CN105937320B - A kind of intelligent parking garage - Google Patents
A kind of intelligent parking garage Download PDFInfo
- Publication number
- CN105937320B CN105937320B CN201610457742.6A CN201610457742A CN105937320B CN 105937320 B CN105937320 B CN 105937320B CN 201610457742 A CN201610457742 A CN 201610457742A CN 105937320 B CN105937320 B CN 105937320B
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- garage
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- idler wheel
- frame
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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
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent parking garages, including driving channel and stereo garage；The driving channel includes driving main channel, the small vehicle lane for connecting with driving main channel and leading to stereo garage and connect with driving main channel and lead to the big vehicle lane in large car parking lot；The garage frame of the stereo garage is equipped with parking robot.By the classifying and identifying system in garage parking, automobile related data can be quick and precisely acquired；The vehicle classification of guidance different automobile types is parked, and artificial judgment is not necessarily to；Without stop off, the time is saved；The automobile in robot access garage is directed to by robot access rapidly, when robot Transport Vehicle is accurately steady, can design single parking stall smaller, realizes space maximization, creates more parking stalls using limited land resource.
Description
Technical field
The present invention relates to intelligent parking technical fields, in particular to a kind of intelligent parking garage.
Background technique
Currently, more and more families have purchased automobile, consequent parking with the raising of people's lives level
The insufficient problem in position is also more and more prominent.Therefore occur many different types of intelligent stereo garages in the market, especially
Robot garage parking.But due to the limitation of technology and cost, existing intelligent parking robot can only access certain model model
Interior automobile is enclosed, and cannot move that figure is huge or the automobile of the lower some specific types in chassis.Therefore how automobile to be divided
Class is parked, while meeting the convenient demand of parking is current problems faced.
Summary of the invention
The purpose of the present invention is to solve the deficiency of the above background technology, provides a kind of intelligent parking garage, the garage parking
Vehicle size has been subjected to Rational Classification, while parking for trolley is facilitated by the robot that stops.
In order to achieve this, intelligent parking garage designed by the present invention, including driving channel and stereo garage；The driving
Channel include drive a vehicle main channel, with driving main channel connect and lead to stereo garage small vehicle lane and with drive a vehicle main channel
Connect and lead to the big vehicle lane in large car parking lot；The garage frame of the stereo garage is equipped with parking robot.
Further, the two sides of the driving main channel are equipped with multiple first video identification devices, the small vehicle lane
Inlet be equipped with banister lever；The two sides of the small vehicle lane are equipped with multiple second video identification devices.
Specifically, the stereo garage includes multiple axial directions seperated garage parallel with small vehicle lane；It is described to stop
Vehicle robot include be set on the outside of the garage frame near the seperated garage of small vehicle lane stop pick-up robot and
The robot of changing trains or buses being set between two neighboring seperated garage.
Specifically, the pick-up robot that stops includes the first level track arranged along the lateral length direction in seperated garage
With the first level movable stand being set on first level track, the first level movable stand include horizontal moving frame ontology and
It is set to the first level shifting roller for moving horizontally the machine ontology back side and the cooperation of first level track, the horizontal moving frame sheet
Body front, which is equipped with, vertically moves frame along what it was slided up and down, and described vertically move is connected with pick-up manipulator on frame.
Specifically, the robot of changing trains or buses includes garage frame inside, the edge for being respectively arranged at two neighboring seperated garage
Second horizontal rail of the lateral length direction arrangement in seperated garage and the second horizontal rail for being set to two neighboring seperated garage
The second horizontal moving frame on road, second horizontal moving frame include horizontal moving frame ontology and are set to and move horizontally machine sheet
The body back side moves horizontally idler wheel with the second of the cooperation of the second horizontal rail, and horizontal moving frame ontology front is equipped with above and below it
Sliding vertically moves frame, and described vertically move is connected with pick-up manipulator on frame.
Specifically, the pick-up manipulator includes being perpendicularly fixed at the rotary shaft rack vertically moved on frame, the shaft branch
The front end of frame is equipped with the first rotating shaft arranged vertically；The first rotating shaft is fixedly connected with shaft connecting rod, the shaft connecting rod
Front end is equipped with the second shaft arranged vertically, and second shaft is fixedly connected with pick-up bracket, fixes on the pick-up bracket
There is the pick-up cover for clamping vehicle；Pick-up cover includes pick-up over body case, the bottom of the pick-up over body case and vehicle
One is respectively equipped at the corresponding position of four tires for clamping the tire gripping body of tire.
Specifically, the tire gripping body includes the clamping bar support being fixed on the inside of pick-up over body case, the clamping bar branch
The front and rear sides of seat have been respectively articulated with a tire clamping bar, and the middle part of the clamping bar support is equipped with the folder of tire on the drive wheels clamping bar rotation
Bar driver.
Specifically, being connected with the first rotating shaft driving motor of driving first rotating shaft rotation, institute at the top of the first rotating shaft
State the second shaft driving motor that driving the second shaft rotation is connected at the top of the second shaft.
Preferably, the seperated garage is equipped at intervals with a plurality of parallel first level track, institute along its longitudinal short transverse
It states first level shifting roller to be symmetrically disposed at left and right sides of the back side of first level movable stand, the two of the first level track
End is equipped with the first guide rail limited block cooperated with first level shifting roller；The top of the horizontal moving frame ontology is equipped with driving
The first level shifting roller motor of first level shifting roller rotation；
The left and right sides of the horizontal moving frame ontology is equipped with along the vertical direction vertically moves guide rail, the vertical shifting respectively
It is equipped at left and right sides of the back side of moving frame and vertically moves idler wheel with vertically move guide rail cooperation, the back side for vertically moving frame is set
There is what driving vertically moved the rotation of idler wheel to vertically move idler wheel motor；Distinguish the top and bottom of the first level movable stand
It is fixed with one piece of limit plate corresponding with idler wheel is vertically moved.
Preferably, along its longitudinal direction, short transverse is equipped at intervals with a plurality of parallel the respectively on the two neighboring seperated garage
The back side of two horizontal rails, the horizontal moving frame ontology is fixed with the rolling wheel support vertical with the axial direction in seperated garage
Bar, the both ends of the rolling wheel support bar are equipped with second cooperated with the second horizontal rail and move horizontally idler wheel, and described second is horizontal
The both ends of track are equipped with the second guide rail limited block for moving horizontally idler wheel cooperation with second；The top of second horizontal moving frame
Move horizontally idler wheel rotation equipped with driving second second moves horizontally idler wheel motor；
The left and right sides of second horizontal moving frame is equipped with along the vertical direction vertically moves guide rail, the vertical shifting respectively
It is equipped at left and right sides of the back side of moving frame and vertically moves idler wheel with vertically move guide rail cooperation, the back side for vertically moving frame is set
There is what driving vertically moved the rotation of idler wheel to vertically move idler wheel motor；Distinguish the top and bottom of second horizontal moving frame
It is fixed with one piece of limit plate corresponding with idler wheel is vertically moved.
The beneficial effects of the present invention are: can quick and precisely acquire automobile dependency number by the classifying and identifying system in garage parking
According to；The vehicle classification of guidance different automobile types is parked, and artificial judgment is not necessarily to；Without stop off, the time is saved；It is directed to machine
The automobile that people accesses garage is rapid by robot access, and when robot Transport Vehicle is accurately steady, can design single parking stall
It is smaller, realize space maximize, create more parking stalls using limited land resource.
Detailed description of the invention
Fig. 1 is the structure top view of intelligent parking garage in the present invention；
Fig. 2 is the schematic enlarged-scale view in Fig. 1 at A；
Fig. 3 is the structural side view of intelligent parking garage in the present invention；
Fig. 4 is that parking robot is installed on the main view in stereo garage in the present invention；
Fig. 5 is that parking robot is installed on the left view in stereo garage in the present invention；
Fig. 6 is the partial enlarged view in Fig. 5 at B；
Fig. 7 is that parking robot is installed on the top view in stereo garage in the present invention；
Fig. 8 is the partial enlarged view in Fig. 7 at C；
Wherein, 1-driving main channel, 2-small vehicle lanes, 3-big vehicle lanes, the 4-the first video identification device,
5-banister levers, the 6-the second video identification device, 7-seperated garages, 8-stop pick-up robot, and 9-change trains or buses robot,
10-first level tracks, 11-first level movable stands, 12-horizontal moving frame ontologies, 13-first level shifting rollers,
14-vertically move frame, 15-pick-up manipulators (1501-rotary shaft racks, 1502-first rotating shafts, 1503-shaft connecting rods,
1504-the second shaft, 1505-pick-up brackets, 1506-, which pick up the car, covers), the 16-the second horizontal rail, 17-the second moves horizontally
Frame, 18-the second moves horizontally idler wheel, 19-pick-up over body cases, and 20-tire gripping bodies (2001-clamping bar supports, 2002-
Tire clamping bar, 2003-clamping bar drivers), 21-first rotating shaft driving motors, the 22-the second shaft driving motor, 23-the first
Guide rail limited block, 24-first level shifting roller motors, 25-vertically move guide rail, and 26-vertically move idler wheel, and 27-hang down
