CN107882389A - A kind of Intelligent vertical lifting type multi-storied garage - Google Patents
A kind of Intelligent vertical lifting type multi-storied garage Download PDFInfo
- Publication number
- CN107882389A CN107882389A CN201711455293.2A CN201711455293A CN107882389A CN 107882389 A CN107882389 A CN 107882389A CN 201711455293 A CN201711455293 A CN 201711455293A CN 107882389 A CN107882389 A CN 107882389A
- Authority
- CN
- China
- Prior art keywords
- robot
- storied garage
- parking stall
- garage
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of present invention specially Intelligent vertical lifting type multi-storied garage, including integral mechanical framework, multi-storied garage is with performing robot；Multi-storied garage moves up and down in integral mechanical framework；The bottom of steel structure frame is provided with the space that robot movement is performed for car shape, and the space bottom is equipped with the track for performing robot movement, and each parking stall is rectangle structure；Each parking stall is that upper and lower surface is steel plate, and each parking stall sets the position sensor on corresponding parking stall；The position sensor on the parking stall is connected with the multi-storied garage control module at place.The artificial car shape of machine is performed, the drive module of the lifting motor is placed in the inner space of car body, receives the control information of the control module from robot；The control module receives the image information of image capture module collection, and the robot control module is connected with garage central processing unit.The garage floor space of this method is small, and control motion is flexible, and environmental suitability is strong.
Description
Technical field
The present invention relates to automatic field and the coordinated field of robot, specially a kind of Intelligent vertical lift is stood
Body garage.
The content of the invention
1. technical problem to be solved：
In the prior art, mechanical stereo garage is slowly eliminated due to the short slab of its structure, and Automated three-dimensional garage is just emerging
Rise, but still face the problem of access efficiency is not high.In existing mechanical stereo garage, such as patent of invention CN
105625781 A《Multi-storied garage》Middle proposition uses sector structure, and improves pick-up bicycle parking efficiency using elevating mechanism, but whole
Individual annular garage is monolithic construction, and only one set of lifting mechanism, transport efficacy are relatively low in liftway.In peak time,
It is difficult to meet actual use demand.The A of patent of invention CN 106285097《Stereo automatization garage》A kind of bottom is disclosed to consolidate
It is fixed, the Automated three-dimensional garage of first half activity, the parking capacity in the area is improved by mobilizable top half.But
Inevitably there is difficult situation of picking up the car, if first layer has car, the awkward feelings not taken to get off occur in the car of the second layer
Condition.The A of patent of invention CN 106121321《A kind of Automated three-dimensional garage structure》In disclose a kind of solid by vertical lift
The structure that the multi-storied garage of garage and horizontal mobile is combined, land utilization ratio are high, but need to drive in operation process whole
Individual multi-storied garage is moved, and energy consumption is big, and can not meet actual demand in peak period, and access efficiency is low.Prior art CN
107476624《A kind of multi-storied garage》In disclose extend down from ground and for carrier vehicle seat house multi-storied garage, but should
Method is that the active rotating shaft that the lowering or hoisting gear utilized is rotatably mounted on support frame and active rotating shaft are parallel to each other simultaneously
The driven spindle that is installed in rotation on support frame, for drive Power Component, preposition transmission component that active rotating shaft rotates,
Rear transmission component.This method is present when vehicles while passing car, and the connection on support frame and ground is not fixed, and it is hidden to have safety
Suffer from.
Based on above reason, it is necessary to there is one kind effectively to utilize area, resource, carry out Transport Vehicle is economical and efficient
System is devised.Robot is because it is intelligent, automation, and motion is rapid accurate, and low power consumption and other advantages are popular.Machine
Cooperating with each other for people can also give play to bigger function in the limited time.Pass through the phase interworking of robot and multi-storied garage
Close, the efficiency of Transport Vehicle can be effectively improved.
2. technical scheme：
A kind of Intelligent vertical lifting type multi-storied garage, including integral mechanical framework, multi-storied garage is with performing robot；Its feature
It is：Vertically extending lifting passage is provided with the integral mechanical framework；At least two are provided with each lifting passage
Layer multi-storied garage, every layer of multi-storied garage is a parking stall；The multi-storied garage moves up and down in place lifting passage；It is described
The bottom of steel structure frame is provided with the space that robot movement is performed for car shape, and the space bottom is equipped with for performing robot
Mobile track, the number for performing robot are more than or equal to one.
