CN212614003U - Multilayer vehicle carrying device and intelligent garage - Google Patents
Multilayer vehicle carrying device and intelligent garage Download PDFInfo
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- CN212614003U CN212614003U CN202021845120.9U CN202021845120U CN212614003U CN 212614003 U CN212614003 U CN 212614003U CN 202021845120 U CN202021845120 U CN 202021845120U CN 212614003 U CN212614003 U CN 212614003U
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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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- 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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Abstract
The utility model provides a car device and intelligent garage are carried to multilayer, its characterized in that: at least comprises two vehicle-carrying robots which are matched with each other for use as a bottom layer robot and an upper layer robot, wherein the upper robot comprises an upper supporting platform for bearing the vehicle, a lifting moving mechanism arranged at the edge of the upper supporting platform and used for lifting and moving the upper supporting platform, the lifting moving mechanism comprises a plurality of lifting rods, a lifting rod folding and extending component arranged on each lifting rod and used for enabling the lifting rod to be in a folded state or an upright state, and a driving wheel arranged at the lower end of each lifting rod, the lifting rod folding and extending component can enable the upper supporting rod and the lower supporting rod to be in the folded state before the upper robot parks the vehicle to a preset parking space, and the upper support rod and the lower support rod can be in an upright state when the upper layer robot parks the vehicle in a preset parking space, so that the vehicle is borne above the bottom layer robot.
Description
Technical Field
The utility model belongs to the technical field of automatic garage, refer in particular to a multilayer carries car device and uses this multilayer to carry intelligent garage of car device.
Background
The vehicles are common vehicles for people to go at home, along with the deepening of urbanization, the scale of the city is larger and larger, and the automobile keeping quantity in the city is increased year by year. However, the problem of parking difficulty is always troubling city managers, and the car owners are often difficult to find corresponding parking spaces due to too many vehicles in daily trips. Therefore, how to increase the parking spaces in the existing field without influencing the operation of other vehicles becomes important.
At present, the garage in some superstores promotes space utilization through the mode of reforming into stereo garage with self to make and to park more vehicles in the garage of equal scale, alleviate the problem of parking stall disappearance.
However, the existing stereo garage has a complex structure, needs to be modified on a large scale, is time-consuming and high in cost, and is difficult for general garage users (such as communities, small-sized shopping malls and the like) to bear the modification cost. Meanwhile, the stereo garages are difficult to be applied in large scale, and the problem of difficult parking in cities cannot be fundamentally solved.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned problem, provide one kind and need not reform transform the place and can improve the intelligent robot for garage management of vehicle parking efficiency, the utility model discloses a following technical scheme:
the utility model provides a device is carried to multilayer uses in intelligent garage and bears its characterized in that to the vehicle: at least two vehicle-carrying robots which are matched with each other to be used as a bottom layer robot and an upper layer robot and can respectively carry respective vehicles in a multilayer mode on a preset parking space, wherein the bottom layer robot is provided with: the supporting platform used for bearing the vehicle is used as a bottom layer supporting platform; and the moving mechanism is arranged at the bottom of the bottom layer supporting platform, and the upper layer robot is provided with: the supporting platform used for bearing the vehicle is used as an upper supporting platform; and a lifting moving mechanism which is arranged at the edge of the upper layer supporting platform and is used for lifting and moving the upper layer supporting platform, the lifting moving mechanism comprises a plurality of lifting rods, lifting rod folding and extending components which are arranged on each lifting rod and are used for leading the lifting rods to be in a folding state or an upright state, and driving wheels which are arranged at the lower end of each lifting rod, each lifting rod comprises an upper supporting rod which is arranged on the upper layer supporting platform and a lower supporting rod which is rotatably connected with the upper supporting rod, the lifting rod folding and extending components are respectively combined with the upper supporting rod and the lower supporting rod, and the lifting rod folding and extending components can lead the upper supporting rod and the lower supporting rod to be in a folding state before the upper layer robot parks the vehicle to a preset parking space, and the upper support rod and the lower support rod can be in an upright state when the upper layer robot parks the vehicle in a preset parking space, so that the vehicle is borne above the bottom layer robot.
The utility model provides a device is carried to multilayer, can also have such technical characteristic, wherein, upper strata supporting platform's week side shaping has a plurality of to be used for accomodating the thing groove of lifter, it has last bracing piece and is used for making to go up bracing piece and upper strata supporting platform along the relative pivoted platform extensible member of articulated department through flexible to put thing inslot articulated, the upper end of going up the bracing piece has two and the first hinge bar of the rolling plane looks vertically and the second hinge bar of last bracing piece, the one end of platform extensible member articulates in putting the thing groove, the other end articulates in first hinge bar, the folding one end that extends the component of lifter articulates in shown second hinge bar, the other end articulates and sets up in the articulated fork in the upper end outside of lower support bar, make the length direction and the length direction of lower support bar of the folding extension component of lifter keep certain angle.
The utility model provides a device is carried to multilayer, can also have such technical characteristic, wherein, upper strata supporting platform's all sides shaping has a plurality of to put the thing groove, it has last bracing piece to put thing inslot articulated, the lower extreme of lower bracing piece has the second hinge bar mutually perpendicular with the rolling plane of lower bracing piece, the folding one end that extends the component of lifter articulates in the second hinge bar, the other end articulates in the articulated fork that sets up in the lower extreme outside of last bracing piece, make the folding length direction that extends the component of lifter keep a certain angle with the length direction of last bracing piece, the lower bracing piece has the radian crooked along the direction of keeping away from the folding component that extends of lifter with one.
The utility model provides a device is carried to multilayer can also have such technical characteristic, and wherein, one side shaping of upper supporting platform has the inclined plane that supplies the vehicle to roll into.
The utility model provides a device is carried to multilayer can also have such technical characteristic, wherein, upper strata supporting platform has the platform frame of connecting in lift moving mechanism, a cylinder portion that one was served of the entry that sails that is used for bearing the support plate of vehicle and sets up and keep away from the vehicle on the platform frame, the support plate articulates the both sides at the platform frame and makes this support plate rotate for the platform frame, thereby cylinder portion is used for the jack-up support plate to make the support plate rotate to the slope formation inclined plane of entry that sails, and flatten when the vehicle sails in and make the support plate resume the level.
