CN108678468B - Clamping type omnidirectional automatic carrier - Google Patents
Clamping type omnidirectional automatic carrier Download PDFInfo
- Publication number
- CN108678468B CN108678468B CN201810466569.5A CN201810466569A CN108678468B CN 108678468 B CN108678468 B CN 108678468B CN 201810466569 A CN201810466569 A CN 201810466569A CN 108678468 B CN108678468 B CN 108678468B
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- driving
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- bottom plate
- clamping arm
- worm
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- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention aims to provide a clamping type omnidirectional automatic carrier suitable for different road conditions, in particular uneven ground, which comprises a carrier body and four groups of clamping arms which are arranged on a bottom plate of the carrier body and respectively correspond to front wheels and rear wheels of a car, wherein each group of clamping arms comprises two clamping arms; the bottom plate is provided with a clamping arm clamping driving device which clamps the tire through the clamping arm; a walking driving mechanism and a controller are arranged on the bottom plate; one end of the clamping arm is rotatably connected to the bottom plate, so that the other end of the clamping arm floats up and down to adapt to the ground. The vehicle can realize omni-directional driving. The road surface is not at ordinary times, can not block or skid, and the driving wheel pressure is unchanged, can keep the driving wheel direction of operation correct. The two worms are arranged on the same straight line, and the jacking mechanism is arranged between the adjacent ends of the worms, so that the external force of the load to each worm can be converted into the internal force between the two worms, and the damage of the bearing seat and the vehicle faults are reduced.
Description
Technical Field
The invention belongs to the field of parking and carrying of vehicles, and particularly relates to a clamping type omnidirectional automatic carrier.
Background
The existing traveling driving mechanisms of the carrier are mostly one group or two groups of driving wheel groups to drive the carrier to move. The carrier can move in the garage according to the set track. The intelligent parking garage and the carrying device are the development direction of the existing parking garage. An omni-directional automated guided vehicle that moves in all directions is required.
The tire of the automobile is lifted by clamping the clamping arms of the existing clamping type carrier, and the two clamping arms can be clamped in a rotating manner or can be clamped in a moving manner in opposite directions. One end of the clamping arm is fixed on the carrier. The carrier moves in the garage, has uneven place in the garage, especially natural outdoor parking area, and the road conditions are different, can meet soft uneven ground sometimes. The existing carrier is small in size, small in driving wheel and large in load because of small size of the garage. There are only 1 driving wheel at each position, and the vehicle runs and encounters uneven parts, such as pits on the ground, so that the driving wheels are difficult to get out once sinking into the ground. In addition, the weight of the vehicle is borne by the driving wheel of the driving mechanism and the auxiliary supporting wheel grounded at the tail end of the clamping arm, if the position of the auxiliary supporting wheel on the clamping arm is uneven, if the auxiliary supporting wheel is concave, the auxiliary supporting wheel is separated from the ground, so that the weight of the vehicle moves to the driving mechanism, the pressure of the driving mechanism is increased, the rubber of the driving wheel is compressed, the radius is changed, the linear speeds of the two rows of wheels are different, and the carrier turns and deforms the clamping arm. If the ground is raised, the driving wheel is lifted under the action of the auxiliary supporting wheel, and the carrier tilts; the pressure on the driving wheel is moved to a single side, the rubber of the driving wheel is compressed, the radius is changed, the linear speeds of the two rows of wheels are different, and the carrier turns. The market effect is not good.
The two clamping arms of the carrier are respectively subjected to the reaction force of the tire under the clamping state, the reaction force is large, the joint of the clamping arms and the base is easy to damage, and faults occur. The fault rate is also an important index for measuring the carrier, especially the automatic carrier.
Disclosure of Invention
The invention aims to provide a clamping type omnidirectional automatic carrier which is suitable for different road conditions, in particular to uneven ground.
The object of the invention is achieved in the following way: the clamping type omnidirectional automatic carrier comprises a carrier body and four groups of clamping arms which are arranged on a bottom plate of the carrier body and respectively correspond to front wheels and rear wheels of a car, wherein each group of clamping arms comprises two clamping arms; the bottom plate is provided with a clamping arm clamping driving device which clamps the tire through the clamping arm; a walking driving mechanism and a controller are arranged on the bottom plate; one end of the clamping arm is rotatably connected to the bottom plate, so that the other end of the clamping arm floats up and down to adapt to the ground.