Each parking stall is rectangle structure；Each parking stall is that upper and lower surface is steel plate, and upper and lower surface passes through four
The column connection at angle；Each parking stall sets the position sensor on corresponding parking stall；The position sensor on the parking stall
It is connected with the multi-storied garage control module at place.
The execution artificial car shape of machine, including the drive module of car body, lifting motor, lifting motor, lifting motor control
Hoistable platform, robot control module, the image capture module for being placed in car body surrounding of system；The drive module of the lifting motor
The inner space of car body is placed in, receives the control information of the control module from robot；The control module receives image and adopted
Collect the image information of module collection, the robot control module is connected with garage central processing unit.
Coordinated in the present invention including three critical pieces：The central processing unit in multi-storied garage, robot and garage
Cooperation.Because there is several layers of parking stalls in multi-storied garage, the present invention is using installation parking stall position on the bottom plate on each parking stall
Sensor positions the situation of each parking stall, each robot also installation site sensor position each robot position and
Working condition.In practical application, we usually use robot graphics' acquisition module to be symmetrical using smart camera, two cameras
The left and right sides loaded on robot, ensure that IMAQ is unaffected when robot advance is fallen back.Certainly according to the specific of garage
Situation, the front and back end of robot can also be arranged on.Wherein image capture module requirement has certain angle with ground, it is ensured that can enter
Row IMAQ.Four motors for performing robot are connected in a full-bridge driving with hoistable platform, drive connection control
Unit, control unit receive and analyze image capture module and the information of central processing unit, and so as to control driver element, driving is single
Member control performs the up and down motion of the motor movement and hoistable platform of robot.
Further, each parking stall includes parking motor, and stop motor drive module and latch；Drive in the garage
Dynamic model block is connected with garage control module；The parking motor drive module is connected with parking motor；The parking motor control
Latch.In the present invention, we set latch to be connected with the crossbeam of integral frame, and the specific course of work is：Stepping
Motor driven cam mechanism, when cam reaches greatest limit position, latch is completely out, realizes self-locking.When cam mechanism arrives
During up to minimum position, latch is withdrawn completely, realizes separation.The parking motor is common DC motor, and output is connected with screw rod,
Composition screw thread pair is engaged with the internal thread on translating cam.Wherein when motor turns clockwise, translating cam moves right, and inserts
Pin is used as driven member, moves to peak from the minimum point of translating cam, realizes the release of latch.The section of stretching out of latch enters whole
In the neck of body formula framework, the locking of multi-storied garage and mechanical framework is realized.When multi-storied garage needs to separate with mechanical framework：This
When necessary condition be that hoistable platform holds multi-storied garage.After support of the multi-storied garage by hoistable platform, motor is counterclockwise
Rotation, translating cam are moved to the left, and latch loses the support of translating cam, while by the bullet for the stage clip being pre-loaded with latch
Power, force latch to shrink back multi-storied garage, so as to exit the neck of mechanical framework, realize point of multi-storied garage and mechanical framework
From.
Further, the execution artificial four-wheel drive of machine, each tire pass through shaft coupling and a wheel electrical machine phase
Even.
Further, charge port is set on the steel structure frame, and the charge port is connected with the power supply of multi-storied garage.
The integral mechanical framework is metal structure in the present invention, passes through for accommodating multi-storied garage, provides simultaneously
Perform robot runway.In integral mechanical base of frame space, a series of marks are set, there is provided Robot Scanning so that its just
Really judge to be presently in position.Crossbeam is set in the spacing of the height of each parking stall, to ensure that multi-storied garage can when withdrawing
To form self-locking with mechanical framework；Mechanical framework is connected with power supply, is charged in multi-storied garage self-locking to its internal electric source.Running
The end in road is provided with robot charge point, and the robot for being guaranteed at charged state is not done with the robot generation moved
Relate to.When the electricity for performing robot is less than warning value, robot will move to predetermined charge point and carry out automatic charging；Machine
People's charge point plays a part of at issue machine people's recovery simultaneously, will by the robot of adjacent runway when robot breaks down
It is pushed into charge point, waits to be repaired.