The utility model provides a device is carried to multilayer can also have such technical characteristic, and wherein, the support plate is kept away from the one end of driving the mouth and is provided with the parking groove for thereby the parking of vehicle is accomplished in the wheel of this vehicle both sides sinks into the parking groove when the vehicle drives into the support plate.
The utility model provides a device is carried to multilayer can also have such technical characteristic, and wherein, the inboard of lower support bar is provided with the drive wheel extensible member, and the lower extreme that the upper end of drive wheel extensible member was connected in the inboard of lower support bar and drive wheel extensible member is connected in the drive wheel, and the drive wheel is in-wheel motor.
The utility model provides a device is carried to multilayer can also have such technical characteristic, wherein, is equipped with two passageways on the upper supporting platform, the size in passageway and the automobile body size looks adaptation of vehicle.
The utility model also provides an intelligent garage, a serial communication port, include: the multilayer vehicle carrying device is used for carrying vehicles; the parking area is used for parking the multi-layer vehicle carrying devices; the warehousing area is used for enabling the multilayer vehicle loading device to carry out warehousing and ex-warehousing of the vehicles; and the transfer area is used for enabling the multilayer car carrying devices to transfer the vehicles, wherein a plurality of geomagnetic devices used for marking the advancing routes are laid below the transfer area, and the multilayer car carrying devices are provided with induction mechanisms used for inducing the geomagnetic devices and determine the advancing routes through induction with the geomagnetic devices.
The utility model also provides an intelligent garage, a serial communication port, include: the multilayer vehicle carrying device is used for carrying vehicles; the parking area is used for parking the multi-layer vehicle carrying devices; the warehousing area is used for enabling the multilayer vehicle loading device to carry out warehousing and ex-warehousing of the vehicles; and the transfer area is used for enabling the multilayer vehicle carrying device to transfer vehicles, wherein the transfer area comprises a ground induction area and a wall induction area, radar induction devices are paved in the ground induction area and the wall induction area, and the multilayer vehicle carrying device is provided with a radar receiving device matched with the radar induction devices and a video imaging analysis device comprising a camera.
Utility model with the functions and effects
According to the utility model discloses a device is carried to multilayer, owing to have two car carrying robot that mutually support used at least, and the car carrying robot that just is regarded as upper robot has lift moving mechanism, consequently, can adjust the high supporting platform who is used for bearing the weight of the vehicle through lift moving mechanism to thereby let the vehicle remove to supporting platform on and further lifting supporting platform's height stack the vehicle on the car carrying robot as bottom robot when reducing the height. Through the utility model discloses a device is carried to multilayer can be under the condition that does not carry out any this well to the place to lower transformation cost stacks a plurality of vehicles in a parking stall, thereby lets can park more vehicles in the garage, improves the space utilization in garage. Therefore, the multi-layer vehicle carrying device can be simply and conveniently applied to various garages, and is favorable for fundamentally solving the problem of difficulty in parking in cities.
Drawings
Fig. 1 is a schematic structural view of an intelligent garage according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a multi-layer vehicle carrying device in a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of an upper robot in a first embodiment of the present invention;
fig. 4 is a second schematic structural diagram of an upper robot in a first embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 3 at A;
fig. 6 is a schematic structural diagram of an upper robot in a folded state according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a middle-bottom layer robot according to an embodiment of the present invention;
fig. 8 is one of the schematic structural diagrams of the upper robot in the second embodiment of the present invention;
fig. 9 is a front view of the upper robot in the second embodiment of the present invention;
FIG. 10 is a cross-sectional view A-A of FIG. 9;
fig. 11 is a second schematic structural view of an upper robot according to a second embodiment of the present invention;
fig. 12 is a partial enlarged view at B in fig. 8;
fig. 13 is a schematic structural view of an upper robot in a folded state according to a second embodiment of the present invention; and
fig. 14 is a partial enlarged view at C in fig. 8.
Detailed Description
In order to make the utility model realize that the technical means, creation characteristics, achievement purpose and efficiency are easy to understand and understand, it is right to combine embodiment and attached drawing below the utility model discloses a multilayer carries car device and does specifically expounded.
< example one >
As a first aspect, the present embodiment provides a stereo garage robot, which is an upper robot, including a support platform for carrying a vehicle; a plurality of multi-section lifting mechanisms are arranged on the periphery of the supporting platform and used for realizing the lifting operation of the supporting platform; the multi-section lifting mechanism at least comprises an upper supporting rod and a lower supporting rod, and the upper supporting rod and the lower supporting rod are hinged; go up and be connected through first extensible member between bracing piece and the supporting platform, the lower extreme of bottom suspension arm is provided with the drive wheel.
Preferably, the upper end of lower branch vaulting pole is provided with eccentric portion, and it has the one end of second extensible member to articulate on the eccentric portion, and the other end of second extensible member is articulated with last vaulting pole.
Preferably, the eccentric part is a hinged fork arranged outside the upper end part of the support rod, and one end of the second telescopic piece is hinged in the hinged fork.
Preferably, the upper end of the upper supporting rod is provided with a cross rod, and a first telescopic piece is hinged in the cross rod; the supporting platform is provided with a plurality of object placing grooves in the circumferential side, and first telescopic pieces are hinged in the object placing grooves.
Preferably, the inner side of the lower support rod is provided with a third telescopic piece, the upper end of the third telescopic piece is fixedly arranged at the inner side of the lower support rod, and the lower end of the third telescopic piece is connected with a driving wheel.
Preferably, an inclined plane for vehicles to drive in is formed on one side of the supporting platform, two passageways are formed on one side of the inclined plane, and the size of each passageway is matched with that of the vehicle body.
Preferably, a plurality of distance sensors are arranged on the peripheral side of the supporting platform; the driving wheel is a hub motor.
As a second implementation form, the embodiment further provides an automatic garage, which is an intelligent garage and comprises the stereo garage robot and a garage, wherein a garage entering area, a transfer area and a parking area are arranged in the garage; and the parking area is internally provided with a parking platform for parking the stereo garage robot and driving in vehicles, and the parking area is internally provided with an automatic transfer trolley for storing bottom vehicles and a stereo garage robot for storing upper vehicles.
