CN107217892A - Multilayer garage AGV vehicle carriers - Google Patents
Multilayer garage AGV vehicle carriers Download PDFInfo
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- CN107217892A CN107217892A CN201710449693.6A CN201710449693A CN107217892A CN 107217892 A CN107217892 A CN 107217892A CN 201710449693 A CN201710449693 A CN 201710449693A CN 107217892 A CN107217892 A CN 107217892A
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- broach
- upper frame
- guide
- vehicle
- wheel
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- 239000000969 carrier Substances 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- 230000009467 reduction Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000009125 negative feedback regulation Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 9
- 239000010959 steel Substances 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 244000126211 Hericium coralloides Species 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 210000001520 comb Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003012 network analysis Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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
- E04H6/22—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 movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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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
-
- 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
- E04H6/28—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 turntables or rotary rings for horizontal transport
-
- 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
- E04H6/422—Automatically operated car-parks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of Multilayer garage AGV vehicle carriers, including upper frame and lower vehicle frame, walking mechanism is installed in lower bottom of frame.4 synchronous screw elevating mechanisms and 4 guiders are installed in the middle part of lower vehicle frame, driving upper frame moves up and down；Broach flexible centering body is installed in upper frame, the flexible centering body of broach includes the double-shaft extension direct current motor installed in upper frame center, double-shaft extension direct current motor drives two power transmission shafts, two power transmission shafts drive two leading screw rotations, feed screw nut is respectively installed on two leading screws, each feed screw nut is released connecting rod with two and is connected, each connecting rod of releasing promotes the movement of broach push rod, broach push rod promotes broach contiguous block to be moved along the axis of guide, broach is provided with broach contiguous block, while that releases also has centering detection plate.The feed screw nut that leading screw coordinates before and after being driven by motor does constant speed reverse linear and moved, and then realizes the synchronization telescope motion positioned at upper frame front and back end broach.
Description
Technical field
The invention discloses a kind of Multilayer garage AGV vehicle carriers.
Background technology
Vehicle carrier in current multi-storied garage must realize that vehicle space is carried along trapped orbit mostly, and native land, which is built, applies
Work must must be indulged on facade in garage along track in length and breadth and run in multi-storied garage laid inside carrier track, lift, and it is lifted
Machine mechanism is complicated, and civil engineering overall cost is high.And this AGV vehicle carriers can in floor level autonomous and without paving
If track, its lift only needs to do vertical displacement movement along long rails, greatly simplifies elevator structure, and reduction civil engineering is totally made
Valency.
The receiving delivery system of existing carrier mainly has board-like carrier vehicle, three kinds of forms of comb-tooth-type and clamping-arm.Wherein vehicle-carrying plate
Formula need to realize handing-over of the vehicle in carrier and parking interdigit using vehicle-carrying plate.Need individually to enter line access and dynamic to vehicle-carrying plate
Distribution, control programming is complicated, and access efficiency is low.It is direct in carrier and parking interdigit that vehicle can be achieved in comb-tooth-type and clamping-arm
Handing-over, wherein clamping-arm is complicated, to the bad adaptability of different automobile wheel bases.Comb-tooth-type is simple in construction, to different vapour
The strong adaptability of car wheel base, it is at present to use fixed broach formula more, though it is simple in construction, but lengthwise movement stroke during handing-over
Greatly, cause garage height utilization rate not high, and width of the carbody is big during carrier empty wagons, revolution inconvenience.Therefore the design is using flexible
The drawbacks of formula broach handing-over pattern can avoid above-mentioned fixed broach formula.
The existing self-propelled carrier of plane is mostly deflecting and the original that car body is realized by four-wheel differentia or integrated two wheel guide robot
Ground spins, and its structure and control are complex.The design by the way of two driving wheels and two universal driven pulleys are combined,
Driving wheel can realize straight trip traction and rotation deflecting function, and both of which passes through encoder, and --- controller --- driver --- is straight
Flow servo motor formation PID closed loop feedback control outputs, realize the accurate control of the speed of service and the anglec of rotation.By two driving wheels
It is diagonally arranged with two universal wheels, realize driving wheel straight trip deflecting and the servo-actuated effective combination of universal wheel, with realize car body straight trip,
Traversing, minor-circle turn and the plane omnibearing ambulation of original place spin.
The elevating mechanism of current comb-tooth-type carrier mainly uses pinion and-rack, passes through the gear being fixed on lower vehicle frame
The rack being fixed in upper frame is driven to realize elevating movement of the broach with upper frame, because rack pinion does not possess self-locking
Function, must realize self-locking by the drive disk assembly such as worm and gear of front end, there is potential safety hazard.The design is by worm and gear and spiral shell
Two transmission mechanisms of master screw combine, and realize double self-lockings and double decelerations, improve security.And the middle part of the design is driven
The scheme that dynamic and outside 4 guide pillar guide pin bushings are oriented to shortens the length of power train, adds the stationarity of motion.
Some patents realized with pinion and rack broach stretch, but for realize before and after broach synchronization telescope must use compared with
Long driving-chain, if setting motor to drive to shorten driving-chain respectively by front and rear, not only cost increase also needs increase to ensure
The controlling unit that both are synchronized with the movement, and because Rack and gear transmission does not possess auto-lock function, can during to neutralization carrier vehicle
Can occur broach retraction, there is potential safety hazard.Therefore the design realizes a front and rear left side by the way of feed screw nut drivening rod sliding block
Right broach synchronously stretches out.Power is provided by a motor for double-ended drive, front and rear leading screw is delivered to by front and rear hollow shaft, then on leading screw
Nut connects the broach that is connected on two symmetrical connecting rods, connecting rod other end connection sliding block, sliding block, and the flexible of broach is driven by sliding block.
