, 221- slides short
Axis.
Embodiment
The present invention is further described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of Bidirectional mobile intelligent parking garage
Yi Che robots, including vehicle frame 1, the vehicle frame 1 are made of channel steel, and the inner side of the channel steel is equipped with grooved rail 11, described
Vehicle frame（1）Bottom is equipped with several actuating units, and the actuating unit quantity is 3, is separately mounted to vehicle frame（1）Both ends
With centre, each actuating unit is equipped with corresponding action wheel shaft（8）, enable whole robot any from rear and front end
Vehicle bottom, which is moved, needed for the entrance of direction carries car.The vehicle frame（1）Rear and front end be additionally provided with visual sensor, ranging sensing
Device and limit switch, visual sensor are used for the identification judgement of required the car plate sign character for moving vehicle and appearance profile, upward
The sensing close to range switch signal when direction ranging sensor enters by shifting vehicle in place for flat car, generally with car rear end
One sensor is used as to by shifting vehicle, signal controls in place, and when flat car, which makees opposite direction row, to be moved, front and rear end sensor is then made
Front and rear function and usage role exchange.Towards front and rear two direction sensors then to moved vehicle and the identification of periphery obstacle distance and car
More cars are parked in the distance signal control on ground to be sailed out of after outbound.
Some groups of yoke mechanisms are equipped with the vehicle frame 1, every group of yoke mechanism is slided by two and clamp yoke
Component 2 forms, and the slip clamps grooved rail 11 horizontal sliding of the yoke component 2 along the inner side of channel steel, and the slip clamps
Yoke component 2 is equipped with pulley 21, and the slip is equipped with steel wire rope 3 between clamping the pulley 21 on yoke component 2, described
Two of every group of yoke mechanism slide clamping yoke component 2 and are driven by steel wire rope 3 along the opposite translation realization clamping vehicle of grooved rail 11
The function of tire, the slip, which clamps yoke component 2, includes the shaft end fixed plate 22 at both ends and for clamping vehicle tyre
Telescopic rod 23, the shaft end fixed plate 22, which is equipped with, slides short axle 221, and the slip short axle 221 is fixed in grooved rail 11,
The slip short axle 221 coordinates with the sliding of shaft end fixed plate 22, and the slip clamps the axis that yoke component 2 further includes both ends
The flexible tubing string 4 among fixed plate 22 is held, the flexible tubing string 4 includes outer lumen, stretched in the outer lumen equipped with two sections
The draw 41, telescoping tube 41 are hollow structure, and tube shaped electric machine 47, the tube shaped electric machine are equipped with the telescoping tube 41 of described one end
47 front end is equipped with nut, and the screw rod of 47 shaft end of tube shaped electric machine is fixed in the telescoping tube 41 of the other end through nut extension.Institute
The outside of flexible tubing string 4 stated is additionally provided with outer tubing string 42, and the wall of the flexible tubing string 4 is equipped with pin 43, the outer tubing string
42 wall is equipped with guide groove 45, and the pin 43 coordinates with the sliding of guide groove 45.
The outer wall of one end equipped with tube shaped electric machine 47 of the telescoping tube 41 is equipped with lead pin 46, the lead pin
46 coordinate with the sliding of guide groove 45.Dual-purpose moves guide finger for the flexible row of plug pipe in motor side.Wire hole is connected in lead pin, is drawn
Line pin is stretched out in outside the long barrel arm of outer tube, is worn the power cord screens of motor and is pulled apart.
45 side of guide groove on the wall of the outer tubing string 42 is also welded with reinforcing plate, to reinforce outer tube anti-deformation and hold
Gravity.
The external part for extending the telescoping tube 41 outside vehicle frame 1 is equipped with the sliding sleeve bobbin that can make radial rotating
44.Circumferential roll is acted as during for clamping tire to be used, and mitigating clamp arm outside and tire frictional resistance.
It is additionally provided with the shaft end fixed plate 22 and grows wheel as the slip for sliding 2 load-bearing locomotive function of clamping yoke component
Axis 5, the quantity of the long wheel shaft 5 of slip is two, respectively positioned at the front and rear sides of flexible tubing string 4.