Preferably, a plurality of geomagnetic devices used for marking the advancing route are laid below the transfer area, induction mechanisms inducted with the geomagnetic devices are arranged at the lower ends of the automatic transfer vehicle and the stereo garage robot, and the path is determined through induction with the geomagnetic devices.
Preferably, the transfer area comprises a ground induction area and a wall induction area, radar induction devices are respectively paved in the ground induction area and the wall induction area, and a radar receiving device which is induced by the radar induction devices is arranged on the stereo garage robot; the stereo garage robot further comprises a view screen imaging analysis device, and the view screen imaging analysis device comprises a camera.
The multi-layer vehicle carrying device and the intelligent garage of the embodiment are specifically described below with reference to the accompanying drawings.
Fig. 1 is the utility model discloses in the embodiment one, the structural schematic diagram of intelligent garage.
As shown in fig. 1, the multi-layer vehicle carrying device 1100 of the present invention has multiple groups, all of which are disposed in an automatic garage 1200 (i.e., an intelligent garage 1200). The intelligent garage 1200 comprises a warehousing area 128, a transfer area 129 and a parking area 1210, wherein the warehousing area 128, the transfer area 129 and the parking area 1210 are used for matching with a multi-layer vehicle carrying device 1100 to carry out warehousing and warehousing parking management on vehicles.
Fig. 2 is a schematic structural diagram of a multi-layer vehicle carrying device in the first embodiment of the present invention.
As shown in fig. 2, the multi-deck vehicle loading apparatus 1100 includes two vehicle loading robots respectively serving as an upper-deck robot 1101 and a lower-deck robot 1116. The parking spaces and the parking spaces can be matched to form a multi-layer structure for parking vehicles, so that two vehicles can be stacked in each parking space in the parking area 1210, and the three-dimensional storage of the vehicles is realized in the intelligent garage 1200. All the automatic related functions of the technical scheme belong to research and development in software, belong to the conventional means of technicians in the field, are not the key points of protection of the application, and are not described in detail herein.
Fig. 3 is a first schematic structural diagram of a middle-upper robot according to an embodiment of the present invention, and fig. 4 is a second schematic structural diagram of a middle-upper robot according to an embodiment of the present invention.
As shown in fig. 3 and 4, the stereo garage robot 1101 (i.e., the upper robot 1101) includes a support platform 111 (i.e., the upper support platform 111) for carrying a vehicle, and a lifting and moving mechanism disposed at an edge of the upper support platform 111 for lifting and moving the upper support platform.
The lifting and moving mechanism includes a plurality of multi-section lifting devices 1120 (i.e., lifting rods 1120) disposed on the circumferential side of the supporting platform 111, and a driving wheel 115 (i.e., an upper driving wheel 115) disposed at the lower end of each lifting rod 1120.
In actual use, the vehicle will travel onto the upper support platform 111. Preferably, one side of the upper supporting platform 111 is formed with an inclined surface 1112 for a vehicle to enter, one side of the inclined surface 1112 is formed with two passageways 1113, and the dimensions of the passageways 1113 are adapted to the dimensions of the vehicle body.
In this embodiment, the inclined surface 1112 is a slope provided at the entrance of the upper supporting platform 111, and textures are further provided on both sides of the surface of the inclined surface 1112 for preventing the wheels of the vehicle from slipping when entering the slope. The aisle 1113 is two aisle grooves recessed downward with respect to the surface of the upper support platform 111 for the purpose of regulating the traveling of the vehicle when the vehicle enters the upper support platform 111, and each aisle groove is provided at a corresponding portion of the wheel.
The technical scheme particularly discloses a structural design convenient for a vehicle to drive in. The design of inclined plane 1112 can make things convenient for the vehicle to drive in, and then the design of passageway 1113 can standardize the route of traveling of vehicle, makes things convenient for garage management.
The lifting rod 1120 is used for lifting the upper supporting platform 111, and the lifting rod 1120 is essentially a device for lifting and lowering the upper supporting platform 111 by using the cooperation between the telescopic member and the supporting member. In this embodiment, four lifting rods 1120 are provided, and are respectively disposed on two sides of the upper supporting platform 111 in opposite directions.
Fig. 5 is a partially enlarged view of a portion a in fig. 3.
As shown in fig. 3, 4 and 5, each lift pin 1120 includes at least an upper support pin 112 and a lower support pin 113, and a first telescopic member 114 (i.e., a platform telescopic member 114), a second telescopic member 116 (i.e., a lift pin folding and extending member 116) and a third telescopic member 117 (i.e., a driving wheel telescopic member 117) for connecting the upper support pin 112, the lower support pin 113, the upper support platform 111 and the driving wheel 115. Specifically, the method comprises the following steps:
one end of the upper supporting rod 112 is hinged to the upper supporting platform 111, and the other end is hinged to the lower supporting rod 113, so that the upper supporting rod 112 and the upper supporting platform 111 can rotate with each other after being connected, and in a similar way, the upper supporting rod 112 and the lower supporting rod 113 can rotate with each other after being connected.
The upper support rod 112 is connected to the upper support platform 111 via a first telescopic member 114. Specifically, a cross rod 1121 (i.e., a first hinge rod 1121) and a second hinge rod 1122 are disposed at the upper end of the upper support rod 112, and a first telescopic member 114 is hinged in the cross rod 1121; a plurality of object placing grooves 1111 are formed on the periphery of the upper layer supporting platform 111, and first telescopic pieces 114 are hinged in the object placing grooves 1111.
In this embodiment, the object placing groove 1111 is used for accommodating the lifting rod 1120 in a folded state, and when the first extensible member 114 is extended, the upper support rod 112 is driven to rotate correspondingly, so as to drive the lower support rod 113 to rotate, thereby realizing folding or lifting. When the first telescopic member 114 is retracted, the upper supporting rod 112 is retracted into the object placing groove 1111, so that the height of the upper supporting platform 111 is lowered; when the first telescopic member 114 is extended, the upper supporting rod 112 is extended outwardly from the receiving slot 1111, and is finally substantially perpendicular to the horizontal plane of the upper supporting platform 111, so that the upper supporting platform 111 is lifted.