Because its guilde screw pair has self-locking property, can prevent broach from bouncing back, thus designed broach it is flexible have it is simple in construction,
Safe and reliable advantage.
When vehicle is offset on initial parking stall, current carrier is not mostly detected and centering to it
Function, then with a push pedal, by automobile, the left and right on parking stall promotes realization in indivedual patents, and this is likely to cause to automobile
The damage of tire and axle system.The design is additionally arranged a centering body in broach telescoping mechanism, i.e., apart from each broach end
Centering detection plate is set respectively and with broach simultaneous ejection at the about tire length in end, when carrier and automobile longitudinal axis
When misaligned, then the detection plate that must have side first encounters tire, and now AGV driving wheels are rotated by 90 °, and car body enters transverse moving left and right
Pattern, vehicle is traversing to opposite side, until untill the centering detection plate of both sides encounters tire simultaneously, now it is considered that carrying
Device is overlapped after amendment with automobile axis.To make system have certain flexibility, detection postlaminar part is connected with spring, prevents extruding wheel
Tire.Because the correction is that centering vehicle is matched by the translational motion of carrier, therefore any damage will not be caused to automobile.
The content of the invention
In order to solve technical problem present in prior art, the invention discloses a kind of Multilayer garage AGV vehicles
Carrier.
The technical solution adopted by the present invention is as follows：
A kind of Multilayer garage AGV vehicle carriers, including can up and down relative motion upper frame and lower vehicle frame,
The bottom of the lower vehicle frame is provided with walking mechanism, and 4 synchronous screw elevating mechanisms are provided with the middle part of lower vehicle frame and are located at
4 synchronous guiding devices on the outside of 4 synchronous screw elevating mechanisms；Above and below 4 synchronous screw elevating mechanism driving upper frame
Motion, and 4 described synchronous guiding devices realize that being provided with broach in the guiding to upper frame, described upper frame stretches
Centering body, the flexible centering body of described broach includes the double-shaft extension direct current motor installed in upper frame center, described
The driving of double-shaft extension direct current motor before and after Hollow Transmission Shafts, before and after the driving of front and rear Hollow Transmission Shafts on leading screw rotation, front and rear leading screw
One feed screw nut is respectively installed, each feed screw nut is connected with two angled release connecting rods, each described pushes away
Go out connecting rod and promote a broach push rod movement, described broach push rod promotes broach contiguous block to be moved along the axis of guide, described
Broach is provided with broach contiguous block, the front and rear feed screw nut that leading screw coordinates before and after being driven by the dual-axle motor at middle part does constant speed
Reverse linear is moved, and then realizes the stretching motion positioned at upper frame front and back end broach.
Further, link is installed on described feed screw nut, the two ends of link by bushing and bearing pin with
The connection of connecting rod one end is released, a revolute pair is formed；Release connecting rod the other end in the same fashion with the short axle on broach push-off pin
Connection.
Further, the broach positioned at upper frame front end is positioned to vehicle front；Positioned at upper frame rear end broach to vehicle
Trailing wheel is matched.
Further, guide pad after being provided with two in upper frame front end, two are provided with after two on the outside of guide pad
Individual preceding guide pad, front end broach one has four, wherein two broach are located at the side of vehicle frame, passes through the front and rear guide pad of the side
Supporting positioning is carried out, two broach are located at the opposite side of vehicle frame in addition, and supporting positioning is carried out by guide pad before and after opposite side；
A centering detection plate is installed in the end of broach push rod, and centering detection plate is connected by spring with broach push rod.
Further, two positioned at upper frame rear end release connecting rod, and three are driven simultaneously each via three unit connecting plates
Root broach push rod；Each broach push rod drives is provided with two broach on a broach contiguous block, each broach contiguous block；Rear end
One has 12 broach.
Further, guide pad after being provided with six in upper spider rear end, six are provided with after two on the outside of guide pad
Individual preceding guide pad, wherein six roots of sensation broach are located at the side of vehicle frame, carry out supporting positioning by guide pad before and after three groups of the side, separately
Outer six roots of sensation broach is located at the opposite side of vehicle frame, and supporting positioning is carried out by guide pad before and after three groups of opposite side,；Led before and after one group
To block two broach of correspondence.
Further, one is installed in the outside of two preceding guide pads to middle detection plate, centering detection plate by spring with
Broach push rod is connected, when the axis of vehicle carrier and vehicle has initial positional deviation, as broach stretches out, centering inspection
Drafting board can be on the inside of the automobile tire that the side is first met in certain side, and now AGV driving wheels are rotated by 90 °, horizontal in the opposite direction
Move, broach stretching motion proceeds, encounter after tire and continue traversing adjustment, until centering plate in both sides encounters two side wheels simultaneously
Tire, shows that now vehicle carrier realizes centering with vehicle, AGV drivings samsara is just.
Further, the universal wheel group that described walking mechanism is diagonally installed by two driving wheels diagonally installed and two
Into.
Described driving wheel bottom is traction walking mechanism, and it includes encoder, DC servo motor and electromagnetic brake,
Described encoder is by detecting DC servo motor rotary speed and feeding back to higher controller, control DC servo motor warp
Output speed after planetary reduction gear slows down is crossed, the electromagnetic brake of end plays braking action.
The top of described driving wheel is that side steering includes DC rotation servomotor and planetary reduction gear, turns to tooth
Wheel, external tooth type pivoting support, encoder gear, feedback coder；The turn signal of host computer is received by controller, determines that direct current is watched
The rotary speed of motor is taken, after being exported by planetary reduction gear, passes through the steering little gear and pivoting support external tooth on output shaft
Engaged transmission realize driving wheel integral-rotation.The Internal and external cycle of external tooth type pivoting support is connected with driving wheel and lower vehicle frame respectively.