Two of the yoke mechanism are additionally provided with limitation jacking block 6 between sliding clamping yoke component 2.
Two of the yoke mechanism are additionally provided with limit switch 7 between sliding clamping yoke component 2.
1 bottom of vehicle frame is additionally provided with some action wheel shafts 8.
Slide to clamp and multiple pulleys 21 around steel wire rope be housed on 2 side of yoke component, it is each slide clamping yoke component 2 and
The steel wire rope that the pulley of the flat car both ends leg of frame has logicality mutually detours, and pulling steel wire winch wheel can be more around two to three circle steel
Cord, skids when being wrung to prevent steel wire rope.Make each telescopic rod 23 for sliding and clamping yoke component 2 in the case where pulling capstan winch motor and rotating
Prolong U-steel frame with two slip short axles 221 to vertically move, reach clamping wheel or loosen discharge action.Capstan winch motor is then big speed
The deceleration worm gear motor of ratio, and brake function is carried, it can guarantee that the unlikely revolution in the case where clamping tire condition and loosen.Do not clamping
During vehicle, for each telescopic cylinder plunger yoke for clamping yoke component 2 that slides then in farthest stroke end, i.e., two slide clamping yoke
In vehicle frame end to end and middle maximum end of travel, when carrying car and needing, capstan winch motor rotates and pulls steel wire rope component 2, makes
Two groups of slips clamping yoke components 2 are close to wheel, other when any one slip clamps yoke component 2 close to tire side
Each group slides clamping yoke component 2 can also pull the direction row shifting of active force with steel wire rope.One when i.e. by clamping trolley tire
Group slides clamping yoke component 2 without spring resistance and continues to clamp, until two groups of slips clamp the limitation jacking block 6 of yoke component 2 not
Capable shifting can be reacceesed, another at this time group of slip with spring resistance clamps yoke component 2 and continue to clamp picking-up wheel, when spacing
After switching in place, that is, complete two axis holding action of vehicle.
Three groups of six roots of sensation action wheel shafts are arranged at panel-type frame lower part, as the driving device taken action with ground.With dynamic one end
Wheel shaft on there is sprocket wheel chain to be connected on power motor, another two groups of wheel shafts are then driven wheel.Have on each group rail wheel diametric plane one small
In the step of overall diameter, the contact surface travelled on Mini-railway.To make three groups of wheel shafts can effectively land, U-steel frame is then
It is divided into two sections and the weight for undertaking and largely carrying hingedly is acted into yoke mechanism pulley spindle.
There is driving motor above the one end of Yi Che robots vehicle frame rear portion, wring steel wire rope motor, is air compressor, various
Pneumatic control valve, storage battery, electrical equipment control component etc., the front end both sides of vehicle frame and middle part limit switch, for by shifting vehicle
Tire, chassis height and foreign body from blocking act limitation by force.It is then the trade mark word of identification automobile that vision, which passes device, range sensor,
Accord with and judge putting forward shifting vehicle outline and distance.Go up limit switches and match somebody with somebody in rear frame front with dynamic one end
The spring stop of limit switch is closed, settings of the Che Shiyu by shifting vehicle close to stroke is carried with limitation.Rear frame side also has various
Sensor and limit switch, are equally used for anticollision and the detection of obstacle distance.