3. beneficial effect：
（1）Garage floor space provided by the invention is small, and control motion is flexible, and environmental suitability is strong.（2）Running efficiency pole
Height, cooperating between robot can complete more to do more physical exercises within the equal time.（3）Robot is positioned using camera
With navigation, acquisition characteristics information, the intelligence degree of raising robot while cost is reduced（4）Automatically, effectively reduce
Cost of labor.
Brief description of the drawings
Fig. 1 is the embodiment of the multi-storied garage arranged using one layer of two row two；
Fig. 2 is the schematic diagram of two layers of multi-storied garage in embodiment；
Fig. 3 is the structural representation that robot contraction state is performed in embodiment；
Fig. 4 is the structural representation that robot deployed condition is performed in embodiment；
Fig. 5 is the structural representation of a parking stall bottom plate.
Embodiment
It can be seen that the present invention includes integral mechanical framework 3, performs robot 2, solids in Fig. 1, Fig. 2, Fig. 3, Fig. 4
Garage 1, garage central processing unit 5, robot fill an electricity 4.The execution robot 2 uses four-wheel drive, and four tires 15 are right
Claim the both sides for being distributed in robot, be connected by shaft coupling 18 with robot car turbin generator 21, wheel electrical machine forms robot
Motion parts.Its image capture module uses smart camera 14, and two cameras are symmetrically loaded on the left and right sides of robot, ensured
IMAQ is unaffected when robot advance is fallen back.According to the actual conditions in garage, can also be gathered in the front and back end of car body
Image.Image capture module is that smart camera requirement has certain angle with ground, it is ensured that can carry out IMAQ.IMAQ number
According to conduction to robot control module 19, robot motor's drive module 20 is controlled by it, realizes the wheel electricity of control machine people
Machine, so as to realize the independent navigation of robot.
The execution robot 2 starts working after motion in place, is corrected carrying out posture by a small margin, determines that posture accords with
Close after requiring, four setting in motions of robot lifting motor 17, hoistable platform 16 raises, and jacks up multi-storied garage 1, performs robot
Power supply 22 provides power to robot lifting motor and wheel electrical machine.
In actual use：The track having below garage for robot motion is often arranged, is connected between track and track, machine
Device people configures on demand, the robot on different tracks can mutual coordinated,
Example 1. is only equipped with a row garage when positioned at street both sides,（One row has 10 multi-storied garages, altogether 20 parking stalls）
Lower section is the track for robot motion, only need to be equipped with an execution robot, you can solves the motion of this row's multi-storied garage.Street
Dao Yu streets track is connected, and the cooperation of execution robot between different tracks can be achieved after composition network, when in a street
When needing to take more cars simultaneously, an execution robot can not meet to require at that time, and system assembles execution machine idle on network
Device people picks up the car jointly, meets the pick-up problem of peak period.
Example 2. can be equipped with 10 row garages when positioned at large parking lot,（10 multi-storied garages are often arranged, altogether 200 cars
Position）10 tracks of fitted underneath, interconnect between track, be equipped with 10 execution robots, every fortune for being responsible for a row garage
It is dynamic.When certain row needs to take out more cars simultaneously, an execution robot can not meet to require at that time, and system is assembled idle on network
Execution robot picked up the car by the lower section of the track motion that is connected to multi-storied garage to be exercised, meet that the pick-up of peak period is asked
Topic.
Therefore, robot configures according to use demand, and place that is busy, needing often to stop to pick up the car can improve execution machine
The density of device people, i.e., control 10 multi-storied garages to be changed to a robot by an original robot and control 5 multi-storied garages,
With meet demand.
Fig. 1 is to state for convenience, so drawn a set of 2x2 multi-storied garage, 8 parking stalls altogether, and two execution machines
People is responsible for the multi-storied garage above respective track.When certain two multi-storied garage of row needs to move simultaneously, an execution robot
It can not meet to require, the execution robot that system can be transferred on another track comes to help, and realization is picked up the car simultaneously, ensures high efficiency
Such as the multi-storied garage that Fig. 2 is for two layers of parking stall, as can be seen from Figure, each parking stall is a rectangle structure；Often
Individual parking stall upper and lower surface is steel plate, and upper and lower surface is connected by the column 9 of corner.Arrange and stop on the bottom plate on each parking stall
Vehicle motor 13, position sensor, parking motor drive module 10, multi-storied garage control module 11, garage charge port 7.Wherein it is
Accurate positioning each parking stall provides at least one position sensor.In detail in this figure, the control module 11 of multi-storied garage is set
Put in the centre of the multi-storied garage, can essentially be adjusted as needed.