The external tooth of encoder gear and pivoting support coordinates, and gathers the actual anglec of rotation of pivoting support, and numeric feedback convolution is turned into straight
Flow servo motor controller, forms negative-feedback regu- lation.
Further, 4 described synchronous screw lifting platforms include double-shaft extension direct current motor, described double-shaft extension direct current
Motor drives primary axis, primary axis driving drive bevel gear, drive bevel gear and driven wheel of differential cooperation, described from mantle tooth
Wheel realizes two grades of axles of driving after electronic-controlled power steering, described two grades of axles connection Hollow Transmission Shafts, described Hollow Transmission Shafts driving spiral shell
Revolve lifting unit lifting.
Further, 4 described synchronous guiding devices include four guide pillars and bushes, and four guide pin bushings are welded on and got off
On frame, guide pillar coordinates with guide pin bushing, guide pillar one end and upper frame connection, and when upper frame is lifted, guide pillar is just moved in guide pin bushing, is risen
To guide effect.
The overall course of work of the invention is as follows：
1st, driver opens car to the parking stall of one layer of multi-storied garage, and parking stall can be arranged directly in elevator, also
Automobile can be placed on elevator parking stall with the plane such as conveyer belt shift mechanism, driver gets off, swipe the card people from.
2nd, elevator starts, and the more floor in parking space is thought after reaching network analysis.
3rd, the AGV vehicle carriers of the floor nearby drive into elevator, and sensor is by detecting that the mark of surrounding is clicked through
Row is oriented to, and AGV walking mechanisms provide point by the bottom of vehicle on omnibearing ambulation functional localization to lift parking stall.
4th, carrier front and back end broach is synchronously stretched out, and front end both sides broach is positioned to vehicle front, rear end both sides comb
Tooth is matched to automobile back wheel, when broach is elongated to certain length, and the centering detection plate of certain side can initially strike automotive wheels
On the inside of tire, now AGV driving wheels are turn 90 degrees partially, and lateral pattern starts, and carrier can be toward opposite direction translation, above-mentioned correction process
Carry out always, until the detection plate of both sides is encountered on the inside of vehicle tyre simultaneously, then centering is successful.
5th, motor drives 4 synchronous lifting table work, under the auxiliary compared with 4 guiding mechanisms in outside, the point liter of inner side four
The integral lifting for the vehicle to be handled that descending mechanism realization is held up to upper frame and by upper frame broach.
6th, after the height more than parking stall broach diameter is risen to, carrier broach and parking stall broach can be wrong
Open, carrier is returned along original route, sail out of elevator.
7th, host computer passes to AGV vehicle carrier driving trace programs, and AGV carriers are by straight trip, turning, rotation etc.
Garage parking stall is arrived in motion.
8th, AGV vehicle carriers and parking stall join, and automobile is positioned on parking stall.
9th, pick-up process is the inverse process of bicycle parking process, therefore does not repeat.
Beneficial effects of the present invention are as follows：
(1) the full-automatic efficient access to vehicle can be realized, the limitation of multi-storied garage track has been broken away from, has reduced civil engineering
Construction cost.
(2) the plane omnibearing ambulations such as the keeping straight on of carrier, traversing, minor-circle turn and original place spin can be realized.Improve
Adaptability of the carrier to working environment.
(3) synchronism, stationarity, security of elevating mechanism be can guarantee that.
(4) synchronization telescope of broach and self-locking before and after realizing.Improve the space availability ratio of multi-storied garage, it is ensured that remove
Transport the security reliability of device work.
(5) correction for treating carrying vehicle can be realized.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not constitute the improper restriction to the application.
Figure 1A GV vehicle carrier outside drawings；
Fig. 2A GV vehicle carrier cut-away views；
Fig. 3 AGV walking mechanism schematic diagrames；
Fig. 4 AGV driving wheel structure figures；
Fig. 5 wheel assembling schematic diagrams；
Fig. 6 universal wheel outside drawings；
The connection figure of Fig. 7 universal wheels and car body；
Fig. 8 universal wheel schematic diagrams；
The connection figure of Fig. 9 wheels and car body；
Figure 10 spiral lifting mechanism general arrangements；
The layout drawing of Figure 11 elevating mechanisms；
The cooperation figure of Figure 12 driving tapered gear shafts；
The cooperation figure of Figure 13 driven wheels of differential；
Vehicle frame structural member installation diagram under Figure 14；
Figure 15 spiral lifting unit outside drawings；
Figure 16 spiral lifting unit interior views；
Figure 17 worm gears and nut figure；
The overall cell figure of Figure 18 broach；
Comb unit figure before Figure 19；
Figure 20 comb unit interior details figures；
Figure 21 motor for double-ended drive, Hollow Transmission Shafts and leading screw coordinate figure
Figure 22 rear ends match broach figure；
Guide pad figure after Figure 23；
Guide pad figure before Figure 24.