The Yi Che robots structure is simple, and height of chassis above ground is low, suitable for carrying the various station wagons of fortune, is particularly made with steel wire rope
For the clamp system of clamp arm, the height of complete vehicle structure is more reduction of, clamping that can be freely to the wheelbase of various station wagons
Vehicle wheelbase is applicable in take turns the excessive of position between 1-4 meter without parking in similar product and padded park rack and power-assisted top
Rise and unload laying mechanism and to by various complicated structures such as shifting vehicle wheel position searchings.Because traveling only needs the traction of smaller to move in orbit
Power.Be useful in the case where the whippletree of the front portion of vehicle frame or rear portion is set a roof beam in place overlap joint for the current collector for trolley conductor of electrical source of power and charging or
The driving power being contacted with row shifting guide rail side.When shifting car robot ride is in the trolley grooved rail position with power supply source
When, by current-collector by external power be used as driving power and while charge, then enable storage battery in no external supply of electric power
Electricity is as driving power.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of Bidirectional mobile intelligent parking garage Yi Che robots, including vehicle frame（1）, the vehicle frame（1）It is made of channel steel,
The inner side of the channel steel is equipped with grooved rail（11）, it is characterised in that the vehicle frame（1）Bottom is equipped with several actuating units,
The actuating unit quantity is 3, is separately mounted to vehicle frame（1）Both ends with middle, each actuating unit is all provided with
There is corresponding action wheel shaft（8）, the vehicle frame（1）Rear and front end be additionally provided with visual sensor, distance measuring sensor and limit
Bit switch, the vehicle frame（1）Interior to be equipped with some groups of yoke mechanisms, the yoke mechanism described in every group is slided by two clamps yoke
Component（2）Composition, the slip clamp yoke component（2）Along the grooved rail of the inner side of channel steel（11）Horizontal sliding, the cunning
It is dynamic to clamp yoke component（2）It is equipped with pulley（21）, the slip clamps yoke component（2）On pulley（21）Between be equipped with
Steel wire rope（3）, two of every group of yoke mechanism slide and clamp yoke components（2）By steel wire rope（3）Drive along grooved rail
（11）The function of clamping vehicle tyre is realized in opposite translation.
2. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Slide and clamp yoke component（2）Shaft end fixed plate including both ends（22）With the telescopic rod for clamping vehicle tyre（23）, institute
The shaft end fixed plate stated（22）It is equipped with and slides short axle（221）, the slip short axle（221）It is fixed on grooved rail（11）It is interior, institute
The slip short axle stated（221）With shaft end fixed plate（22）Sliding coordinates, and the slip clamps yoke component（2）Further include both ends
Shaft end fixed plate（22）Middle flexible tubing string（4）, the flexible tubing string（4）Including outer lumen, in the outer lumen
Equipped with two sections of telescoping tubes（41）, telescoping tube（41）For hollow structure, the telescoping tube described in one end（41）It is interior to be equipped with tube shaped electric machine
（47）, the tube shaped electric machine（47）Front end be equipped with nut, tube shaped electric machine（47）The screw rod of shaft end is fixed through nut extension
In the telescoping tube of the other end（41）It is interior.
3. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Flexible tubing string（4）Outside is additionally provided with outer tubing string（42）, the flexible tubing string（4）Wall be equipped with pin（43）, described is outer
Tubing string（42）Wall be equipped with guide groove（45）, the pin（43）With guide groove（45）Sliding coordinates.
4. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Telescoping tube（41）Tube shaped electric machine is housed（47）The outer wall of one end be equipped with lead pin（46）, the lead pin（46）With leading
To groove（45）Sliding coordinates.
5. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 3, it is characterised in that described
Outer tubing string（42）Wall on guide groove（45）Side is also welded with reinforcing plate.
6. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Extend vehicle frame（1）Outer telescoping tube（41）External part be equipped with and can make the sliding sleeve bobbin of radial rotating（44）.
7. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 2, it is characterised in that described
Shaft end fixed plate（22）On be additionally provided with as slide clamp yoke component（2）The long wheel shaft of slip of load-bearing locomotive function（5）, it is described
The long wheel shaft of slip（5）Quantity be two, respectively positioned at flexible tubing string（4）Front and rear sides.
8. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism, which slide, clamps yoke component（2）Between be additionally provided with limitation jacking block（6）.
9. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Two of yoke mechanism, which slide, clamps yoke component（2）Between be additionally provided with limit switch（7）.