Fig. 5 is the structure chart of multi-storied garage bottom plate.The multi-storied garage is when reaching predetermined altitude, position corresponding to parking stall
The data for putting sensor collection are transferred to multi-storied garage control module 11, are controlled by it multi-storied garage parking motor drive module
10, parking motor drive module receive instruction after driving parking motor 13 move, when stop motor movement when, the cam machine of end
Structure is brought into operation, and promotes the motion of latch 8, until stroke is ended, multi-storied garage 1 is locked with integral mechanical framework 3, is completed pre-
Fixed action.Multi-storied garage power supply 12 provides power to stepper motor.
The integral mechanical framework 3 is metal structure, provides runway to robot 2 is performed, inner space sets a system
Row mark, being scanned for robot 2 so that its judgement is presently in position, framework is divided into two layers up and down, and upper strata 19 is concordant with ground,
Walk or park cars for pedestrian, the spacing between upper strata 19 and lower floor 20 is the height of multi-storied garage, to ensure stereoscopic vehicle
Storehouse 1 can form self-locking when withdrawing with mechanical framework 3；Mechanical framework is connected with power supply, the mechanical frames in 1 self-locking of multi-storied garage
Frame 3 charges to multi-storied garage power supply 12.Mechanical framework is provided with charge point 4, and it is in the end of runway 21, is guaranteed at charged state
Robot do not produce interference with the robot that moves.
The multi-storied garage control module 11, robot control module 19 use STM32, and central processing unit 5 is using tree
The certain kind of berries sends 3 types.
As shown in figure 5, the bottom plate both ends on parking stall set translating cam 25 and latch 8, by the motion for the motor 13 that stops,
Whether control cam 25 protrudes with latch 8.When the motor that stops receives the instruction of closure latch, motor work drives latch convex
Go out to insert in the corresponding neck of integral mechanical framework.The specific course of work is in figure：The stepper motor band machine of moving cam 25
Structure, when cam 25 reaches greatest limit position, latch 8 is completely out, realizes self-locking.When cam mechanism reaches minimum position
When, latch is withdrawn completely, realizes separation.The parking motor is common DC motor, and output is connected with screw rod 24, convex with movement
Internal thread on wheel is engaged composition screw thread pair.Wherein when motor turns clockwise, translating cam moves right, latch be used as from
Moving part, peak is moved to from the minimum point of translating cam, realizes the release of latch.The section of stretching out of latch enters integral frame
Neck in, realize the locking of multi-storied garage and mechanical framework.When multi-storied garage needs to separate with mechanical framework：Necessity now
Condition is that hoistable platform holds multi-storied garage.After support of the multi-storied garage by hoistable platform, motor rotate counterclockwise is mobile
Cam is moved to the left, and latch loses the support of translating cam, while by the elastic force for the stage clip being pre-loaded with latch, forces slotting
Pin shrinks back multi-storied garage, so as to exit the neck of mechanical framework, realizes the separation of multi-storied garage and mechanical framework.Wherein 23 are
Spring.
A kind of control method of above-mentioned Intelligent vertical lifting type multi-storied garage, comprises the following steps：
Step 1：System starts, and checks each parking stall with performing current state and the position of robot, and the letter that will be checked
Breath feeds back to central processing unit；The central processing unit be in etc. external signal state to be received；The external command is Android
The instruction that client or other micro terminals are sent.
Step 2：When central processing unit receives the signal for needing parking or outgoing vehicles, parking stall is arranged；If should
Parking stall is placed exactly in one layer of ground, then performs robot and be failure to actuate；If checking one layer that the parking stall is located at subsurface,
Then issue instruction to designated robot and arranges the stroke of robot and the corresponding number of plies of rising；If check the parking stall
It rest on the ground face and is not first layer, then issue instruction to designated robot and arranges the stroke of robot corresponding with decline
The number of plies.