In figure：11 upper cases, 12 lower cases；
The broach of 21 upper frame is flexible and centering body, 22AGV walking mechanisms, 4 synchronous elevators of 23 times vehicle frames
Structure；
31 driving wheels, 32 universal wheels；
41 DC rotation servomotors and planetary reduction gear, 42 tooth sectors, 43 encoder gears, 44 feedback coders, 45
External tooth type pivoting support, 46 connecting plates, 47 right plates, 48 left plates, 49 electromagnetic brakes, 410 wheels, 411 DC servos electricity
Machine and planetary reduction gear, 412 encoders；
51 screws, 52 shaft couplings, 53 bearings, 54 wheel axle keys；
61 contiguous blocks, 62 connection upper plates, 63 right connection boards, 64 left connection boards, 65 universal wheel shafts, 66 universal wheels；
71 cover plates, 72 bolts, 73 shaft end doors, 74 deep groove ball bearings, 75 sleeves, 76 times vehicle frames, vertical axes on 77 wheels,
78 thrust ball bearings, 79 wheel upper plates；
81 deep groove ball bearings；
91 left-right longerons, 92 triangular stall boards, 93 crossbearers, 94 connecting brackets, 95 long slab crossbearers, 96 wheel contiguous blocks；
4 synchronous guiding devices, 102 4 synchronous screw lifting platforms in 101 outsides；
111 double-shaft extension direct current motors, 112 shaft couplings, 113 drive bevel gears, 114 driven wheels of differential, 115 primary axis, 116
Two grades of axles, 117 Hollow Transmission Shafts, 118 each spiral lifting units；
121 shaft couplings, 122 conical bearings, 123 keys, 124 shaft end nuts；
131 bearing blocks, 132 bearings, 133 axle sleeves；
141 guide pillar guide pin bushings, 142 long slab crossbearers, 143 angle steel crossbearers, 144 middle part crossbearers, 145 supports；
151 flange top covers, 152 casings, 153 upper end covers, 154 or so end caps；
161 lead screw, 162 bearings, 163 worm screws, 164 worm gears, 165 bearings；
Silk behind Hollow Transmission Shafts, 185 behind leading screw, 184 before Hollow Transmission Shafts, 183 before 181 double-shaft extension direct current motors, 182
Comb part behind comb part, 187 before thick stick, 186；
Connecting rod, 194 links, 195 leading screw support bases are released in 191 feed screw nuts, 192 slide block guide rails, 193；
Guide pad, 203 axis of guides, 204 broach, 205 broach contiguous blocks, the connection of 206 broach behind guide pad, 202 before 201
Plate, 207 guide rails, 208 broach push rods, 209 centralizing springs, 210 centering detection plates；
211 bearings and bearing block, 212 splined shafts；
221 3 unit connecting plates, 222 active comb units, 223 and 224 driven comb units.
Embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
The present invention is described in detail below in conjunction with the accompanying drawings：
First, AGV vehicle carriers outward appearance and and function division
As shown in figure 1, AGV vehicle carriers are made up of upper and lower vehicle frame, there are 12 pairs of upper case 11 and lower case respectively
Internal mechanism is protected, and shell is sheet metal sheet metal component.
AGV vehicle carrier cut-away views are illustrated in figure 2, are mainly stretched and centering body by the broach of upper frame
21st, AGV walking mechanisms 22,4 three parts of synchronization lifting mechanism 23 composition of lower vehicle frame.
2nd, AGV walking mechanisms
As shown in figure 3, the universal wheel 32 that AGV walking mechanisms are diagonally installed by two driving wheels diagonally installed 31 and two
Composition.
Fig. 4 is AGV driving wheel structure figures, and driving wheel bottom is traction walking mechanism, and its power transmission route is：Encoder
412 --- DC servo motor and motor planetary the decelerator 411 --- --- wheels 410 --- left plate 48 --- of right plate 47
Electromagnetic brake 49.In Fig. 5, axle is coordinated with wheel by key 54, and motor shaft and axletree are coordinated by shaft coupling 52, and wheel shaft leads to
Cross a pair of bearings 53 to support, side plate and DC servo motor are detachably connected by bolt 51.Photoelectric encoder 412 leads to during work
Cross detection DC servo motor rotary speed and feed back to higher controller, control DC servo motor subtracts by planetary reduction gear
Output speed after speed, 49 braking actions of electromagnetic brake of end.
The top of driving wheel is side steering, and its power transmission path is：DC rotation servomotor and planetary reduction gear
41 --- --- external tooth type pivoting support 45 --- encoder gear 43 --- feedback coders 44 of tooth sector 42.External tooth type is turned round
The inside and outside support ring of supporting is connected with driving wheel and lower vehicle frame respectively, and controller receives the turn signal of host computer, and contrasts reality
When rotating speed determine DC servo motor 41 rotary speed, after being exported by planetary reduction gear, then pass through the steering on output shaft
Little gear 42 and pivoting support external tooth engaged transmission are to realize driving wheel integral-rotation.Outside encoder gear 43 and pivoting support 45
Tooth coordinates, the collection actual anglec of rotation of pivoting support of encoder 44, and numeric feedback convolution is turned into DC servo motor, forms negative
Feedback regulation.Pivoting support inner ring is connected with connecting plate 46, and two connecting lateral plates 47,48 of connecting plate and bottom, which are connected, forms supporting
Component, so that the part such as fixed traction movable motor, wheel, axletree, bearing.
The function of universal wheel is to support car body, assisted diversion and keep car body stability, as shown in Figure 6.Universal wheel it is upper
There are one and the affixed contiguous block 61 of lower vehicle frame in portion, and left and right connecting plates 64,63, wheel upper plate 62 are provided to universal wheel shaft 65 and ten thousand
To the supporting of wheel 66.
Universal wheel contiguous block internal structure as shown in installation diagram 7, including cover plate 71, shaft end door 73, deep groove ball bearing 74,
Sleeve 75, lower vehicle frame 76, thrust ball bearing 78, vertical axes 77, wheel upper plate 79 on wheel.Cover plate and shaft end door etc. use spiral shell
Nail 72 is detachably connected, and vertical axes 77 are connected on wheel upper plate 79 and wheel, universal wheel is rotated with lower vehicle frame servo-actuated, and rise
The effect of the lower vehicle frame of supporting.
The weight of the main bearing body of universal wheel, therefore transferred force to using thrust bearing 78 on wheel, and car body steering,
The walking horizontal force such as acceleration and deceleration and spin is then born by deep groove ball bearing 74, and the power of both direction is shared by two bearings respectively,
To ensure universal wheel functional reliability.