The clamping arm clamping driving device is a worm and gear mechanism, a worm is arranged on the bottom plate and driven to rotate by a motor, the worm rotates to connect with a sleeve, a clamping arm rotating shaft is arranged on the sleeve, the worm is rotationally connected to the clamping arm rotating shaft and is meshed with the worm to rotate, one end of the clamping arm is fixedly connected with the worm and rotates along with the worm, and the two clamping arms rotate oppositely or oppositely to loosen or clamp the tire; the clamping arm and the sleeve rotate along the axis of the worm so that the other end of the clamping arm floats up and down to adapt to the ground.
And a jacking mechanism is arranged between adjacent ends of two worms of the two clamping arms in the same group to convert the external force loaded on each worm into internal force between the two worms.
Two ends of the worm are connected with bearing seats arranged on the bottom plate through bearings, two stop nuts are arranged between two bearing seats at the adjacent ends of the worm, and the two stop nuts are connected through a threaded joint.
The walking driving mechanism comprises two turntable steering mechanisms which are rotationally connected with the bottom plate, driving wheels are symmetrically arranged on two sides of the turntable steering mechanism, and each side of driving wheel is driven to rotate by an independent driving mechanism; the driving mechanism is electrically connected with the controller.
Each side driving wheel is at least two driving wheels, and the same driving mechanism drives the same side driving wheels to synchronously rotate.
The turntable steering mechanism is provided with two mounting frames, and the two rows of driving wheels are rotatably arranged on the mounting frames through driving wheel shafts and bearings; the same gears are arranged on the driving wheel shafts, and the gears are meshed to drive the driving wheel shafts to synchronously rotate.
The walking driving mechanism comprises two turntable steering mechanisms which are rotationally connected with the bottom plate, the two sides of each turntable steering mechanism are symmetrically provided with crawler transmission mechanisms, and each crawler transmission mechanism is driven by an independent driving mechanism; the driving mechanism is electrically connected with the controller; the crawler transmission mechanism comprises at least two crawler wheels which are arranged on the turntable steering mechanism and synchronously rotate, and a crawler belt connected with the crawler wheels.
The turntable steering mechanism is provided with two mounting frames, the crawler wheel is arranged on a driving wheel shaft, and the driving wheel shaft is rotatably arranged on the mounting frames through bearings; the same gears are arranged on the driving wheel shafts, and the gears are meshed to drive the driving wheel shafts to synchronously rotate.
10. The clamp type omnidirectional automatic guided vehicle according to claim 1, wherein: and one end of the clamping arm, which is far away from the bottom plate, is provided with an auxiliary supporting wheel which is contacted with the ground.
The beneficial effects of the invention are as follows: when the contact part of the ground and the clamping arm is concave or convex, the clamping arm rotates downwards or upwards, the sleeve rotates along with the clamping arm, and the contact part of the driving wheel and the clamping arm with the ground cannot be suspended, so that the carrier is inclined. The driving wheel pressure is unchanged, so that the driving wheel running direction can be kept correct.
The two worms are arranged on the same straight line, and the jacking mechanism is arranged between the adjacent ends of the worms, so that the external force of the load to each worm can be converted into the internal force between the two worms, and the damage of the bearing seat and the vehicle faults are reduced.
The two turntable steering mechanisms can enable the vehicle to move forwards and backwards, translate and move in any curve, and omni-directional driving is achieved. The synchronous driving or crawler-type driving of the driving wheels can prevent the carrier from sinking into the rugged ground and slipping, and the load of the wheels is reduced to prevent the wheels from excessively deforming. The carrier can accurately and automatically run under different road conditions, particularly uneven road conditions.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a pair of clamp arms and a turntable steering mechanism embodiment 2.
FIG. 3 shows example 1 of a turntable steering mechanism
Wherein 1 is the bottom plate, 2 is the arm lock, 3 is turbine worm mechanism, 4 is the worm, 5 is the turbine, 6 is the motor, 7 is the sleeve pipe, 8 is the pipe support, 9 is the arm lock axis of rotation, 10 is auxiliary support wheel, 11 is the gyro wheel, 12 is the bearing frame, 13 the position nut, 14 is screwed joint, 15 is carousel steering mechanism, 16 is the drive wheel, 17 is actuating mechanism, 18 is the mounting bracket, 19 is the drive shaft, 20 is the gear, 21 is the track wheel, 22 is the track, 23 is the driving outer lane, 24 is the driving inner circle, 25 is preceding transport unit, 26 is back transport unit, 27 is telescopic machanism.