Step 3：The instruction for performing robot and receiving action, is determined whether by robot location's sensor
Position up to where the multi-storied garage of needs action；Image information is obtained according to the image collection module of robot and judges machine
Whether the position where people meets the requirements, and carries out posture by a small margin and correct so that hoistable platform is in trouble free service model
Enclose, the lifting motor for confirming to perform robot afterwards in place comes into operation, and jacks up multi-storied garage to be exercised.
Step 4：Hoistable platform is equal with ground by jacking up or declining the parking stall that multi-storied garage stops needs,
Parking stall position sensor on the parking stall when reaching precalculated position transmits position signalling to multi-storied garage control module, car
Storehouse control module control parking stall electric-motor drive unit, parking electric-motor drive unit receive the motor movement that stops after instruction, when stopping
When vehicle motor moves, brought into operation with the cam mechanism of the parking stall end for motor connection of stopping, promote the motion of latch, until
Stroke is ended, and multi-storied garage is locked with integral mechanical framework；Vehicle drives into or rolled away from parking stall.
Step 5：After multi-storied garage locking signal is sent to central processing unit, and by the new information updating in the garage.
Further, when multi-storied garage and multi-storied garage are locked with integral mechanical framework, the power supply of multi-storied garage leads to
Cross to be connected with the charge port of integral mechanical framework and charged.
Although the present invention disclosed as above with preferred embodiment, they be not for limit the present invention, it is any ripe
This those skilled in the art is practised, without departing from the spirit and scope of the invention, can make various changes or retouch from working as, therefore the guarantor of the present invention
What shield scope should be defined by claims hereof protection domain is defined.
Claims (4)
1. a kind of Intelligent vertical lifting type multi-storied garage, including integral mechanical framework, multi-storied garage is with performing robot；It is special
Sign is：Vertically extending lifting passage is provided with the integral mechanical framework；It is provided with least in each lifting passage
Two layers of multi-storied garage, every layer of multi-storied garage are a parking stall；The multi-storied garage moves up and down in place lifting passage；Institute
The bottom for stating steel structure frame is provided with the space that robot movement is performed for car shape, and the space bottom is equipped with for performing machine
The track of people's movement, the number for performing robot are more than or equal to one；
Each parking stall is rectangle structure；Each parking stall is that upper and lower surface is steel plate, and upper and lower surface passes through corner
Column connects；Each parking stall sets the position sensor on corresponding parking stall；The position sensor on the parking stall and institute
Multi-storied garage control module be connected；
The execution artificial car shape of machine, including the control of the drive module of car body, lifting motor, lifting motor, lifting motor
Hoistable platform, robot control module, the image capture module for being placed in car body surrounding；The drive module of the lifting motor is placed in
The inner space of car body, receive the control information of the control module from robot；The control module receives IMAQ mould
The image information of block collection, the robot control module are connected with garage central processing unit.
A kind of 2. Intelligent vertical lifting type multi-storied garage according to claim 1, it is characterised in that：Each parking stall
Including the motor that stops, stop motor drive module and latch；The garage drive module is connected with garage control module；It is described to stop
Vehicle motor drive module is connected with parking motor；The parking motor control latch.
A kind of 3. Intelligent vertical lifting type multi-storied garage according to claim 1, it is characterised in that：The execution robot
For four-wheel drive, each tire is connected by shaft coupling with a wheel electrical machine.