The technical scheme specifically discloses a connection relationship among the first telescopic part 114, the upper support rod 112 and the upper support platform 111. The design of placing the thing groove 1111 can let the garage robot can all accomodate upper support rod 112 and lower support rod 113 in placing the thing groove 1111 under fold condition to can further reduce stereo garage robot size, such design is also more pleasing to the eye.
The upper end of the lower support bar 113 is provided with an eccentric portion 1131.
The eccentric portion 1131 is hinged with one end of the second telescopic member 116, and the other end of the second telescopic member 116 is hinged with the second hinge rod 1122 of the upper support rod 112. That is, the upper support rod 112 is connected between the lower support rods 113 through the second telescopic member 116, and since the eccentric portion 1131 is disposed on the lower support rod 113, the length direction of the second telescopic member 116 always forms a certain angle with the length direction of the lower support rod 113. The technical scheme specifically discloses a connection mode between the lower support rod 113 and the upper support rod 112, and the eccentric design can prevent the lower support rod 113 from being clamped in the process of the rotating force of the lower support rod 113 when the second telescopic piece 116 works.
The position of the eccentricity may be in various forms, such as being positioned outside or inside the joint of the upper support bar 112 and the lower support bar 113, i.e., the eccentricity 1131 is provided at the hinge joint of the lower support bar 113 and the upper support bar 112. The other end of the second telescopic member 116 is preferably provided at the inner side of the upper support pole 112 at a position where it is hinged to the upper support pole 112. Therefore, the stress is more uniform and the layout is more reasonable.
In this embodiment, the eccentric portion 1131 is a hinged fork disposed outside the upper end of the lower support rod 113, and one end of the second telescopic member 116 is hinged in the hinged fork.
The technical scheme specifically discloses a shape design of the eccentric part 1131. The design of the hinged fork is essentially composed of two hinged plates, the hinged plates are provided with hole sites, and shaft parts penetrate through the hole sites and the lower end of the second telescopic piece 116 so as to realize the hinging effect. The structure design has the function of hinging and can realize the function of auxiliary support to a certain extent.
In this embodiment, the second telescopic member 116 and the eccentric portion 1131 can control the rotation of the lower support rod 113 and the upper support rod 112. When the second telescopic member 116 is contracted, the lower support rod 113 and the upper support rod 112 are relatively rotated along the hinge joint and make the included angle between them smaller (i.e. in a folded state), so that the height of the upper support platform 111 is lowered; when the second telescopic member 116 is extended, the angle between the lower support rod 113 and the upper support rod 112 is increased (i.e., in an upright state), so that the height of the upper support platform 111 is increased, and the upper support platform 111 can be raised to the maximum extent by engaging the first telescopic member 114.
Fig. 6 is a schematic structural diagram of the upper garage robot in the first embodiment of the present invention under the folding condition.
As shown in fig. 6, after the first telescopic member 114 and the second telescopic member 116 are both contracted, so that the upper support rod 112 and the lower support rod 113 are both accommodated in the storage slot 1111, at this time, the height of the upper support platform 111 is minimized, so that the vehicle can be conveniently moved to the upper support platform 111 for parking.
The lower end of the lower support bar 113 is provided with a driving wheel 115.
Preferably, a third telescopic member 117 is disposed inside the lower support rod 113, an upper end of the third telescopic member 117 is fixedly disposed inside the lower support rod 113, and a lower end of the third telescopic member 117 is connected to the driving wheel 115.
In this embodiment, the driving wheel extension 117 is used to adjust the height of the driving wheel 115, so that when the road surface is uneven, the driving wheel extension can be correspondingly adjusted to keep the whole upper supporting platform 111 in a horizontal state.
The technical scheme specifically discloses a mode for realizing multi-section lifting. In practical use, the upper support rod 112 and the lower support rod 113 can lift the upper support platform 111. The maximum height that can be achieved by this structure is the sum of the heights of the upper support pole 112 and the lower support pole 113, and when such a sum of the heights is not sufficient, the telescopic operation can be performed again using the third telescopic member 117. Furthermore, if the technical scheme is not enough, a corresponding telescopic part can be added again, so that the height dimension can be further adjusted.
In this embodiment, the first extensible member 114, the second extensible member 116, and the third extensible member 117 are all hydraulic rods, and can be extended or retracted according to a preset program or a control signal.
Preferably, a plurality of distance sensors 1114 are further disposed on the peripheral side of the upper layer supporting platform 111; the drive wheel 115 is a hub motor.
This technical scheme specifically discloses a structural design of supporting platform 111, increases distance sensor and can prevent to bump, adopts in-wheel motor can make things convenient for driving of supporting platform 111. The above options are conventional for those skilled in the art and are not described herein in detail.
Fig. 7 is a schematic structural diagram of a middle-bottom layer robot according to an embodiment of the present invention.
The automatic transfer vehicle 1116 (i.e., the floor robot 1116) of the present embodiment employs an RGB automatic transfer vehicle 1116, which also has a support platform 11161 (i.e., the floor support platform 11161) and an automatic traveling function, i.e., as shown in fig. 7, the automatic transfer vehicle 1116 has a floor support platform 11161 and a driving wheel 11162 disposed under the support platform 11161. This automatic transfer vehicle 1116 is for parking a vehicle placed on the lower floor; the upper level vehicle will be carried by the stereo garage robot 1101 (i.e., the upper level robot 1101).
In the present embodiment, the support platform 11161 of the lower robot 1116 is provided with an inclined surface 11163 at one end of the entrance similar to that of the upper robot 1101.
As shown in fig. 2, since the lifting bar 1120 of the upper robot 1101 is disposed at the peripheral side of the upper support platform 111, the width of the space reserved in the middle of the lifting bar 1120 is larger than that of the lower support platform 11161 of the lower robot 1116, so that the upper robot 1101 can move to the position where the lower robot 1116 is located and achieve the stacking of the vehicles with the upper support platform 111 lifted.
The garage entering area 128 is used for carrying out garage entering and leaving operations of vehicles, and a garage entering platform 1215 for parking and letting vehicles to enter the upper layer robot 1101 and the bottom layer robot 1116 is arranged in the garage entering area.
Specifically, the warehousing platform 1215 is provided with a warehousing slot adapted to the size of the vehicle-carrying robot, and the warehousing slot is used for allowing the upper-layer robot 1101 and the automatic transfer vehicle 1116 (i.e., the bottom-layer robot 1116) to enter the warehousing slot, so that the vehicle can be driven onto the support platform 111 from the warehousing platform conveniently.
The transfer area 129 is used for moving the upper layer robot 1101 and the lower layer robot 1116 between the parking area 1210 and the garage area 128 and transferring vehicles.
A base robot 1116 for storing a base vehicle and an upper robot 1101 for storing an upper vehicle are provided in the parking area 1210. In this embodiment, the parking area 1210 includes a plurality of parking spaces 12101 planned in advance, and the size of each parking space 12101 is adapted to the size of the multi-deck vehicle carrying device 1100, so that the upper-deck robot 1101 and the lower-deck robot 1116 can be parked at the same time.
This technical scheme specifically discloses an automatic garage's structure. The procedure is used such that the vehicle to be parked is first guided to the garage platform 1215, which is raised slightly above the normal ground level so that the upper surface of the support platform 111 remains substantially level with the upper surface of the garage platform 1215. Facilitating the entry of vehicles from the garage platform 1215 into the support platform 111. The support platform 111 may then proceed to the corresponding parking space as directed.
Generally, after the stereo garage robot 1101 drives to the corresponding parking space, the lifting moving mechanism starts to work to drive into the corresponding parking space, that is, before entering the parking space 12101, the lifting rod 1120 lifts the support platform 111 to a certain height and drives into the parking space 12101 while maintaining the state. Since this action of raising does not affect the travel of the vehicle already parked underneath, such a structural design, which is simple and effective, is the preferred structural design. By the design, the original single-layer parking space can be changed into a double-layer parking space at least, and the garage can be realized without carrying out particularly large transformation on the garage, so that the garage is simple and easy to implement.
Preferably, a plurality of geomagnetic devices for marking the traveling route are laid below the transfer area 129, and the automatic transfer vehicle 1116 and the stereo garage robot 1101 are provided at lower ends thereof with sensing mechanisms which are sensed by the geomagnetic devices and determine the traveling route by sensing with the geomagnetic devices.
The specific disclosure of this technical scheme comes a mode that automatic transfer car (1116) and stereo garage robot 1101 realize automatic transportation. The structural design of geomagnetism belongs to mature products in the industry and is not described in detail herein. Guidance of the automatic transfer vehicle 1116 and the stereo garage robot 1101 can be achieved by flexibly applying geomagnetic signals.
Example one action and Effect
According to the multilayer vehicle carrying device provided by the embodiment, at least two vehicle carrying robots which are matched with each other for use are arranged, and the vehicle carrying robot serving as the upper layer robot is provided with the plurality of lifting rods, so that the height of the supporting platform for carrying the vehicle can be adjusted through the lifting rods, and the vehicle is moved to the supporting platform and further lifted to the height of the supporting platform when the height is reduced, so that the vehicle is stacked on the vehicle carrying robot serving as the bottom layer robot. Through the utility model discloses a device is carried to multilayer can be under the condition that does not carry out any this well to the place to lower transformation cost stacks a plurality of vehicles in a parking stall, thereby lets can park more vehicles in the garage, improves the space utilization in garage. Therefore, the multi-layer vehicle carrying device can be simply and conveniently applied to various garages, and is favorable for fundamentally solving the problem of difficulty in parking in cities.
In the embodiment, still because the supporting platform week side of upper robot is provided with a plurality of and puts the thing groove, consequently when the lift moving mechanism shrink is folded, go up bracing piece and lower bracing piece and can accomodate in putting the thing groove to make supporting platform can be by the holding groove
Further, in the embodiment, because the both ends of platform extensible member articulate respectively in upper supporting platform and last bracing piece, the both ends that the folding component that extends of lifter articulate respectively in last bracing piece and lower support bar, consequently under the work of the folding component that extends of platform extensible member and lifter, can be so that upper supporting platform, go up relative rotation between bracing piece and the lower support bar to realize upper supporting platform's lifting and descending.
In the embodiment, because the inner side of the lower support rod is provided with the driving wheel telescopic rod, and one end of the driving wheel telescopic rod is connected with the driving wheel, the height of the upper layer support platform can be further adjusted through the driving wheel telescopic rod. In addition, when the ground has height drop, also can adjust the height of corresponding drive wheel through the drive wheel telescopic link to make upper strata supporting platform remain the level all the time.
In the embodiment, two passageways matched with the vehicle body of the vehicle are arranged on the supporting platform, so that the track of the vehicle running onto the supporting platform can be normalized, and the phenomenon that the gravity center of the supporting platform is unstable and the side turning is caused due to the fact that the vehicle is parked at a wrong position is avoided.
< example two >
Compared with the first embodiment, the second embodiment is different in that the upper robot adopts a different design.
For convenience of description, the same reference numerals are given to the same structures as those of the first embodiment, and the description thereof is made with the same spirit.
Fig. 8 is one of the schematic structural diagrams of the upper robot in the second embodiment of the present invention, and fig. 9 is a front view of the upper robot in the second embodiment of the present invention.
As shown in fig. 8 and 9, the upper robot 2201 also has a support platform for carrying a vehicle as the upper support platform 221, and a lifting/lowering mechanism provided at an edge of the upper support platform 221 for lifting and lowering and moving the upper support platform 221. The lifting movement includes a plurality of lifting bars 2220, and a driving wheel provided at a lower end of each lifting bar 2220 as an upper driving wheel 225.
Compared with the first embodiment, the second embodiment has the same inclined plane 2212 formed on one side of the supporting platform 221 for the vehicle to enter, and two passageways 2213 formed on one side of the inclined plane 2212. However, the form of the inclined surface 2212 is slightly different from that of the first embodiment, specifically:
fig. 10 is a sectional view taken along line a-a of fig. 9.
As shown in fig. 8 and 10, the support platform 221 includes a platform frame 2214, a carrier plate 2215, and a cylinder portion 2216.
The platform 2214 is a main frame for supporting the platform 221, and a plurality of storage slots 2211 are formed around the platform. In the second embodiment, two storage slots 2211 are formed on two sides of the platform holder 2214, and two ends of each storage slot 2211 are respectively hinged with two lifting rods 2220.