Detailed Description
As shown in fig. 1-3, a clamping type omnidirectional automatic carrier comprises a carrier body and four groups of clamping arms 2 which are arranged on a bottom plate 1 of the carrier body and respectively correspond to front and rear wheels of a car, wherein each group of clamping arms comprises two clamping arms 2; the clamping arm clamping driving device is arranged on the bottom plate 1 and clamps the tire through the clamping arm 2; the bottom plate 1 is provided with a walking driving mechanism and a controller. The two clamping arms 2 can clamp in a rotating way or in a translational way.
The carrier body comprises two carrying units, called a front carrying unit 25 and a rear carrying unit 26, connected by a telescopic mechanism 27. Each carrying unit comprises a bottom plate 1, and a pair of clamping arms 2 are symmetrically arranged on the left side and the right side of each bottom plate 1. The two bottom plates 1 are respectively provided with a front cover and a rear cover.
The carrier adopts global visual positioning and visual laser comprehensive navigation.
Arm clamping drive embodiment 1:
the clamping arm clamping driving device is a worm and gear mechanism 3, and a worm 4 is arranged on the bottom plate 1 and driven to rotate by a motor 6. The worm 4 rotates the adapter sleeve 7, and pipe support 8 is connected to sleeve 7, sets up arm lock axis of rotation 9 on the pipe support 8, and turbine 5 passes through the bearing rotation to be connected on arm lock axis of rotation 9 and with worm 4 meshing rotation, arm lock 2 one end is fixed with turbine 5, rotates along with turbine 5 together, and arm lock 2 also passes through the bearing rotation and connects on arm lock axis of rotation 9. The two clamping arms 2 are rotated relatively or in opposite directions to release or clamp the tire. The clamping arm 2 and the sleeve 7 rotate along the axis of the worm 4 so that the other end of the clamping arm 2 floats up and down to adapt to the ground.
In a ground leveling state, the pipe rack 8 is leveled with the bottom plate 1. The turbine 5 may be not entirely round, but may be larger than 90 degrees and smaller than 180 degrees. Two ends of the worm 4 are respectively provided with a deep groove ball bearing, and the outer ring of the deep groove ball bearing is matched with the inner wall of the sleeve 7. An opening is arranged in the middle of the sleeve 7, and the worm 4 and the turbine 5 are meshed and driven at the opening position. The two ends of the worm 4 are fixed on the bottom plate 1 through bearings and bearing blocks 12. The two servo motors are connected in parallel and drive the worm 4 to rotate through the speed reducer, so that enough power is provided for the worm 4. The motor 6 is powered by a battery, with the two electrodes providing a larger current. The motor is connected with the controller, and the controller controls the rotation.
The clamp arm 2 is provided with an auxiliary supporting wheel 10 at one end far away from the bottom plate 1 and is contacted with the ground. The clamping arm 2 is provided with a roller 11 at one side for clamping the tire. The auxiliary supporting wheels 10 are in rolling friction with the ground, and support the carrier together with the walking driving mechanism during walking. The roller 11 may be a deep groove ball bearing, which is not likely to damage the tire when in contact with the tire.
When the contact part of the ground and the auxiliary supporting wheel 10 of the clamping arm 2 is concave or convex, the clamping arm 2 rotates downwards or upwards, the sleeve 7 rotates along with the concave or convex, and the contact part of the traveling driving mechanism and the ground and the contact part of the clamping arm 2 and the ground are not suspended, so that the carrier is inclined. The pressure of the driving wheel 16 is unchanged, so that the driving wheel 16 can be kept to have the correct running direction.