Straight shifting roller motor, 28-limit plates, 29-rolling wheel support bars, the 30-the second guide rail limited block, 31-the second moves horizontally
Idler wheel motor.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Such as the intelligent parking garage of Fig. 1, including driving channel and stereo garage；Driving channel includes driving main channel 1 and row
Car owner channel 1 connects and leads to the small vehicle lane 2 of stereo garage and connect with driving main channel 1 and lead to large car parking
The big vehicle lane 3 of field；The garage frame of stereo garage is equipped with parking robot.The two sides of driving main channel 1 are equipped with multiple
The inlet of first video identification device 4, small vehicle lane 2 is equipped with banister lever 5；The two sides of small vehicle lane 2 are equipped with multiple
Second video identification device 6.Trolley and cart are identified by the first video identification device 4, when trolley is travelled to banister lever 5
When, banister lever 5 is opened, and trolley is travelled to stereo garage, and when cart passes through, banister lever 5 is closed, and cart is driven a vehicle by cart
Road 3 is travelled to cart parking lot.Second video identification device 6 identifies that trolley in the position of stereo garage parking area, facilitates machine
People clamps it.
Stereo garage is made of that (Fig. 1 is with two fissions multiple axial directions seperated garage 7 parallel with small vehicle lane 2
For garage)；Parking robot includes on being set on the outside of the garage frame in the seperated garage 7 of small vehicle lane 2
The robot 9 of changing trains or buses for stopping pick-up robot 8 and being set between two neighboring seperated garage 7.
As shown in Fig. 3-4, stopping pick-up robot 8 includes one or more arranged along the lateral length direction in seperated garage 7
It root first level track 10 (as shown in Fig. 4-5, by taking two first level tracks as an example) and is set on first level track 10
First level movable stand 11, first level movable stand 11 includes horizontal moving frame ontology 12 and is set to and moves horizontally machine ontology
(the first level shifting roller 13 as shown in Fig. 4-5 of first level shifting roller 13 that 12 back sides and first level track 10 cooperate
It is symmetrically disposed at left and right sides of the back side of first level movable stand 11), the both ends of first level track 10 are equipped with and first level
The first guide rail limited block 23 that shifting roller 13 cooperates；The left and right sides of horizontal moving frame ontology 12 is equipped with along the vertical direction respectively
Guide rail 25 is vertically moved, vertically moves to be equipped at left and right sides of the back side of frame 14 and vertically moves rolling with vertically move the cooperation of guide rail 25
Wheel 26, the back side for vertically moving frame 14, which is equipped with driving and vertically moves the rotation of idler wheel 26, vertically moves idler wheel motor 27；Vertically
Pick-up manipulator 15 is connected on movable stand 14, the top of horizontal moving frame ontology 12 is equipped with driving first level shifting roller 13
The first level shifting roller motor 24 of rotation；The top and bottom of first level movable stand 11 be respectively fixed with one piece with it is vertical
The corresponding limit plate 28 of shifting roller 26.
As shown in figures 1 and 3, robot 9 is changed trains or buses including being respectively arranged in the garage frame in two neighboring seperated garage 7
Side, one or more the second horizontal rail 16 arranged along the lateral length direction in seperated garage 7 (as shown in Fig. 1-Fig. 3, with
For two articles of second parallel horizontal rails 16) and be set in second horizontal rail 16 in two neighboring fission garage 7 the
Two horizontal moving frames 17, the second horizontal moving frame 17 include that horizontal moving frame ontology 12 and being set to moves horizontally the back of machine ontology 12
Face moves horizontally idler wheel 18 with the second of the cooperation of the second horizontal rail 16, and (back side of horizontal moving frame ontology 12 is fixed with and divides
The vertical rolling wheel support bar 29 of the axial direction in body garage 7, the both ends of rolling wheel support bar 29 are equipped with matches with the second horizontal rail 16
Second closed moves horizontally idler wheel 18), 12 front of horizontal moving frame ontology, which is equipped with, vertically moves frame 14 along what it was slided up and down, hangs down
Pick-up manipulator 15 is connected in translation moving frame 14.The both ends of second horizontal rail 16 are equipped with and move horizontally idler wheel 18 with second and match
The the second guide rail limited block 30 closed；The top of second horizontal moving frame 17 is equipped with that driving second moves horizontally the rotation of idler wheel 18
Two move horizontally idler wheel motor 31；The left and right sides of second horizontal moving frame 17 is equipped with along the vertical direction vertically moves guide rail respectively
25, it vertically moves to be equipped at left and right sides of the back side of frame 14 and vertically moves idler wheel 26 with vertically move the cooperation of guide rail 25, it is vertical to move
The back side of moving frame 14, which is equipped with driving and vertically moves the rotation of idler wheel 26, vertically moves idler wheel motor 27；Second horizontal moving frame 17
Top and bottom be respectively fixed with one piece of limit plate 28 corresponding with idler wheel 26 is vertically moved.
As shown in figure 4, pick-up manipulator 15 includes being perpendicularly fixed at the rotary shaft rack 1501 vertically moved on frame 14, shaft
The front end of bracket 1501 is equipped with the first rotating shaft 1502 arranged vertically；First rotating shaft 1502 is fixedly connected with shaft connecting rod 1503,
The front end of shaft connecting rod 1503 is equipped with the second shaft 1504 arranged vertically, and the second shaft 1504 is fixedly connected with pick-up bracket
1505, the pick-up cover 1506 for clamping vehicle is fixed on pick-up bracket 1505；Cover 1506 of picking up the car includes pick-up over body case 19,
One is respectively equipped at the position corresponding with four tires of vehicle of the bottom of pick-up over body case 19 for clamping the tire of tire
Gripping body 20.
As shown in Fig. 6-8, tire gripping body 20 includes the clamping bar support 2001 for being fixed on 19 inside of pick-up over body case,
The front and rear sides of clamping bar support 2001 have been respectively articulated with a tire clamping bar 2002, and the middle part of clamping bar support 2002 is equipped with driving wheel
The clamping bar driver 2003 of tire clamping bar rotation.
As shown in figure 4, the top of first rotating shaft 1502 is connected with the first rotating shaft driving that driving first rotating shaft 1502 rotates
Motor 21, the top of the second shaft 1504 are connected with the second shaft driving motor 22 of driving the second shaft 1504 rotation.
The course of work of the invention is: when wagon flow is by driving main channel 1, passing through the first shadow of main channel two sides of driving a vehicle
As identification device 4 identifies type of vehicle, when trolley is travelled to banister lever 5, banister lever 5 is automatically turned on, trolley
Into the small vehicle lane 2 of stereo garage, when cart is travelled to banister lever 5, banister lever 5 is closed, and cart is guided
It is parked to cart parking lot.
Trolley is travelled to the parking area of delimitation beside stereo garage and can arbitrarily be parked, and assigns cutoff command after driver's parking,
Perimeter security situation is confirmed by infrared scanning device, the second video identification device 6 scans and recognizes the position of trolley at this time,
And determining coordinate, system controls first level shifting roller motor 24 and starts, and driving first level movable stand 11 is moved to wait stop
Near trolley, the starting of idler wheel motor 27 is vertically moved at this time, driving, which vertically moves frame 14 and moves downward, is located at pick-up manipulator
Above trolley to be stopped, by the cooperation of first rotating shaft 1502 and the second shaft 1504, cover pick-up cover 1506 by trolley to be stopped,
Clamping bar driver 2003 drives two tire clamping bars 2002 to act, and lives wheel supporting from the front and rear sides of wheel, at this time vertically
Movable stand 14 acts upwards, and pick-up manipulator 15 clamps vehicle to vacant parking stall, when the seperated vehicle close to small vehicle lane 2
When in library 7 without vacant parking stall, stop (robot of changing trains or buses on the vacant lot for the side that trolley is placed in seperated garage 7 by pick-up robot 8
At the 9 overlayable position of pick-up manipulator 15), the frame 14 that vertically moves for 9 people of machine that changes trains or buses moves downward, and passes through machine of changing trains or buses
The pick-up manipulator of people 9 picks up trolley, and is transported in the vacant parking stall in seperated garage 7 in 9 outside of robot of changing trains or buses.If setting
There are multiple seperated garages 7, trolley can be repeatedly transported in the seperated garage 7 in outside by stopping pick-up robot 8.
When car owner needs to pick up the car, when in the seperated garage that vehicle is located most closely to small vehicle lane 2, then directly by stopping taking
Trolley is transported to trolley parking area from vacant parking stall by vehicle robot 8, when vehicle is located remotely from the seperated garage of small vehicle lane 2
When middle, then by robot 9 of changing trains or buses by vehicles drive to the 15 covered region of institute of pick-up manipulator for stopping pick-up robot 8, then
By stopping pick-up robot 8 for vehicles drive to trolley parking area, if being equipped with multiple seperated garages 7, machine of changing trains or buses can be passed through
Trolley is repeatedly transported to 15 coverage area for stopping the pick-up manipulator of pick-up robot 8 by people 9, then by stopping pick-up robot 8
Trolley is placed in trolley parking area.
The above described is only a preferred embodiment of the present invention, not being done in any form to structure of the invention
Limitation.Any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
In the range of still falling within technical solution of the present invention.
Claims (7)
1. a kind of intelligent parking garage, including driving channel and stereo garage；It is characterized by: the driving channel includes driving master
Channel (1), with driving main channel (1) connect and lead to stereo garage small vehicle lane (2) and with driving main channel (1) company
Connect and lead to the big vehicle lane (3) in large car parking lot；The garage frame of the stereo garage is equipped with parking robot；
The stereo garage includes multiple axial directions seperated garage (7) parallel with small vehicle lane (2)；The parking machine
People includes being set on the outside of the garage frame in the seperated garage (7) of small vehicle lane (2) to stop pick-up robot (8)
And the robot of changing trains or buses (9) being set between two neighboring seperated garage (7)；
The pick-up robot (8) that stops includes the first level track (10) arranged along the lateral length direction of seperated garage (7)
With the first level movable stand (11) being set on first level track (10), the first level movable stand (11) includes level
Movable stand ontology (12) and being set to moves horizontally the first level at machine ontology (12) back side and first level track (10) cooperation
Shifting roller (13)；
The fission garage (7) is equipped at intervals with a plurality of parallel first level track (10) along its longitudinal short transverse, and described the
One, which moves horizontally idler wheel (13), is symmetrically disposed at left and right sides of the back side of first level movable stand (11), the first level track
(10) both ends are equipped with the first guide rail limited block (23) cooperated with first level shifting roller (13)；The horizontal moving frame sheet
The top of body (12) is equipped with the first level shifting roller motor (24) of driving first level shifting roller (13) rotation；
Horizontal moving frame ontology (12) front is equipped with to be vertically moved frame (14) along what it was slided up and down, described to vertically move frame
(14) pick-up manipulator (15) are connected on；
The pick-up manipulator (15) includes being perpendicularly fixed at the rotary shaft rack (1501) vertically moved on frame (14), the shaft
The front end of bracket (1501) is equipped with the first rotating shaft (1502) arranged vertically；The first rotating shaft (1502) is fixedly connected with shaft
Connecting rod (1503), the front end of the shaft connecting rod (1503) are equipped with the second shaft (1504) arranged vertically, second shaft
(1504) it is fixedly connected with pick-up bracket (1505), the pick-up cover for clamping vehicle is fixed on the pick-up bracket (1505)
(1506)；Pick-up cover (1506) includes pick-up over body case (19), and the four of the bottom of the pick-up over body case (19) and vehicle
One is respectively equipped at the corresponding position of a tire for clamping the tire gripping body (20) of tire.
2. intelligent parking garage as described in claim 1, it is characterised in that: the two sides of driving main channel (1) are equipped with multiple
The inlet of first video identification device (4), the small vehicle lane (2) is equipped with banister lever (5)；The small vehicle lane
(2) two sides are equipped with multiple second video identification devices (6).
3. intelligent parking garage as described in claim 1, it is characterised in that: the robot of changing trains or buses (9) includes being respectively arranged at
The the second horizontal rail arranged on the inside of the garage frame of two neighboring fission garage (7), along the lateral length direction of seperated garage (7)
Road (16) and the second horizontal moving frame (17) being set in the second horizontal rail (16) of two neighboring seperated garage (7), institute
Stating the second horizontal moving frame (17) includes that horizontal moving frame ontology (12) and being set to moves horizontally machine ontology (12) back side and the
The second of two horizontal rails (16) cooperation moves horizontally idler wheel (18), and horizontal moving frame ontology (12) front is equipped with along thereon
Lower slider vertically moves frame (14), and described vertically move is connected with pick-up manipulator (15) on frame (14).
4. intelligent parking garage as described in claim 1, it is characterised in that: the tire gripping body (20) includes being fixed on to take
Clamping bar support (2001) on the inside of vehicle cover shell (19), the front and rear sides of the clamping bar support (2001) have been respectively articulated with a wheel
Tire clamping bar (2002), the middle part of the clamping bar support (2001) are equipped with the clamping bar driver (2003) of tire on the drive wheels clamping bar rotation.
5. intelligent parking garage as described in claim 1, it is characterised in that: be connected with drive at the top of the first rotating shaft (1502)
The first rotating shaft driving motor (21) of first rotating shaft (1502) rotation is moved, is connected with driving at the top of second shaft (1504)
Second shaft driving motor (22) of the second shaft (1504) rotation.
6. intelligent parking garage as described in claim 1, it is characterised in that: the left and right sides of the horizontal moving frame ontology (12)
Respectively along the vertical direction be equipped with vertically move guide rail (25), it is described vertically move frame (14) the back side at left and right sides of be equipped with it is vertical
Moving guide rail (25) cooperation vertically moves idler wheel (26), and the back side for vertically moving frame (14) is equipped with driving and vertically moves rolling
That takes turns the rotation of (26) vertically moves idler wheel motor (27)；The top and bottom of the first level movable stand (11) are fixed respectively
There is one piece of limit plate (28) corresponding with idler wheel (26) are vertically moved.
7. intelligent parking garage as claimed in claim 3, it is characterised in that: edge respectively on the two neighboring seperated garage (7)
Its longitudinal short transverse is equipped at intervals with a plurality of parallel the second horizontal rail (16), the back side of the horizontal moving frame ontology (12)
It is fixed with the rolling wheel support bar (29) vertical with the axial direction of seperated garage (7), the both ends of the rolling wheel support bar (29) are set
Have and moved horizontally idler wheel (18) with the second of the second horizontal rail (16) cooperation, the both ends of second horizontal rail (16) are set
There is the second guide rail limited block (30) for moving horizontally idler wheel (18) cooperation with second；The top of second horizontal moving frame (17)
Move horizontally idler wheel (18) rotation equipped with driving second second moves horizontally idler wheel motor (31)；
The left and right sides of second horizontal moving frame (17) is equipped with along the vertical direction vertically moves guide rail (25) respectively, described to hang down
It is equipped at left and right sides of the back side of translation moving frame (14) and vertically moves vertically moving idler wheel (26) for guide rail (25) cooperation, it is described to hang down
The back side of translation moving frame (14), which is equipped with driving and vertically moves the rotation of idler wheel (26), vertically moves idler wheel motor (27)；Described
One piece of limit plate (28) corresponding with idler wheel (26) are vertically moved is respectively fixed at the top and bottom of two horizontal moving frames (17).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610457742.6A CN105937320B (en) | 2016-06-22 | 2016-06-22 | A kind of intelligent parking garage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610457742.6A CN105937320B (en) | 2016-06-22 | 2016-06-22 | A kind of intelligent parking garage |
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| CN105937320A CN105937320A (en) | 2016-09-14 |
| CN105937320B true CN105937320B (en) | 2018-12-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106481121B (en) * | 2016-10-20 | 2019-03-05 | 温州燧人智能科技有限公司 | A kind of intelligent parking garage Yi Che robot |
| CN107558775A (en) * | 2017-07-18 | 2018-01-09 | 武汉智象机器人有限公司 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
| CN107386730B (en) * | 2017-07-18 | 2022-11-18 | 武汉智象机器人有限公司 | Intelligent underground parking garage and parking method thereof |
| CN107575073B (en) * | 2017-07-18 | 2019-12-27 | 武汉智象机器人有限公司 | Intelligent parking garage and parking method thereof |
| CN109930886B (en) * | 2019-03-20 | 2020-09-15 | 武汉智象机器人有限公司 | Double-layer lifting and transverse moving type intelligent parking garage suitable for L-shaped terrain and use method |
| CN111179622A (en) * | 2020-01-06 | 2020-05-19 | 珠海丽亭智能科技有限公司 | Dynamic parking space allocation method for robot parking lot |
| CN115234063A (en) * | 2021-01-30 | 2022-10-25 | 武汉智象机器人有限公司 | Shuttle type gear transmission outer clamp type carrier |
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| CN206016364U (en) * | 2016-06-22 | 2017-03-15 | 武汉智象机器人有限公司 | A kind of intelligent parking garage |
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| CN105937320A (en) | 2016-09-14 |
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Denomination of invention: An intelligent parking garage Effective date of registration: 20220304 Granted publication date: 20181225 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: WUHAN ZHIXIANG ROBOT Co.,Ltd. Registration number: Y2022420000051 |
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