In addition, each carrier plate hinge 22151 realizes the hinge between the carrier plate 2215 and the platform 2214 through a carrier plate hinge shaft, so that the carrier plate 2215 can rotate relative to the platform 2214 and can tilt towards the entrance.
The cylinder portion 2216 has one end disposed on the platform 2214 at an end away from the entrance and the other end connected to the carrier plate 2215. In this embodiment, the cylinder portion 2216 is used for lifting the carrier plate 2215 to make the carrier plate 2215 rotate along the carrier plate hinge 22151 to incline towards the entrance of the vehicle to form the inclined surface 2212, and is used for being flattened by the weight of the vehicle when the vehicle enters to make the carrier plate 2215 return to the horizontal state.
Fig. 11 is a second schematic structural diagram of an upper robot according to a second embodiment of the present invention.
As shown in fig. 8, when there is no vehicle parked, i.e. the supporting platform 221 is empty, the cylinder 2216 will push up the carrier plate 2215 to make the carrier plate 2215 rotate along the carrier plate hinge 22151 and tilt towards the entrance, thereby forming a tilted surface 2212 for the vehicle to enter.
As the vehicle is driven in, the weight of the vehicle is gradually pressed toward the end opposite to the driving inlet, so that the cylinder 2216 is gradually pressed flat to maintain the carrier plate 2215 horizontal, i.e., to restore to the state of the carrier plate 2215 shown in fig. 11, and in this way, the vehicle can be conveniently driven into the supporting platform 221 more smoothly.
Meanwhile, the carrier plate 2215 is also provided with two aisles 2213 for planning vehicle driving. The function of the passageway 2213 is the same as that of the passageway 1113 in the first embodiment, and the description thereof is omitted.
In addition, in the second embodiment, a parking slot 22153 is additionally disposed on the carrier plate 2215, so that when the vehicle is parked, the wheels of the vehicle can slightly sink into the parking slot 22153, and the user can feel that the vehicle is parked in place and simultaneously protect the vehicle from sliding.
In contrast to the first embodiment, the lifting bar 2220 of the second embodiment also has an upper support bar 222, a lower support bar 223, an eccentric portion 2231 provided at the hinge joint of the upper support bar 222 and the lower support bar 223, and a second telescopic member 226 (i.e., a lifting bar folding extension member 226) and a third telescopic member 227 (i.e., a driving wheel telescopic member 227). In the second embodiment, the first telescopic member 114 is omitted.
In the second embodiment, the eccentric portion 2231 is disposed at the hinge of the upper support bar 222 and the lower support bar 223, and the second hinge bar 2222 is disposed at the lower end of the lower support bar 223. The lifter folding extension member 226 is hinged to the eccentric portion 2231 at one end and to the second hinge bar 2222 at the other end. In this manner, the folding and extending member 226 of the lift lever is also operated without being caught by the force for rotating the upper support rod 222.
Fig. 12 is a partial enlarged view at B in fig. 8.
As shown in fig. 12, the eccentric portion 2231 includes an upper joint 22311 and a lower joint 22312 hinged to each other, and the joints of the upper joint 22311 and the lower joint 22312 are simultaneously hinged to one end of the lifter folding-extending member 226. The other end of the upper joint 22311 is hinged to the upper support bar 222 and the other end of the lower joint is hinged to the lower support bar 223. By this eccentric 2231, the angle between the upper support bar 222 and the lower support bar 223 can be fixed, thereby facilitating better control of the angle of the upper support bar 222 and the lower support bar 223 by the lifter folding extension member 226.
Fig. 13 is a schematic structural view of an upper robot in a folded state according to a second embodiment of the present invention.
Further, as shown in fig. 13, in the second embodiment, the upper support rod 222 and the lower support rod 223 also have a certain curvature, and the curvature is curved in a direction away from the lifting rod folding and extending member 226. In this way, the lifter folding extension member 226 can be more easily transferred to the upper support pole 222 and the lower support pole 223. Further, when the two opposite lifting/lowering bars 2220 are provided on both sides of the intelligent garage management robot 2200, the folding and extension of the upper support bar 222, the lower support bar 223, and the support platform 221 can be achieved without the first expansion/contraction member 114.
The folding state of the lifting bar 2220 is shown in fig. 13, and the upper support bar 222 and the lower support bar 223 are folded under the contraction of the lifting bar folding and extending member 226, so that the support platform 221 is lowered, and at this time, the vehicle can be parked by opening the upper support plate 2215 along the inclined plane 2212.
Fig. 14 is a partial enlarged view at C in fig. 8.
In the second embodiment, as shown in fig. 14, the driving wheel extension 227 is also disposed inside the lower support rod 223, one end of the driving wheel extension is hinged to the lower support rod 223, and the other end of the driving wheel extension is hinged to a fixing seat 2251 for fixing the driving wheel 225. Each holder 2251 has a holder hinge 22511 and a holder hinge lever 22512.
Wherein, a fixing seat hinge 22511 is provided at an end of the fixing seat 2251 remote from the driving wheel extension 227 for hinging with the lower end of the lower support bar 223. The fixed base hinge lever 22512 is hinged to the drive wheel extension 227.
In this way, the drive wheel extension 227 also enables adjustment of the height of the drive wheel 115, maintaining the entire support platform 111 in a level condition. Meanwhile, the angle between the fixing seat 2251 and the lower support bar 223 may also be adjusted.
Effects and effects of example two
According to the second multi-layer vehicle carrying device provided by the embodiment, because the upper layer robot has an arc curved in the direction away from the lifting rod folding and extending member, and the upper support rod also has a corresponding arc, when the lifting rod folding and extending member extends and retracts, the force can be more easily applied to the upper support rod and the lower support rod, so that the lifting operation of the upper layer support platform can be more efficiently realized.
In addition, the eccentric part of the second embodiment is arranged on the upper support rod, and the second cross rod hinged with the lifting rod folding and extending component is arranged on the lower support rod, so that the same effect as that of the first embodiment can be realized, namely, the length direction of the lifting rod folding and extending component is always kept at a certain angle with the length direction of the upper support rod, and the locking is avoided.