Arm clamping drive embodiment 2
The difference from example 1 is that:
the pressing mechanism is arranged between the adjacent ends of the two worms 4 of the two clamping arms 2 in the same group to convert the external force loaded on each worm 4 into the internal force between the two worms 4. When the clamping arm 2 clamps the automobile tire, the automobile applies a large force to one end, namely the clamping end, of the clamping arm 2 for clamping the tire through the tire, so that the clamping arm 2 applies force to the bottom plate 1, and the bolt and the bearing seat 12 are easily damaged due to the large force, so that equipment failure is caused, the use is affected, and the damaged part is relatively troublesome to replace. In this embodiment, the tire applies a downward force to the clamping end of the clamping arm 2 and an outward force perpendicular to the clamping arm 2 in the plane where the two clamping arms 2 are located, and the turbine 5 is at the other end of the clamping arm rotating shaft 9, so that the force applied by the turbine 5 to the worm 4 is opposite to the direction applied by the clamping end of the clamping arm 2. The two worms 4 of the same set of arms 2 are forced in opposite directions and toward each other. By arranging the two worms 4 on a straight line and arranging the tightening mechanism between adjacent ends of the worms 4, the external force loaded on each worm 4 can be converted into an internal force between the two worms 4.
Two ends of the worm 4 are connected with bearing seats arranged on the bottom plate 1 through bearings, two stop nuts 13 are arranged between two bearing seats 12 at adjacent ends of the worm 4, and the two stop nuts 13 are connected through a threaded joint 14. One end of the stop nut 13 is propped against the bearing seat 12, and the other end is connected with the threaded joint 14 through threads. The structure is convenient to install and detach, and only the screwed joint 14 is required to be rotated to complete the jacking or the detaching. The force of the worm 4 to the bearing seat 12 is directed towards the adjacent worm 4, and the bearing seat 12 of the adjacent two worm 4 is tightly pressed by the stop nut 13 and the thread structure, so that the force which the bearing seat 12 should bear is changed into the internal force between the two worm systems.
Arm clamping drive example 3
The difference from example 2 is that: the clamping arm is driven by a rack which is arranged on the bottom plate 1 in a sliding way and a gear which is arranged on the rotating shaft 9 of the clamping arm in a rotating way, and the clamping arm 2 is arranged on the gear. And a tightening mechanism is arranged between adjacent ends of two adjacent linear driving devices, so that an external force between the load pair rack and the linear driving mechanism is converted into an internal force. The mechanism of the specific pressing mechanism can be referred to embodiment 2.
The travelling drive mechanism comprises two turntable steering mechanisms 15 which are rotatably connected with the bottom plate 1. A driving outer ring 23 is arranged on the bottom plate 1; the turntable steering mechanism 15 is provided with a driving inner ring 24, and a plane bearing is arranged between the driving inner ring 24 and the driving outer ring 23.
Turntable steering mechanism example 1:
the two sides of the turntable steering mechanism 15 are symmetrically provided with driving wheels 16, and each side of driving wheel 16 is driven to rotate by an independent driving mechanism 17; the drive mechanism 17 is electrically connected to the controller. Each side driving wheel 16 is at least two driving wheels 16, and the same driving mechanism 17 drives the same driving wheels 16 to synchronously rotate. The turntable steering mechanism 15 is provided with two mounting frames 18, and the two rows of driving wheels 16 are rotatably arranged on the mounting frames 18 through driving wheel shafts 19 and bearings. The same gear 20 is arranged on the driving wheel shaft 19, and the gear 20 is meshed to drive the driving wheel shaft 19 to synchronously rotate. Auxiliary shafts can be arranged according to the positions, and the same gears are arranged on the auxiliary shafts to assist transmission. Several driving wheels 16 may be rotated synchronously by a timing belt or the like. The driving mechanism 17 is a driving motor and a speed reducer, and is also arranged on the mounting frame 18. The output shaft of the speed reducer drives one driving wheel 16 to rotate, and the other driving wheels are arranged on a mounting frame 18 through a driving wheel shaft 19.
The carrier is required to travel under the automobile for carrying, the height is low, and the diameter of the wheels is small. When the floor is uneven, for example, depressed, the drive wheel 16 sometimes falls into the depression, and even if there is an auxiliary wheel, the auxiliary wheel itself has no drive force, and once the truck is not moved, the auxiliary wheel itself does not rotate to cause the truck to come out of the depression. With a plurality of driving wheels 16, once one of the driving wheels 16 is sunk, the other driving wheel 16 rotates to drive the carrier to move. In this embodiment 3 synchronously rotating drive wheels 16 are used on the same side. The drive system of the truck has a total of 12 drive wheels 16. The carrier is 110 mm low in height, 4000 kg in weight, and a rubber wheel with the diameter of 100 mm is not born, so that the carrier is separated from the bearing weight by adopting multi-wheel driving.
The embodiment can realize the forward movement, the backward movement, the left-right translation and the 360-degree rotation taking the carrier as the center of the carrier, and can also perform arbitrary curve movement. When the rotation speeds of the driving motors at two sides of the same turntable steering mechanism 15 are the same and the rotation directions are opposite, the turntable steering mechanism 15 rotates in situ, and the driving wheels 16 in the turntable steering mechanism 15 can rotate to any direction. When the directions of the driving wheels 16 of the two turntable steering mechanisms 15 are the same and the rotating speeds are the same, the forward and backward movement or any direction translation can be realized; when the directions of the driving wheels 16 of the two turntable steering mechanisms 15 are in the tangential direction of a circular track and the rotating speeds are the same, the carrier can do circular motion; and when the directions and the rotating speeds are different, the device can do arbitrary curve motion. The specific motion trail is controlled by a controller.
Turntable steering mechanism example 2:
the turntable steering mechanism 15 is symmetrically provided with crawler transmission mechanisms on both sides, and each crawler transmission mechanism is driven by a separate driving mechanism 17. The driving mechanism 17 is electrically connected with the controller; the track drive comprises at least two synchronously rotating track wheels 21 provided on the turntable steering mechanism 15 and tracks 22 connecting the track wheels 21. The turntable steering mechanism 15 is provided with two mounting frames 18, the crawler wheels 21 are arranged on a driving wheel shaft 19, and the driving wheel shaft 19 is rotatably arranged on the mounting frames 18 through bearings. The same gear 20 is arranged on the driving wheel shaft 19, and the gear 20 is meshed to drive the driving wheel shaft 19 to synchronously rotate. The crawler-type structure can be applied to various floors, and is more suitable for outdoor natural environments and floors with different concave-convex surfaces than the plurality of driving wheels 16.
In specific implementation, the carrier enters the lower part of the vehicle, the rear wheel position of the front wheel of the vehicle is positioned, and the motor 6 drives the turbine worm mechanism 3 to rotate, so that the clamping arm 2 rotates to clamp and lift the tire to the designated height. After the position route is determined, the carrier driving mechanism 17 is started to drive the carrier to move. The angle of the truck driving wheel 16 or the crawler 22 is adjusted by adjusting the turntable steering mechanism 15 so that the truck can move in any direction. The carrier is provided with a visual system for positioning, visual laser for comprehensive navigation and a controller for control. After reaching the appointed position, the worm and wheel mechanism 3 drives the clamping arm 2 to rotate, loosen and put down so as to enable the automobile tire. The clamp arm 2 rotates to be close to the bottom plate 1 and leaves from the lower part of the automobile.
Claims (4)
1. The clamping type omnidirectional automatic carrier comprises a carrier body and four groups of clamping arms which are arranged on a bottom plate of the carrier body and respectively correspond to front wheels and rear wheels of a car, wherein each group of clamping arms comprises two clamping arms; the bottom plate is provided with a clamping arm clamping driving device which clamps the tire through the clamping arm; a walking driving mechanism and a controller are arranged on the bottom plate; the method is characterized in that: one end of the clamping arm is rotatably connected to the bottom plate, so that the other end of the clamping arm floats up and down to adapt to the ground;
the clamping arm clamping driving device is a turbine worm mechanism, a worm is arranged on the bottom plate and driven by a motor to rotate, the worm rotates to connect a sleeve, the sleeve is connected with a pipe rack, a clamping arm rotating shaft is arranged on the pipe rack, a turbine is rotationally connected to the clamping arm rotating shaft and is meshed with the worm to rotate, one end of the clamping arm is fixedly connected with the turbine and rotates along with the turbine, and the two clamping arms rotate oppositely or oppositely to loosen or clamp a tire; the clamping arm and the sleeve rotate along the axis of the worm to enable the other end of the clamping arm to float up and down to adapt to the ground;
a jacking mechanism is arranged between adjacent ends of two worms of the two clamping arms in the same group to convert an external force loaded on each worm into an internal force between the two worms;
two ends of the worm are connected with bearing seats arranged on the bottom plate through bearings, two stop nuts are arranged between two bearing seats at the adjacent ends of the worm, and the two stop nuts are connected through a threaded joint;
an auxiliary supporting wheel is arranged at one end of the clamping arm far away from the bottom plate and is contacted with the ground;
the walking driving mechanism comprises two turntable steering mechanisms which are rotationally connected with the bottom plate, driving wheels are symmetrically arranged on two sides of the turntable steering mechanism, and each side of driving wheel is driven to rotate by an independent driving mechanism; the driving mechanism is electrically connected with the controller; or the walking driving mechanism comprises two turntable steering mechanisms which are rotationally connected with the bottom plate, the two sides of each turntable steering mechanism are symmetrically provided with crawler transmission mechanisms, and each crawler transmission mechanism is driven by an independent driving mechanism; the driving mechanism is electrically connected with the controller; the crawler transmission mechanism comprises at least two crawler wheels which are arranged on the turntable steering mechanism and synchronously rotate, and a crawler belt connected with the crawler wheels.
2. The clamp type omnidirectional automatic guided vehicle according to claim 1, wherein: each side of driving wheel is at least two driving wheels, and the same driving mechanism drives the driving wheels on the same side to synchronously rotate.
3. The clamp type omnidirectional automatic guided vehicle according to claim 2, wherein: the turntable steering mechanism is provided with two mounting frames, and the two rows of driving wheels are rotatably arranged on the mounting frames through driving wheel shafts and bearings; the same gears are arranged on the driving wheel shafts, and the gears are meshed to drive the driving wheel shafts to synchronously rotate.
4. The clamp type omnidirectional automatic guided vehicle according to claim 1, wherein: the turntable steering mechanism is provided with two mounting frames, the crawler wheels are arranged on a driving wheel shaft, and the driving wheel shaft is rotatably arranged on the mounting frames through bearings; the same gears are arranged on the driving wheel shafts, and the gears are meshed to drive the driving wheel shafts to synchronously rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466569.5A CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466569.5A CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108678468A CN108678468A (en) | 2018-10-19 |
| CN108678468B true CN108678468B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810466569.5A Active CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
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| CN (1) | CN108678468B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109441183B (en) * | 2018-10-25 | 2024-02-20 | 深圳怡丰自动化科技有限公司 | Vehicle carrier and rotatory clamping assembly thereof |
| DE102018221173A1 (en) * | 2018-12-06 | 2020-06-10 | Volkswagen Aktiengesellschaft | Parking robots for a motor vehicle |
| JP2020139299A (en) | 2019-02-27 | 2020-09-03 | 本田技研工業株式会社 | Vehicle transportation device |
| JP2020139298A (en) | 2019-02-27 | 2020-09-03 | 本田技研工業株式会社 | Vehicle transportation system |
| CN110497375B (en) * | 2019-09-12 | 2024-05-03 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN112282456B (en) * | 2020-10-22 | 2022-05-20 | 深圳精智机器有限公司 | Heavy-duty vehicle carrier and method |
| CN116273642B (en) * | 2023-05-22 | 2023-07-21 | 江苏钢锐精密机械有限公司 | Automatic paint spraying equipment for fan housing |
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| CN202215026U (en) * | 2011-06-23 | 2012-05-09 | 姜勇 | Vehicle carrier |
| CN107035188A (en) * | 2017-06-21 | 2017-08-11 | 山东大学 | Ultrathin AGV vehicle carriers |
| CN107044215A (en) * | 2016-06-17 | 2017-08-15 | 深圳精智机器有限公司 | Clasp type vehicle carrier |
| KR20180031405A (en) * | 2016-09-20 | 2018-03-28 | 삼중테크 주식회사 | Apparatus to carry a car for parking facility |
| CN208184340U (en) * | 2018-05-16 | 2018-12-04 | 林荣刚 | A kind of clipping omnidirectional's Automatic Guided Vehicle |
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- 2018-05-16 CN CN201810466569.5A patent/CN108678468B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202215026U (en) * | 2011-06-23 | 2012-05-09 | 姜勇 | Vehicle carrier |
| CN107044215A (en) * | 2016-06-17 | 2017-08-15 | 深圳精智机器有限公司 | Clasp type vehicle carrier |
| KR20180031405A (en) * | 2016-09-20 | 2018-03-28 | 삼중테크 주식회사 | Apparatus to carry a car for parking facility |
| CN107035188A (en) * | 2017-06-21 | 2017-08-11 | 山东大学 | Ultrathin AGV vehicle carriers |
| CN208184340U (en) * | 2018-05-16 | 2018-12-04 | 林荣刚 | A kind of clipping omnidirectional's Automatic Guided Vehicle |
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| CN108678468A (en) | 2018-10-19 |
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