10. a kind of Bidirectional mobile intelligent parking garage Yi Che robots according to claim 1, it is characterised in that described
Vehicle frame（1）Bottom is additionally provided with some action wheel shafts（8）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913800.1A CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913800.1A CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106320773A CN106320773A (en) | 2017-01-11 |
| CN106320773B true CN106320773B (en) | 2018-05-04 |
Family
ID=57818196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610913800.1A Active CN106320773B (en) | 2016-10-20 | 2016-10-20 | A kind of Bidirectional mobile intelligent parking garage Yi Che robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106320773B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109809193B (en) * | 2017-11-21 | 2021-05-25 | 江苏中天华宇智能科技有限公司 | Rail transport system |
| CN107919743A (en) * | 2017-12-22 | 2018-04-17 | 谭晓云 | A kind of power supply of wireless charger seeks a module |
| CN111987784B (en) * | 2018-04-26 | 2021-12-10 | 高燕妮 | Stereo garage system based on bluetooth equipment and LI-Fi wireless transmission |
| CN109129406A (en) * | 2018-10-09 | 2019-01-04 | 西安航空学院 | The mobile platform of industrial machinery people |
| CN110344627B (en) * | 2019-07-17 | 2021-03-30 | 汕头市富力机器制造有限公司 | Shifting fork device for electrically driving plane to move parking space |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002004620A (en) * | 2000-06-23 | 2002-01-09 | Ishikawajima Transport Machinery Co Ltd | Pallet with charging contact, and mechanical parking device using the same |
| CN101289901B (en) * | 2008-06-17 | 2010-08-25 | 王俊 | Multi-storied garage intelligent carrier |
| CN201560603U (en) * | 2009-12-01 | 2010-08-25 | 深圳市许继自动化技术有限公司 | Intelligent carrier of stereo garage |
| CN201810010U (en) * | 2010-07-26 | 2011-04-27 | 王俊 | Cross sliding carriers and track thereof, plane mobile parking equipment and garage |
| CN103643819B (en) * | 2013-11-28 | 2016-01-20 | 江苏启良停车设备有限公司 | A kind of power built-in platen for multi-storied garage |
| CN206110763U (en) * | 2016-10-20 | 2017-04-19 | 温州燧人智能科技有限公司 | Two -way movable intelligent garage parking moves car robot |
-
2016
- 2016-10-20 CN CN201610913800.1A patent/CN106320773B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106320773A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106320773B (en) | A kind of Bidirectional mobile intelligent parking garage Yi Che robots | |
| CN101476402B (en) | Ultra-thin full-floating vehicle-taking apparatus by manipulator | |
| CN106320774B (en) | A kind of X-type clamping-arm intelligent parking garage Yi Che robot | |
| CN106437238A (en) | Lifting longitudinal moving stereo garage | |
| CN208899946U (en) | A kind of Omni-mobile AGV parking apparatus | |
| CN108952273A (en) | A kind of Omni-mobile AGV parking apparatus | |
| CN206091477U (en) | Automatic obstacle avoiding formula intelligence garage parking moves car robot | |
| CN106320772A (en) | Vehicle clamping mechanism for intelligent stereoscopic parking garage | |
| CN206091480U (en) | X type arm lock formula intelligence garage parking moves car robot | |
| CN105909024A (en) | Door frame type steel wire rope traction lifting and rotating mechanism | |
| CN106437246A (en) | Intelligent car lifting transfer trolley | |
| CN206110763U (en) | Two -way movable intelligent garage parking moves car robot | |
| CN206128753U (en) | Intelligence garage parking moves car robot | |
| CN206091479U (en) | Rail mounted intelligence of sinking garage parking moves car robot | |
| CN206128723U (en) | Automatic direction crane of parking of vehicle | |
| CN106351490B (en) | A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots | |
| CN206091467U (en) | Intelligence garage parking moves car robot | |
| CN206091478U (en) | X type arm lock formula intelligence garage parking moves car robot | |
| CN106437253A (en) | X-shaped clamp arm type vehicle moving robot for intelligent parking garage | |
| CN101358488B (en) | Traverse pushing-pulling car for multi-storied garage | |
| CN201280824Y (en) | Horizontally moving push-pull trolley for stereo garage | |
| CN105239811B (en) | A kind of carrier dolly with the device that microlitre edges down | |
| CN106481121B (en) | A kind of intelligent parking garage Yi Che robot | |
| CN106368466B (en) | A kind of intelligent parking garage Yi Che robots | |
| CN106368475B (en) | A kind of sagging rail mounted intelligent parking garage Yi Che robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A two-way mobile intelligent parking garage moving robot Effective date of registration: 20220906 Granted publication date: 20180504 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Wenzhou Pingyang Wanquan small and micro enterprise franchise sub branch Pledgor: WENZHOU SUIREN INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2022330002140 |