In addition, in the second embodiment, because the upper layer supporting platform is provided with the supporting frame and the supporting plate hinged to the supporting frame, and the cylinder part jacks up one end of the supporting plate to enable the supporting plate to incline towards the entrance of the vehicle to form an inclined surface, the cylinder part is further flattened by the weight of the vehicle after the vehicle enters, so that the supporting plate is restored to be horizontal, and therefore the vehicle can enter the upper layer supporting platform more stably, and the parking experience of a user is improved.
< example three >
The third embodiment is basically the same as the first embodiment, and the difference is that the vehicle-carrying robot determines the traveling route in a different manner.
For convenience of description, in the third embodiment, the same reference numerals are given to the same structures as those in the first embodiment, and the description thereof is made with the same spirit.
In the third embodiment, the transit zone 339 eliminates the geomagnetic device. This transfer district 339 is including ground induction zone and wall body induction zone, and radar induction system has all been laid in ground induction zone and wall body induction zone, is provided with the radar receiving arrangement and looks screen image analysis device with the radar induction system response on stereo garage robot 3301 (be upper robot 3301 promptly) and the bottom robot 3316, looks screen image analysis device including the camera.
Through radar induction and video screen imaging analysis, the vehicle-carrying robot can also realize the confirmation of the advancing route.
The technical scheme specifically discloses a technical scheme except geomagnetism. The radar sensing is also a mode capable of identifying a traveling path, a specific structural principle is an industry general technology, but the matching with a stereo garage robot belongs to the first time.
The above embodiments and modifications are merely examples for illustrating specific embodiments of the present invention, and the present invention is not limited to the description scope of the above embodiments and modifications.
For example, in the above embodiment, the bottom robot is an automatic transfer vehicle without a lifting structure, in another aspect of the present invention, the bottom robot may also be a robot having a slightly smaller supporting platform width and a lifting moving device, and the bottom robot can also be used in combination with an upper robot having a relatively larger size to carry vehicles and stack them.
For example, in the above-described embodiment, the multi-deck vehicle loading apparatus includes only two vehicle loading robots as the upper-deck robot and the lower-deck robot, thereby realizing parking of two vehicles in one parking space. The utility model discloses an in other schemes, multilayer year car device can also include more and carry the car machine, for example three year car robot, just can make and park more vehicles on a parking stall this moment. During concrete implementation, the vehicle-carrying robot at a higher layer can be provided with a supporting device which is longer than the vehicle-carrying robot at a second layer, namely, the length of the upper supporting rod and the lower supporting rod is lengthened, so that the height of the supporting platform is increased. In addition, the height of the supporting platform can be increased by adding more supporting rods.
For example, in the above-described embodiment, the lifting movement mechanism has the lifting rod and the corresponding lifting rod folding member, and the lifting rod folding member employs a telescopic cylinder. In other aspects of the present invention, the Shenjin rod folding member may be a member that can be supported by the lifting rod and can be folded by other members, such as a motor.
For example, in the above embodiment, the upper robot and the lower robot are each provided with four drive wheels. However, in other aspects of the present invention, the vehicle carrying robot may adjust the number of the driving wheels, for example, 3 or 6 driving wheels are used to realize driving; alternatively, other movement means may be used, such as by tracks.
Claims (10)
1. The utility model provides a device is carried to multilayer uses in intelligent garage and bears the vehicle, its characterized in that:
at least comprises two vehicle-carrying robots which are matched with each other to be used as a bottom layer robot and an upper layer robot, and can respectively carry the vehicles in a multilayer mode on a preset parking space,
wherein the bottom layer robot has:
a support platform for carrying the vehicle as a bottom support platform; and
a moving mechanism arranged at the bottom of the bottom layer supporting platform,
the upper robot has:
the supporting platform is used for bearing the vehicle and serves as an upper supporting platform; and
a lifting and moving mechanism which is arranged at the edge of the upper layer supporting platform and is used for lifting and moving the upper layer supporting platform,
the lifting moving mechanism comprises a plurality of lifting rods, a lifting rod folding and stretching component which is arranged on each lifting rod and is used for leading the lifting rod to be in a folding state or an upright state, and a driving wheel which is arranged at the lower end of each lifting rod,
each lifting rod comprises an upper supporting rod arranged on the upper layer supporting platform and a lower supporting rod rotatably connected with the upper supporting rod,
the lifting rod folding and extending component is respectively combined with the upper supporting rod and the lower supporting rod,
the lift-lever folding-extending member is capable of bringing the upper support lever and the lower support lever into the folded state before the upper robot parks the vehicle in the predetermined parking space, and capable of bringing both the upper support lever and the lower support lever into the upright state to carry the vehicle above the floor robot when the upper robot parks the vehicle in the predetermined parking space.
2. The multi-layer vehicle carrying device according to claim 1, wherein:
wherein, a plurality of object placing grooves for accommodating the lifting rods are formed at two sides of the edge of the upper layer supporting platform, one end of the upper supporting rod is rotatably connected in the object placing grooves, and a platform expansion piece which is used for enabling the upper supporting rod and the upper layer supporting platform to relatively rotate along the hinged part through expansion is connected in the object placing grooves,
the upper end of the upper supporting rod is provided with a first hinged rod and a second hinged rod which are vertical to the rotating surface of the upper supporting rod,
one end of the platform telescopic piece is hinged with the article holding groove, the other end of the platform telescopic piece is hinged with the first hinge rod,
one end of the support rod telescopic piece is hinged to the second hinged rod, and the other end of the support rod telescopic piece is hinged and arranged in the hinged fork on the outer side of the upper end of the lower support rod, so that the length direction of the support rod telescopic piece and the length direction of the lower support rod keep a certain angle.
3. The multi-layer vehicle carrying device according to claim 1, wherein:
wherein, a plurality of article placing grooves are formed at two sides of the edge of the upper layer supporting platform, one side of the article placing grooves is rotatably connected with the upper end of the upper supporting rod,
the lower end of the lower supporting rod is provided with a second hinged rod which is vertical to the rotating surface of the lower supporting rod,
one end of the support rod telescopic piece is hinged with the second hinged rod, the other end of the support rod telescopic piece is hinged in a hinged fork arranged at the outer side of the lower end of the upper support rod, so that the length direction of the support rod telescopic piece and the length direction of the upper support rod keep a certain angle,
the lower support rod has a curvature that curves away from the support rod extension.
4. The multi-layer vehicle carrying device according to claim 1, wherein:
and an inclined surface for the vehicle to enter is formed on one side of the upper layer supporting platform corresponding to the vehicle entrance.
5. The multi-layer vehicle carrying device according to claim 4, wherein:
wherein the upper layer supporting platform is provided with a platform frame connected with the lifting and moving mechanism, a carrier plate used for bearing the vehicle and a cylinder part arranged at one end of the platform frame far away from the driving inlet of the vehicle,
the carrier plate is rotatably connected at both sides of the platform frame so that the carrier plate rotates relative to the platform frame,
the cylinder part is used for jacking the carrier plate to enable the carrier plate to rotate so as to incline towards the driving inlet to form the inclined surface, and the cylinder part is flattened when the vehicle drives in to enable the carrier plate to restore to the horizontal state.
6. The multi-layer vehicle carrying device according to claim 5, wherein:
and one end of the carrier plate, which is far away from the driving inlet, is provided with a parking groove, so that wheels on two sides of the vehicle sink into the parking groove when the vehicle drives into the carrier plate, and the vehicle is parked.
7. The multi-layer vehicle carrying device according to claim 1, wherein:
wherein, the inner side of the lower supporting rod is provided with a driving wheel telescopic piece,
the upper end of the driving wheel telescopic piece is connected with the inner side of the lower supporting rod and the lower end of the driving wheel telescopic piece is connected with the driving wheel,
the driving wheel is a hub motor.
8. The multi-layer vehicle carrying device according to claim 1, wherein:
wherein, two passageways are arranged on the upper layer supporting platform,
the size of the aisle is matched with the size of the body of the vehicle.
9. An intelligent garage, comprising:
the multilayer vehicle carrying device is used for carrying vehicles;
the parking area is used for parking the multilayer vehicle-carrying devices;
the warehousing area is used for enabling the multilayer vehicle loading device to carry out warehousing and ex-warehousing of vehicles; and
a transfer area for the multi-layer vehicle carrying device to transfer the vehicle,
wherein the multi-layer vehicle carrying device is the multi-layer vehicle carrying device as claimed in any one of claims 1 to 8,
a plurality of geomagnetic devices for marking the travelling route are laid below the transfer area,
the multilayer car carrying device is provided with an induction mechanism for inducing the geomagnetic device and determines a traveling route through induction with the geomagnetic device.
10. An intelligent garage, comprising:
the multilayer vehicle carrying device is used for carrying vehicles;
the parking area is used for parking the multilayer vehicle-carrying devices;
the warehousing area is used for enabling the multilayer vehicle loading device to carry out warehousing and ex-warehousing of vehicles; and
a transfer area for the multi-layer vehicle carrying device to transfer the vehicle,
wherein the multi-layer vehicle carrying device is the multi-layer vehicle carrying device as claimed in any one of claims 1 to 8,
the transfer area comprises a ground induction area and a wall induction area,
radar sensing devices are laid in the ground sensing area and the wall sensing area,
the multilayer vehicle carrying device is provided with a radar receiving device matched with the radar sensing device and a video imaging analysis device comprising a camera.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910809932.3A CN110469174A (en) | 2019-08-29 | 2019-08-29 | A kind of stereo garage robot and automatic garage |
| CN2019108099323 | 2019-08-29 |
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| CN212614003U true CN212614003U (en) | 2021-02-26 |
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| CN201910809932.3A Pending CN110469174A (en) | 2019-08-29 | 2019-08-29 | A kind of stereo garage robot and automatic garage |
| CN202021845120.9U Active CN212614003U (en) | 2019-08-29 | 2020-08-29 | Multilayer vehicle carrying device and intelligent garage |
| CN202010891016.1A Pending CN111779338A (en) | 2019-08-29 | 2020-08-29 | Intelligent stereo garage reservation management system |
| CN202010891019.5A Pending CN111852126A (en) | 2019-08-29 | 2020-08-29 | Multilayer vehicle carrying device and intelligent garage |
| CN202010891012.3A Pending CN111779337A (en) | 2019-08-29 | 2020-08-29 | Intelligent stereo garage management system |
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| CN201910809932.3A Pending CN110469174A (en) | 2019-08-29 | 2019-08-29 | A kind of stereo garage robot and automatic garage |
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| CN202010891016.1A Pending CN111779338A (en) | 2019-08-29 | 2020-08-29 | Intelligent stereo garage reservation management system |
| CN202010891019.5A Pending CN111852126A (en) | 2019-08-29 | 2020-08-29 | Multilayer vehicle carrying device and intelligent garage |
| CN202010891012.3A Pending CN111779337A (en) | 2019-08-29 | 2020-08-29 | Intelligent stereo garage management system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114947381A (en) * | 2022-06-16 | 2022-08-30 | 国网安徽省电力有限公司池州供电公司 | Visual positioning walking conveying platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110469174A (en) * | 2019-08-29 | 2019-11-19 | 浙江尚摩工贸有限公司 | A kind of stereo garage robot and automatic garage |
| CN111927172B (en) * | 2020-08-18 | 2021-10-22 | 西南大学 | Lifting type parking system |
| CN112016718A (en) * | 2020-08-27 | 2020-12-01 | 浙江尚摩工贸有限公司 | Intelligent workshop remote sharing management system and management method thereof |
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- 2019-08-29 CN CN201910809932.3A patent/CN110469174A/en active Pending
-
2020
- 2020-08-29 CN CN202021845120.9U patent/CN212614003U/en active Active
- 2020-08-29 CN CN202010891016.1A patent/CN111779338A/en active Pending
- 2020-08-29 CN CN202010891019.5A patent/CN111852126A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114947381A (en) * | 2022-06-16 | 2022-08-30 | 国网安徽省电力有限公司池州供电公司 | Visual positioning walking conveying platform |
| CN114947381B (en) * | 2022-06-16 | 2023-12-15 | 国网安徽省电力有限公司池州供电公司 | Visual positioning walking conveying platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111779338A (en) | 2020-10-16 |
| CN110469174A (en) | 2019-11-19 |
| CN111779337A (en) | 2020-10-16 |
| CN111852126A (en) | 2020-10-30 |
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