Shown in Fig. 8, the two ends of axletree 65 of universal wheel are connected on side plate, in the middle part of axletree by deep groove ball bearing 81 with
Wheel coordinates, and rotating shaft center's line on axletree and top has eccentric distance so that have a centrifugal force when car body is turned to,
Deflection is made it easier to, stuck risk is reduced.
The connection of wheel and car body is as shown in figure 9, there is two power bang paths：One is left-right longeron 91 --- triangle rib
Plate 92 --- long slab crossbearer 95 --- wheel contiguous block 96.Another --- connecting bracket 94 --- the front and rear horizontal stroke that is left-right longeron 91
Frame 93 --- wheel contiguous block 96.The internal structure of wheel contiguous block 96 of AGV driving wheels and universal wheel is different, AGV drivings
The contiguous block of wheel is connected with the pivoting support seat 45 on wheel top, realizes that driving wheel can carry weight by external tooth type floating bearing
Power can turn and keep straight on again.The wheel contiguous block of universal wheel is and matched to deep groove ball bearing 74 and thrust ball bearing 78
The parts such as cover plate 73, sleeve 75 supporting positioning is provided.Long slab crossbearer 95, contiguous block 96, the three of triangular stall board 92 are affixed.Two
The front and back sides of individual crossbearer 93 and wheel contiguous block 96 are affixed, four sides of wheel link is connected with longeron, with
Ensure integral strength and rigidity.
3rd, elevating mechanism
Shown in Figure 10,4 points of the 4 synchronous screw lifting platforms 102 main in the middle part of lower vehicle frame of elevating mechanism and outside
Synchronous guiding device 101 is constituted.
The power transfer path of elevating mechanism is as shown in figure 11：Double-shaft extension direct current motor 111 --- primary axis 115 --- is main
--- --- two grades of axles 116 --- Hollow Transmission Shafts 117 --- each spiral lifting unit of driven wheel of differential 114 of dynamic bevel gear 113
118。
Power is transferred to one by the cooperation of drive bevel gear and primary axis such as Figure 12, direct current arbor by shaft coupling 121
There is drive bevel gear 113 level axle 115, the end of primary axis 115, and bearing block 112 inside has conical bearing 122.
The driven wheel of differential 114 engaged with drive bevel gear 113 transfers power to two grades of axles 116, the two of two grades of axles 116
End respectively with two spline fitteds of Hollow Transmission Shafts 117, the power of two grades of axles 116 is finally transmitted to by Hollow Transmission Shafts 117 again
Former and later two spiral lifting units 118.
Figure 14 is lower vehicle frame structural member installation diagram, and four guide pillar guide pin bushings 142 for being installed on outside play the guiding role, lower vehicle frame
The longeron of both sides is two channel-section steels 91, for main carrier bar.Middle crossbearer 144 is used to support fixed lifting motor 111, primary axis
115 and shafting componentses, it is arranged symmetrically and is formed by two angle steel, the two ends of angle steel is connected with the welding of channel-section steel 91 respectively, on two angle steel
Four supports 145 are arranged with respectively, are responsible for the fixation of four bearing blocks 112 of first order axle 115.And motor 111 and two grades of axles
116 bearing block is then directly anchored on two angle steel.Symmetrical two crossbearers 143 in first of 144 both sides of middle part crossbearer are responsible for four
The fixation of individual spiral lifting unit 118, spiral lifting unit 118 is that upper frame weight is directly contacted and carried with upper frame only
One component, is also symmetrically welded in the C-shaped channel steel 91 of both sides using two angle steel.Three-level crossbearer is that the long sheet material of symmetrical two panels is horizontal
Frame 142, willfully 142 two ends are respectively provided with the cylindrical hole of an assembling guide pin bushing to sheet material, guide pin bushing by welding directly and cylindrical hole
It is fixedly connected, the guide pillar one end and upper frame coordinated with guide pin bushing is connected, when upper frame is lifted, guide pillar is just moved in guide pin bushing,
Play guide effect.Such guide pillar guide pin bushing has four altogether, and each crossbearer arranges two.
The structure of spiral lifting unit 118 is as shown in Figure 15, Figure 16 and Figure 17, and power passes through central hollow power transmission shaft 117
Coordinate incoming with worm screw 163, with spline fitted to transmit high torque at this.By casing 152, upper end outside spiral lifting unit
The flange top cover 151 of lid 153, left and right end cap 154 and connection upper frame is constituted, its power transmission path such as Figure 16：Worm screw
163 --- --- worm gear inner nut --- lead screw 161 --- flange top covers 151 of worm gear 164.Worm screw 163 and worm gear 164 are logical
The two pairs of taper roll bearings 162,165 crossed on casing provide support and positioned.One is processed inside worm-wheel shaft with sliding
The screwed hole that dynamic leading screw coordinates, as shown in figure 17, spiral case making threaded portion exceed worm gear by the hollow circular-tube of one section of extension
Width itself, coordinates during the pipe assembling of this elongated segment with taper roll bearing 165.This structure collection two-stage transmission of worm gear is one
Body, makes topology layout compact.
4th, broach stretches and centering body
Broach is flexible and centering body function mainly has：Prelocalization broach and rear end match the synchronization telescope of broach；Detection
Whether AGV vehicle carriers and institute's carrying vehicle on same axis and realize adjustment in；Front end broach is to vehicle front
Positioning；Rear end broach is matched to vehicle rear wheel.
As shown in Figure 18, Figure 19, Figure 20, the flexible power transmission path of broach is：Double-shaft extension direct current motor 181 --- it is front and rear
--- --- --- slide block guide rail 192 --- releases connecting rod 193 --- to nut 191 to front and rear leading screw 183 to Hollow Transmission Shafts 182,184
Broach movable block 205 --- broach 204.
It is by preceding guide pad 201, rear guide pad 202, guide rail 207, centering detection plate 210, centralizing spring 209, comb
Tooth contiguous block 205, broach connecting plate 206, the axis of guide 203, broach 204, broach push rod 208 etc. are constituted.The He of broach contiguous block 205
Broach push rod 208 is connected, and the short axle 211 on broach push rod is again and release one end of connecting rod 193 is connected to form revolute pair with bushing, combs
Tooth connecting plate 206 connects two broach 204 and broach contiguous block 205.Realize that broach is straight by guide rail 207 and the axis of guide 203
Line is moved.The axis of guide 203 play the guiding role to broach contiguous block 206, and front and rear guide pad 201,202 offers are determined each part
Position support.
Figure 21 is the power transmission cooperation figure of front side, and direct current motor for double-ended drive 181 is connected by former and later two connection short axles 211
Hollow Transmission Shafts 182 are connect, power transmission shaft 182 is connected with front and rear two oppositely oriented leading screws 183 again, and Hollow Transmission Shafts two ends are adopted
Connected with spline.
Two synchronized symmetrical rotaries of leading screw 183 before and after motor rotation drives, the front and rear nut 191 coordinated with front and rear leading screw exists
The motion of constant speed reverse linear is done under the guiding of guide rail slide block 92 and supporting role.Nut is equipped with link 194, and its two ends passes through lining
Set and bearing pin are connected with release connecting rod 193, one revolute pair of formation, the other end of connecting rod in the same fashion with broach push-off pin axle
211 connections.In Figure 19, two connecting rods 193 of the left and right sides of nut 191 are moved symmetrically, to ensure the He of left and right broach contiguous block 205
Left and right broach 204 synchronization telescope connected with it.Again because the structure of front and rear feed screw nut is consistent, front and rear broach can be with same speed
Degree is flexible.
Anterior broach positioning unit 186 is positioned to vehicle front-wheel, its by preceding guide pad 201, rear guide pad 202, lead
To track 207, centering detection plate 210, centralizing spring 209, broach contiguous block 205, broach connecting plate 206, the axis of guide 203, comb
Tooth 204, broach push rod 208 etc. are constituted.Broach contiguous block 205 and broach push rod 208 are connected, and the short axle 211 on broach push rod is again
Revolute pair is connected to form with bushing with the one end of connecting rod 193 is released, broach connecting plate 206 connects two broach 204 and broach contiguous block
205.Realize that broach moves along a straight line by guide rail 207 and the axis of guide 203.The axis of guide 203 is to 206 guiding of broach contiguous block
Effect, front and rear guide pad 201,202 positioning provided to each part are supported, as shown in Figure 23, Figure 24.
Respectively have on the outside of the left and right of telescoping mechanism one with spring 209 connect to middle detection plate 210, work as vehicle carrier
When there is initial positional deviation with the axis of vehicle, as broach 204 stretches out, centering detection plate 210 can first be touched in certain side
To on the inside of the automobile tire of the side, now AGV driving wheels are rotated by 90 °, traversing in the opposite direction, and broach stretching motion continues
Carry out, encounter after tire and continue traversing adjustment, until centering plate in both sides encounters both sides tire simultaneously, show now vehicle conveying
Device realizes centering with vehicle, and AGV drivings samsara is just.
For the vehicle of different wheel bases, because front vehicle wheel is positioned by preceding broach, the broach of rear end 6 can
Match rear wheel.Each cellular construction of broach 187 is identical with front end positioning broach afterwards, but broach spacing is smaller, by three combs
Tooth unit links together, wherein in the middle of comb unit 222 for actively, both sides are with unit connecting plate 221 by three unit broach
Connecting shaft 211 on block links together, and drives comb unit 223,224 to move together.
During normal handing-over, vehicle conveying is just carried out after the completion of the flexible centering whole process of broach, therefore broach is stretching in
During do not stress, motor only needs to overcome the frictional force of inside, therefore motor load is small, and kinematic accuracy is high.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (10)
1. a kind of Multilayer garage AGV vehicle carriers, it is characterised in that the upper frame of relative motion above and below including that can realize
With lower vehicle frame, walking mechanism is installed in the lower bottom of frame, 4 synchronous screw liftings are installed in the middle part of lower vehicle frame
Mechanism and 4 synchronous guiding devices on the outside of 4 synchronous screw elevating mechanisms；4 synchronous screw elevating mechanism drivings
Upper frame is moved up and down, and 4 described synchronous guiding devices are realized and installed in the guiding to upper frame, described upper frame
There is broach to stretch centering body, the described broach centering body that stretches includes the double-shaft extension direct current installed in upper frame center
On motor, power transmission shaft before and after described double-shaft extension direct current motor driving, leading screw rotation before and after front and rear power transmission shaft driving, front and rear leading screw
One feed screw nut is respectively installed, each feed screw nut is connected with two angled release connecting rods, each described pushes away
Go out connecting rod and promote a broach push rod movement, described broach push rod promotes broach contiguous block to be moved along the axis of guide, described
Broach is provided with broach contiguous block, it is reverse to do constant speed by the front and rear feed screw nut of a motor driving and the cooperation of front and rear leading screw
Linear motion, and then realize the synchronization telescope motion positioned at upper frame front and back end broach.
2. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that in described feed screw nut
On link is installed, the two ends of link be connecteds by bushing and bearing pin with releasing connecting rod one end, one revolute pair of formation；Push away
The other end for going out connecting rod is connected with the short axle on broach push-off pin in the same fashion.
3. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that positioned at upper frame front end
Broach is positioned to vehicle front；Vehicle rear wheel is matched positioned at upper frame rear end broach.
4. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that installed in upper frame front end
There is guide pad after two, two preceding guide pads are installed after two on the outside of guide pad, front end one has four broach, wherein
Two broach are located at the side of vehicle frame, two broach are located at the opposite side of vehicle frame in addition, and in broach push rod end, installation one is right
Middle detection plate, centering detection plate and broach push rod are connected with spring flexible.
5. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that positioned at upper frame rear end
Two release connecting rods, three broach push rods are driven each via three unit connecting plates simultaneously；Each broach push rod drives a comb
Two broach are installed on tooth contiguous block, each broach contiguous block；Rear end one has 12 broach.
6. Multilayer garage AGV vehicle carriers as claimed in claim 5, it is characterised in that installed in upper frame rear end
There is guide pad after six, six preceding guide pads are installed after two on the outside of guide pad, six of which broach is located at vehicle frame
Side, supporting positioning is carried out by the front and rear guide pad of the side, and six broach are located at the opposite side of vehicle frame in addition, pass through opposite side
Front and rear guide pad carries out supporting positioning；Two broach of guide pad correspondence before and after one group；One is installed in broach push rod end in
Detection plate, two centering detection plates are flexibly connected by spring and broach push rod.
7. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that described walking mechanism by
Two driving wheels and two universal wheels diagonally installed diagonally installed are constituted.
8. Multilayer garage AGV vehicle carriers as claimed in claim 7, it is characterised in that described driving wheel bottom
It is traction walking mechanism, it includes encoder, DC servo motor and electromagnetic brake, and described encoder is by detecting direct current
Servomotor rotary speed simultaneously feeds back to higher controller, and control DC servo motor is exported after planetary reduction gear slows down to be turned
Speed, the electromagnetic brake of end plays braking action.
9. Multilayer garage AGV vehicle carriers as claimed in claim 7, it is characterised in that described driving wheel it is upper
Portion is side steering, including DC rotation servomotor and planetary reduction gear, tooth sector, external tooth type pivoting support, coding tooth
Wheel, feedback coder；Turn signal is received by controller, the rotary speed of DC servo motor is determined, passes through planetary reduction gear
After output, driving wheel integral-rotation is realized by the steering little gear and the engaged transmission of pivoting support external tooth on output shaft.Outside
The Internal and external cycle of tooth-like pivoting support is connected with driving wheel and lower vehicle frame respectively.The external tooth of encoder gear and pivoting support coordinates,
The actual anglec of rotation of pivoting support is gathered, and numeric feedback convolution is turned into Direct Current Servo Motor Controller, negative-feedback regu- lation is formed.
10. Multilayer garage AGV vehicle carriers as claimed in claim 1, it is characterised in that the synchronous spiral shell of described 4 points
Revolving elevating mechanism includes double-shaft extension direct current motor, described double-shaft extension direct current motor driving primary axis, primary axis driving initiative taper
Gear, drive bevel gear coordinates with driven wheel of differential, and described driven wheel of differential realizes two grades of axles of driving after direction-variable power, described
Two grades of axles connection Hollow Transmission Shafts, described Hollow Transmission Shafts driving spiral lifting unit lifting.
4 described synchronous guiding devices include four guide pillars and bushes, and four guide pin bushings are welded on lower vehicle frame, and guide pillar is with leading
Set coordinates, guide pillar one end and upper frame connection, and when upper frame is lifted, guide pillar is just moved in guide pin bushing, plays guide effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449693.6A CN107217892B (en) | 2017-06-13 | 2017-06-13 | Novel stereo garage AGV vehicle carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449693.6A CN107217892B (en) | 2017-06-13 | 2017-06-13 | Novel stereo garage AGV vehicle carrier |
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| CN107217892A true CN107217892A (en) | 2017-09-29 |
| CN107217892B CN107217892B (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710449693.6A Expired - Fee Related CN107217892B (en) | 2017-06-13 | 2017-06-13 | Novel stereo garage AGV vehicle carrier |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107795175A (en) * | 2017-11-03 | 2018-03-13 | 徐州德坤电气科技有限公司 | A kind of intelligent vehicle support carries transport vehicle |
| CN108086742A (en) * | 2018-01-23 | 2018-05-29 | 南京伺开泰机电科技研发中心（有限合伙企业） | A kind of intelligent carrier for being used to loading and unloading, accessing vehicle |
| CN108189928A (en) * | 2018-01-16 | 2018-06-22 | 东风专用设备科技有限公司 | Extension type long stroke automated guided vehicle |
| CN108193920A (en) * | 2018-02-16 | 2018-06-22 | 深圳精智机器有限公司 | A kind of oversize vehicle mechanical three-dimensional access device |
| CN108442776A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of comb-tooth-type stereo garage floor truck and method |
| CN108533043A (en) * | 2018-06-11 | 2018-09-14 | 湖北三峡职业技术学院 | Portable assistant parking device and application method |
| CN108560979A (en) * | 2018-05-16 | 2018-09-21 | 张燃冰 | A kind of comb-tooth-type numerical control carrier |
| CN109131640A (en) * | 2018-10-16 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | Omnidirectional's steering wheel |
| CN109681012A (en) * | 2018-12-20 | 2019-04-26 | 江苏南通三建集团股份有限公司 | A kind of intelligence comb teeth carrier |
| CN109930883A (en) * | 2019-04-02 | 2019-06-25 | 中南大学 | A kind of auto-manual system auxiliary type parking is mechanical |
| CN110275433A (en) * | 2019-07-24 | 2019-09-24 | 西安市东郊市政养护管理公司 | One kind being based on PID control city planting ductwork dredging robot pose deviation-rectifying system and method |
| CN110293835A (en) * | 2019-07-10 | 2019-10-01 | 杭州极木科技有限公司 | A kind of ultra-thin universal driving wheel |
| CN110512931A (en) * | 2019-09-03 | 2019-11-29 | 鲁东大学 | A kind of avoidance needless type stereoscopic garage carrier |
| 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 |
| CN110792301A (en) * | 2019-11-18 | 2020-02-14 | 重庆复融科技有限公司 | Telescopic comb-tooth type carrying system for unmanned interactive stereo garage |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN110905246A (en) * | 2019-12-09 | 2020-03-24 | 浙江大丰实业股份有限公司 | Universal vehicle platform for stage |
| CN111153096A (en) * | 2020-03-16 | 2020-05-15 | 王会涛 | Storage rack and warehouse using same |
| CN111622559A (en) * | 2020-06-02 | 2020-09-04 | 合肥巍华智能停车设备有限公司 | Translation device for stereo garage |
| CN111636738A (en) * | 2020-07-14 | 2020-09-08 | 北京交通大学 | Rotatable type AGV vehicle carrier of broach |
| CN112319339A (en) * | 2020-10-22 | 2021-02-05 | 北京特种机械研究所 | Long-direction telescopic transfer trolley of hard connection trolley |
| CN113818730A (en) * | 2021-09-10 | 2021-12-21 | 安徽鸿杰威尔停车设备有限公司 | Comb tooth exchange type rotary mechanism slewing bearing for PCS type stereo garage |
| CN115234058A (en) * | 2022-07-29 | 2022-10-25 | 江苏科瑞恩自动化科技有限公司 | Vehicle carrier for stereo garage |
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| CN101173572A (en) * | 2007-11-26 | 2008-05-07 | 韩立芳 | Vehicle carrier of fork comb type multi-storied garage |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107795175A (en) * | 2017-11-03 | 2018-03-13 | 徐州德坤电气科技有限公司 | A kind of intelligent vehicle support carries transport vehicle |
| CN108189928A (en) * | 2018-01-16 | 2018-06-22 | 东风专用设备科技有限公司 | Extension type long stroke automated guided vehicle |
| CN108086742A (en) * | 2018-01-23 | 2018-05-29 | 南京伺开泰机电科技研发中心（有限合伙企业） | A kind of intelligent carrier for being used to loading and unloading, accessing vehicle |
| CN108086742B (en) * | 2018-01-23 | 2023-09-26 | 南京伺开泰机电科技研发中心（有限合伙企业） | Intelligent carrier for loading and unloading vehicles and storing vehicles |
| CN108193920A (en) * | 2018-02-16 | 2018-06-22 | 深圳精智机器有限公司 | A kind of oversize vehicle mechanical three-dimensional access device |
| CN108442776B (en) * | 2018-03-27 | 2019-09-03 | 山东大学 | A kind of comb-tooth-type stereo garage floor truck and method |
| CN108442776A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of comb-tooth-type stereo garage floor truck and method |
| CN108560979A (en) * | 2018-05-16 | 2018-09-21 | 张燃冰 | A kind of comb-tooth-type numerical control carrier |
| CN108533043B (en) * | 2018-06-11 | 2023-10-20 | 湖北三峡职业技术学院 | Portable auxiliary parking device and use method thereof |
| CN108533043A (en) * | 2018-06-11 | 2018-09-14 | 湖北三峡职业技术学院 | Portable assistant parking device and application method |
| CN109131640A (en) * | 2018-10-16 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | Omnidirectional's steering wheel |
| CN109681012A (en) * | 2018-12-20 | 2019-04-26 | 江苏南通三建集团股份有限公司 | A kind of intelligence comb teeth carrier |
| CN109930883A (en) * | 2019-04-02 | 2019-06-25 | 中南大学 | A kind of auto-manual system auxiliary type parking is mechanical |
| CN110293835A (en) * | 2019-07-10 | 2019-10-01 | 杭州极木科技有限公司 | A kind of ultra-thin universal driving wheel |
| CN110275433A (en) * | 2019-07-24 | 2019-09-24 | 西安市东郊市政养护管理公司 | One kind being based on PID control city planting ductwork dredging robot pose deviation-rectifying system and method |
| 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 |
| CN110512931A (en) * | 2019-09-03 | 2019-11-29 | 鲁东大学 | A kind of avoidance needless type stereoscopic garage carrier |
| CN110792301A (en) * | 2019-11-18 | 2020-02-14 | 重庆复融科技有限公司 | Telescopic comb-tooth type carrying system for unmanned interactive stereo garage |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN110905246A (en) * | 2019-12-09 | 2020-03-24 | 浙江大丰实业股份有限公司 | Universal vehicle platform for stage |
| CN111153096A (en) * | 2020-03-16 | 2020-05-15 | 王会涛 | Storage rack and warehouse using same |
| CN111153096B (en) * | 2020-03-16 | 2021-10-01 | 峰禾(北京)科技有限公司 | Storage rack and warehouse using same |
| CN111622559A (en) * | 2020-06-02 | 2020-09-04 | 合肥巍华智能停车设备有限公司 | Translation device for stereo garage |
| CN111636738A (en) * | 2020-07-14 | 2020-09-08 | 北京交通大学 | Rotatable type AGV vehicle carrier of broach |
| CN112319339A (en) * | 2020-10-22 | 2021-02-05 | 北京特种机械研究所 | Long-direction telescopic transfer trolley of hard connection trolley |
| CN113818730A (en) * | 2021-09-10 | 2021-12-21 | 安徽鸿杰威尔停车设备有限公司 | Comb tooth exchange type rotary mechanism slewing bearing for PCS type stereo garage |
| CN115234058A (en) * | 2022-07-29 | 2022-10-25 | 江苏科瑞恩自动化科技有限公司 | Vehicle carrier for stereo garage |
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