A kind of 4. Intelligent vertical lifting type multi-storied garage according to claim 1, it is characterised in that：The steel structure frame
Upper setting charge port, the charge port are connected with the power supply of multi-storied garage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455293.2A CN107882389A (en) | 2017-12-28 | 2017-12-28 | A kind of Intelligent vertical lifting type multi-storied garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455293.2A CN107882389A (en) | 2017-12-28 | 2017-12-28 | A kind of Intelligent vertical lifting type multi-storied garage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107882389A true CN107882389A (en) | 2018-04-06 |
Family
ID=61770351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455293.2A Pending CN107882389A (en) | 2017-12-28 | 2017-12-28 | A kind of Intelligent vertical lifting type multi-storied garage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107882389A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458021A (en) * | 2018-12-10 | 2019-03-12 | 中船重工海为郑州高科技有限公司 | A kind of bus lifting device |
| CN113674549A (en) * | 2021-07-22 | 2021-11-19 | 安徽电信规划设计有限责任公司 | Method, system and device for parking space guidance and reverse vehicle finding based on AI mobile robot |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX168934B (en) * | 1986-05-15 | 1993-06-15 | Russell A Byrd | AUTOMATED PARKING GARAGE SYSTEM |
| CN2517823Y (en) * | 2002-01-17 | 2002-10-23 | 钱志伟 | Omnidirection automatic garage |
| CN1459542A (en) * | 2002-05-21 | 2003-12-03 | 刘梅 | One block moving type garage |
| KR20100123298A (en) * | 2009-05-15 | 2010-11-24 | 권회왕 | Pallet type parking machine |
| CN102061816A (en) * | 2010-11-18 | 2011-05-18 | 叶云岳 | Direct drive type rapid translation three-dimensional garage |
| CN102345402A (en) * | 2011-07-22 | 2012-02-08 | 向可文 | Integrated motor vehicle three-dimensional independent elevating parking garage |
| KR101123989B1 (en) * | 2011-04-15 | 2012-03-23 | 박춘식 | Lift underground parking equipment system having safety horizontal bearing power for wind load |
| US20130078062A1 (en) * | 2010-04-05 | 2013-03-28 | Mikhail Urievich Artamonov | Modular multistorey robotized car park |
| CN203487829U (en) * | 2013-08-27 | 2014-03-19 | 杭州西子石川岛停车设备有限公司 | Stereo garage having charging function |
| JP2014080863A (en) * | 2011-05-31 | 2014-05-08 | Mitsubishi Heavy Industries Pariking Co Ltd | Lift conveyer control device, mechanical parking apparatus, and lift conveyer control method |
| CN104563562A (en) * | 2014-12-05 | 2015-04-29 | 杭州西子石川岛停车设备有限公司 | Leveling positioning mechanism of stereo garage |
| CN105625781A (en) * | 2016-01-30 | 2016-06-01 | 安徽鸿路钢结构(集团)股份有限公司 | Three-dimensional garage |
| CN105822107A (en) * | 2016-04-01 | 2016-08-03 | 包震 | Underground stereo parking garage at roadsides |
| CN106121321A (en) * | 2016-08-23 | 2016-11-16 | 广东技术师范学院 | A kind of Automated three-dimensional garage structure |
| CN106285097A (en) * | 2016-08-09 | 2017-01-04 | 广州建德机电有限公司 | Stereo automatization garage |
| CN106836902A (en) * | 2017-03-14 | 2017-06-13 | 贵州蜂能科技发展有限公司 | A kind of multi-storied garage with charge function |
| CN107476624A (en) * | 2017-08-28 | 2017-12-15 | 广东三浦车库股份有限公司 | A kind of multi-storied garage |
| CN208899944U (en) * | 2017-12-28 | 2019-05-24 | 南京工程学院 | A kind of Intelligent vertical lifting type multi-storied garage |
| CN109972879A (en) * | 2017-12-28 | 2019-07-05 | 南京工程学院 | A kind of vertical lift type stereo garage |
-
2017
- 2017-12-28 CN CN201711455293.2A patent/CN107882389A/en active Pending
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX168934B (en) * | 1986-05-15 | 1993-06-15 | Russell A Byrd | AUTOMATED PARKING GARAGE SYSTEM |
| CN2517823Y (en) * | 2002-01-17 | 2002-10-23 | 钱志伟 | Omnidirection automatic garage |
| CN1459542A (en) * | 2002-05-21 | 2003-12-03 | 刘梅 | One block moving type garage |
| KR20100123298A (en) * | 2009-05-15 | 2010-11-24 | 권회왕 | Pallet type parking machine |
| US20130078062A1 (en) * | 2010-04-05 | 2013-03-28 | Mikhail Urievich Artamonov | Modular multistorey robotized car park |
| CN102061816A (en) * | 2010-11-18 | 2011-05-18 | 叶云岳 | Direct drive type rapid translation three-dimensional garage |
| KR101123989B1 (en) * | 2011-04-15 | 2012-03-23 | 박춘식 | Lift underground parking equipment system having safety horizontal bearing power for wind load |
| JP2014080863A (en) * | 2011-05-31 | 2014-05-08 | Mitsubishi Heavy Industries Pariking Co Ltd | Lift conveyer control device, mechanical parking apparatus, and lift conveyer control method |
| CN102345402A (en) * | 2011-07-22 | 2012-02-08 | 向可文 | Integrated motor vehicle three-dimensional independent elevating parking garage |
| CN203487829U (en) * | 2013-08-27 | 2014-03-19 | 杭州西子石川岛停车设备有限公司 | Stereo garage having charging function |
| CN104563562A (en) * | 2014-12-05 | 2015-04-29 | 杭州西子石川岛停车设备有限公司 | Leveling positioning mechanism of stereo garage |
| CN105625781A (en) * | 2016-01-30 | 2016-06-01 | 安徽鸿路钢结构(集团)股份有限公司 | Three-dimensional garage |
| CN105822107A (en) * | 2016-04-01 | 2016-08-03 | 包震 | Underground stereo parking garage at roadsides |
| CN106285097A (en) * | 2016-08-09 | 2017-01-04 | 广州建德机电有限公司 | Stereo automatization garage |
| CN106121321A (en) * | 2016-08-23 | 2016-11-16 | 广东技术师范学院 | A kind of Automated three-dimensional garage structure |
| CN106836902A (en) * | 2017-03-14 | 2017-06-13 | 贵州蜂能科技发展有限公司 | A kind of multi-storied garage with charge function |
| CN107476624A (en) * | 2017-08-28 | 2017-12-15 | 广东三浦车库股份有限公司 | A kind of multi-storied garage |
| CN208899944U (en) * | 2017-12-28 | 2019-05-24 | 南京工程学院 | A kind of Intelligent vertical lifting type multi-storied garage |
| CN109972879A (en) * | 2017-12-28 | 2019-07-05 | 南京工程学院 | A kind of vertical lift type stereo garage |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458021A (en) * | 2018-12-10 | 2019-03-12 | 中船重工海为郑州高科技有限公司 | A kind of bus lifting device |
| CN109458021B (en) * | 2018-12-10 | 2024-03-01 | 中船重工海为郑州高科技有限公司 | Bus lifting device |
| CN113674549A (en) * | 2021-07-22 | 2021-11-19 | 安徽电信规划设计有限责任公司 | Method, system and device for parking space guidance and reverse vehicle finding based on AI mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201232380Y (en) | Intelligent carrier of stereo garage | |
| CN107882389A (en) | A kind of Intelligent vertical lifting type multi-storied garage | |
| CN111456516A (en) | Nine palace check intelligence garage parking | |
| CN105471048A (en) | Wireless automatic charging method of automobile | |
| CN108678458B (en) | Device and method for greatly increasing parking lot parking number | |
| CN208236059U (en) | A kind of stereo garage with mobile charging robot | |
| CN208899944U (en) | A kind of Intelligent vertical lifting type multi-storied garage | |
| CN2483473Y (en) | Electromagnetic guiding and automatic parking means | |
| CN105525777B (en) | A kind of intelligent three-dimensional garage automatic access equipment | |
| CN107842230B (en) | Small warehouse type pluggable parking frame double-layer three-dimensional parking equipment and control method | |
| CN207728064U (en) | A kind of vertical lift type stereo garage | |
| CN101492972A (en) | Elevator lifting type stereo garage | |
| CN108790854A (en) | Complete vehicle logistics warehousing system | |
| CN107829593A (en) | A kind of deep well intelligent garage and its building method | |
| CN108999449B (en) | Automatic parking equipment of access of road upper strata intelligence | |
| CN203867239U (en) | Movably elevating stereo parking place | |
| CN109920272A (en) | A kind of Multifunction stop end system and parking pick-up method based on internet-based control | |
| CN210798423U (en) | Three-dimensional parking device and three-dimensional parking system based on intelligent flat car | |
| CN209657503U (en) | A kind of Multifunction stop end system based on internet-based control | |
| CN205604802U (en) | Ferry vehicle and parking system | |
| CN208981863U (en) | A kind of stereo garage | |
| CN109972879A (en) | A kind of vertical lift type stereo garage | |
| CN206928727U (en) | A kind of rotary-type jiffy stand | |
| CN202970063U (en) | Intelligent mechanical hand stereo garage | |
| CN207156969U (en) | A kind of vertical circulation charging pilework for multi-storied garage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |