CN109162512B - Automatic parking method combining indoor parking with outdoor parking - Google Patents
Automatic parking method combining indoor parking with outdoor parking Download PDFInfo
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- CN109162512B CN109162512B CN201811252762.5A CN201811252762A CN109162512B CN 109162512 B CN109162512 B CN 109162512B CN 201811252762 A CN201811252762 A CN 201811252762A CN 109162512 B CN109162512 B CN 109162512B
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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
Abstract
The invention discloses an indoor and outdoor combined automatic three-dimensional parking system and an automatic parking method thereof. The existing stereo garage is easy to block during the parking peak period, and the parking experience of a user is reduced. The invention relates to an indoor and outdoor combined automatic three-dimensional parking system, which comprises a three-dimensional garage, an open-air garage and a carrier. The stereo garage comprises an outer frame, a transverse moving mechanism, a lifting mechanism, a comb tooth exchange mechanism, a parking comb tooth plate group and a transition platform. The open-air garage comprises a platform plate, a climbing transition plate, an embedding strip, a first pressure sensor and a self-detection comb tooth assembly. The self-detection comb tooth assembly comprises an inwards concave comb tooth plate, a dislocation detection plate, a second pressure sensor and a third pressure sensor. The carrier comprises a chassis, a traveling assembly, a fixing plate, a lifting sliding shaft and a hydraulic cylinder. The invention combines the stereo garage and the open-air garage, so that a vehicle owner can transfer the vehicle to the stereo garage for parking only by parking the vehicle to the open-air garage.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to an indoor and outdoor combined automatic parking method.
Background
The state develops a plurality of policies aiming at the problem of difficult parking continuously and intensively, forms a series of perfect laws and regulations and industrial standards on the national level, seven committees such as reform committee and the like jointly issue documents in 2015 to promote intelligent parking, proposes that parking facilities are built in special areas such as residential areas and large comprehensive transportation hubs by digging and reforming, public parking facilities are additionally built in the peripheral areas of the conditions, and provides important policy support and macro environment for long-term development of the industry.
In China, a relatively advanced stereo garage is opened, but the situations of a large number of roadside parks and traffic jam still exist widely, and the space utilization rate of a site, the garage operation efficiency and the intelligent degree are to be further improved. The existing stereo garage is easy to block during the parking peak, and the parking experience of a user is greatly reduced.
Disclosure of Invention
The invention aims to provide an indoor and outdoor combined automatic parking method aiming at the defects of the prior art.
The parking system adopted by the invention comprises a stereo garage, an open-air garage and a carrier. The stereo garage comprises an outer frame (1), a transverse moving mechanism (2), a lifting mechanism (3), a comb tooth exchange mechanism (4), a parking comb tooth plate set (5) and a transition platform (6).
The transverse moving mechanism (2) comprises a transverse moving slide rail (2-1), a transverse moving slide block (2-2), a first steel wire roller (2-3), a first transmission shaft, a transverse moving platform (2-4), a first steel wire rope (2-5) and a transverse moving motor (2-6). The transverse sliding rail (2-1) is fixed at the bottom of the outer frame (1); the transverse sliding block (2-2) and the transverse sliding rail (2-1) form a sliding pair. The transverse moving platform (2-4) is fixed with the transverse moving slide block (2-2). Two first transmission shafts are respectively supported at two ends of the bottom of the outer frame. First steel wire rollers (2-3) are fixed on the two first transmission shafts. The two first steel wire rollers (2-3) are connected through first steel wire ropes (2-5). One of the first transmission shafts is driven by a traverse motor (2-6).
The lifting mechanism (3) comprises a lifting top plate (3-1), a supporting shaft (3-2), a second steel wire roller (3-4), a second transmission shaft, a lifting motor (3-5), a lifting platform (3-6), a winding shaft and a second steel wire rope (3-7); the bottom end of the supporting shaft (3-2) is fixed with the transverse moving platform (2-4), and the top end of the supporting shaft is fixed with the lifting top plate (3-1). The lifting platform (3-6) and the supporting shaft (3-2) form a sliding pair. The second transmission shafts are respectively supported at two sides of the top surface of the lifting top plate (3-1). The second steel wire roller (3-4) is fixed with the second transmission shaft. The winding shaft is supported on the lifting top plate (3-1). The winding shaft is driven by a lifting motor (3-5). A reel is fixed on the winding shaft. One end of the second steel wire rope (3-7) is fixed with the reel, and the other end of the second steel wire rope bypasses the second steel wire roller (3-4) and is fixed with the lifting platform (3-6).
The comb tooth exchange mechanism (4) comprises a comb tooth exchange sliding frame (4-1), a comb tooth exchange sliding block (4-2), a lead screw (4-3), a comb tooth exchange motor (4-4) and a conveying comb plate (4-5). The comb tooth exchange sliding frame (4-1) is fixed on the lifting platform (3-6). The lead screw (4-3) is supported on the comb tooth exchange carriage (4-1). The comb tooth exchange slide block (4-2) and the comb tooth exchange sliding frame (4-1) form a sliding pair, and form a screw pair with the screw rod (4-3). The screw rod (4-3) is driven by a comb tooth exchange motor (4-4).
The conveying comb plate (4-5) comprises a U-shaped plate and two first comb tooth strip groups which are integrally formed. The U-shaped plate consists of a connecting plate (4-5-1) and two side plates (4-5-2) which are integrally formed. Two ends of the connecting plate (4-5-1) are respectively connected with the inner ends of the two side plates (4-5-2). The connecting plate (4-5-1) is fixed with the comb tooth exchange slide block. The first comb-tooth strip group comprises n first comb-tooth strips (4-5-3) which are sequentially arranged at equal intervals along the length direction of the side plate (4-5-2), and n is more than or equal to 8 and less than or equal to 20. The two first comb tooth strip groups are respectively arranged at the inner side edges of the two side plates (4-5-2).
The parking comb plate group (5) is composed of a plurality of parking comb plates. The parking comb plate group is arranged on one side of the transverse moving mechanism (2). The parking comb plate comprises a first middle plate (5-1) and two second comb strip groups which are integrally formed. The inner end of the first middle plate (5-1) is fixed with the outer frame (1). The two second comb-tooth bar groups are respectively arranged at two sides of the first middle plate (5-1). The second comb tooth strip group comprises n second comb tooth strips (5-2) which are sequentially arranged at equal intervals along the length direction of the first middle plate (5-1). The transition platform (6) is arranged in the outer frame (1). The transition platform (6) and the parking comb plate group are positioned on the same side of the transverse moving mechanism (2).
The open-air garage comprises a platform plate (8), a climbing transition plate (10), an embedding strip (11), a first pressure sensor and a self-detection comb tooth assembly (9). The platform plates (8) are fixed on the ground at intervals. The top end of the obliquely arranged climbing transition plate (10) is aligned and fixed with the inner side edge of the platform plate (8), and the bottom end of the obliquely arranged climbing transition plate is contacted and fixed with the ground. The outer edge of the platform plate (8) is provided with k parking grooves, and k is larger than or equal to 2. The parking groove is composed of a rectangular through groove and two rectangular mounting grooves. The two rectangular mounting grooves are respectively arranged on two sides of the rectangular through groove. And first pressure sensors are fixed on all the rectangular mounting grooves. All the rectangular mounting grooves are provided with embedded strips (11). The bottom of the embedding strip (11) is fixed with the corresponding first pressure sensor. The top surface of the embedded strip (11) is provided with a comb tooth groove group. The comb tooth groove group consists of n comb tooth grooves (11-1) which are sequentially arranged at equal intervals along the length direction of the embedded strip (11).
The self-detection comb tooth assembly (9) comprises an inner concave comb tooth plate (9-1), a dislocation detection plate (9-2), a second pressure sensor (9-3) and a third pressure sensor (9-4). The concave comb plate (9-1) comprises a second middle plate and two third comb strip groups which are integrally formed. And the two third comb-tooth bar groups are respectively arranged at two sides of the second middle plate. The third comb tooth strip group comprises n third comb tooth strips which are sequentially arranged at equal intervals along the length direction of the second middle plate. And the outer ends of the top surfaces of all the third comb teeth bars are all fixed with third pressure sensors (9-4). And a second pressure sensor (9-3) is fixed on the top surface of the second middle plate. The bottom surface of the dislocation detection plate (9-2) is fixed with the second pressure sensor (9-3).
The number of the self-detection comb tooth assemblies (9) is k. k self-detecting comb tooth assemblies (9) are respectively arranged on k parking grooves. The two third comb tooth strip groups of the inner concave comb tooth plate (9-1) are respectively clamped into the comb tooth groove groups of the two embedded strips (11) on the corresponding parking grooves.
The carrier comprises a chassis (7-1), a traveling assembly, a fixing plate (7-3), a lifting plate (7-4), a lifting sliding shaft (7-5) and a hydraulic cylinder (7-6). The traveling assembly comprises four traveling motors and four traveling wheels (7-2). Four travelling wheels (7-2) are supported on two sides of the chassis (7-1) in a group of two. The four travelling wheels (7-2) are respectively driven by four travelling motors. The fixing plate (7-3) is arranged above the chassis (7-1) at intervals and is fixed with the chassis (7-1). The lifting sliding shaft (7-5) and the fixed plate (7-3) form a sliding pair, and the top end of the sliding pair is fixed with the bottom surface of the lifting plate (7-4). The hydraulic cylinder (7-6) is fixed on the fixed plate (7-3). A piston rod of the hydraulic cylinder (7-6) is fixed with the bottom surface of the lifting plate (7-4).
Furthermore, the width of the first comb rack (4-5-3) on the conveying comb plate (4-5) is a, and a is more than or equal to 0.2 and less than or equal to 0.25 m. The distance between two adjacent first comb tooth bars (4-5-3) in the same first comb tooth bar group is b, and b is more than or equal to 0.2 and less than or equal to 0.25 m. The distance between the first comb tooth strip (4-5-3) closest to the connecting plate (4-5-1) in the first comb tooth strip group and the inner side edge of the connecting plate (4-5-1) is b. The first comb tooth bar (4-5-3) farthest from the connecting plate (4-5-1) in the first comb tooth bar group is flush with the end part of the outer end of the side plate. The distance between the two first comb-tooth strip groups is c. The distance between the inner side edges of the two side plates (4-5-2) is s. The width of a second comb rack (5-2) on the parking comb plate is equal to d, and d is more than or equal to 0.5b and less than b. The distance between two adjacent second comb racks (5-2) is equal to e, and a + b is equal to d + e. The distance between the outer end faces of the second comb racks (5-2) in the two second comb rack groups is equal to p, and p is less than s. The width of the first intermediate plate (5-1) is equal to q, q < c. The width of the comb tooth grooves (11-1) on the embedded strips (11) is b, and the distance between every two adjacent comb tooth grooves (11-1) is a. The cross section shape of the third comb rack on the concave comb plate (9-1) is the same as that of the second comb rack (5-2). And the distance between every two adjacent third comb racks is equal to e.
Further, under the condition that a piston rod of the hydraulic cylinder (7-6) is retracted, the distance between the top surface of the lifting plate (7-4) and the ground is smaller than the distance between the self-detection comb tooth assembly (9) and the ground.
Furthermore, an electromagnet is fixed on the top surface of the lifting plate (7-4). The concave comb plate (9-1) is made of magnetic materials.
Furthermore, the traversing motors (2-6) are fixed at the bottom of the outer frame. The output shaft of the traversing motor (2-6) is fixed with one of the first transmission shafts. The lifting motor (3-5) is fixed on the lifting top plate (3-1). The output shaft of the lifting motor (3-5) is fixed with one end of the winding shaft. The comb tooth exchange motor (4-4) is fixed on the comb tooth exchange sliding frame (4-1). An output shaft of the comb tooth exchange motor (4-4) is fixed with one end of the screw rod (4-3).
Furthermore, four traveling motors are all fixed on the bottom surface of the chassis (7-1). The output shafts of the four traveling motors are respectively fixed with the four traveling wheels (7-2).
Furthermore, the axis of the lead screw (4-3) is horizontally arranged and is perpendicular to the axis of the transverse sliding rail (2-1) in the transverse moving mechanism (2).
Furthermore, the outer end of the side plate (4-5-2) on the U-shaped plate is an open end; the open end of the U-shaped plate faces to the side away from the comb tooth exchange motor (4-4).
The indoor and outdoor combined automatic parking method comprises the following specific steps:
step one, a vehicle owner drives the vehicle to one of the self-detection comb tooth assemblies (9) on the platform plate (8) through the climbing transition plate (10), and wheels on two sides of the vehicle are respectively located on two third comb tooth plates on the self-detection comb tooth assemblies (9). The self-detection comb tooth assembly (9) serves as a working self-detection comb tooth assembly.
And if the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is greater than 10000N, the sum of the pressures detected by the four second pressure sensors (9-3) on the working self-detection comb tooth assembly is less than 1000N, and all the third pressure sensors (9-4) do not detect the pressures, the step II is carried out.
If the sum of the pressures detected by the four second pressure sensors (9-3) in the self-detection comb tooth assembly (9) is larger than 1000N or the pressure detected by any one third pressure sensor (9-4), waiting for the vehicle owner to adjust the position of the vehicle until the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is larger than 10000N, the sum of the pressures detected by the four second pressure sensors (9-3) on the working self-detection comb tooth assembly is smaller than 1000N, and entering the second step after all the third pressure sensors (9-4) do not detect the pressure.
And step two, the carrier vehicle moves to the position right below the working self-detection comb tooth assembly. A hydraulic cylinder (7-6) in the carrier is pushed out, so that the electromagnet on the lifting plate (7-4) is contacted with the bottom surface of the concave comb plate (9-1) in the working self-detection comb tooth assembly.
And step three, electrifying the electromagnet on the lifting plate (7-4) and attracting the electromagnet with the concave comb plate (9-1) in the working self-detection comb tooth assembly. The hydraulic cylinder (7-6) is continuously pushed out, so that the self-detection comb tooth assembly is separated from the comb tooth groove group in the corresponding embedded strip.
And step four, the carrier vehicle moves to a transition platform (6) of the stereo garage.
And step five, the transverse moving motors (2-6) and the lifting motors (3-5) rotate, so that the conveying comb plates (4-5) move to be lower than the working self-detection comb tooth assemblies and are aligned with the working self-detection comb tooth assemblies.
And step six, the comb tooth exchange motor (4-4) rotates forwards, so that the conveying comb tooth plate (4-5) moves to the position right below the working self-detection comb tooth assembly.
And seventhly, the lifting motor (3-5) rotates forwards to enable the conveying comb plate (4-5) to be lifted until the bottom surface of the conveying comb plate (4-5) is higher than the top surface of the working self-detection comb plate assembly, and the vehicle is switched to the conveying comb plate (4-5).
And step eight, reversely rotating the comb tooth exchange motor (4-4) to reset the conveying comb plate (4-5). Meanwhile, the carrier places the working self-detection comb tooth assembly on the corresponding parking groove.
And step nine, selecting an unparked parking comb plate as a working parking comb plate. The transverse moving motors (2-6) and the lifting motors (3-5) rotate, so that the conveying comb plates (4-5) are aligned with the working and parking comb plates in the axial direction of the transverse moving slide rails (2-1), and the bottom surfaces of the conveying comb plates (4-5) are higher than the top surfaces of the working and parking comb plates.
And step ten, positively rotating the comb tooth exchange motor (4-4) to enable the conveying comb plate (4-5) to move right above the working and parking comb plate.
And step eleven, reversely rotating the lifting motors (3-5) to enable the top surfaces of the conveying comb plates (4-5) to be lower than the bottom surfaces of the corresponding parking comb plates, and exchanging vehicles onto the parking comb plates.
Further, the method for the carrier to place the working self-detection comb tooth assembly into the corresponding parking slot is as follows:
1. the carrier vehicle travels to one of the parking grooves on the platform plate (8) where the self-detection comb tooth assembly (9) is not placed.
2. The hydraulic cylinder (7-6) is pushed out, so that the bottom surface of the self-detection comb tooth assembly (9) is higher than the top surface of the platform plate.
3. The carrier is driven to the lower part of the platform plate, so that the concave comb plate (9-1) reaches the position right above the two embedded strips on the parking groove.
4. The hydraulic cylinder (7-6) retracts until the two third comb tooth strip groups of the inner concave comb tooth plate (9-1) respectively enter the comb tooth groove groups on the two embedded strips. The electromagnet on the lifting plate (7-4) is powered off, and the hydraulic cylinder (7-6) is continuously retracted to the limit position.
The invention has the beneficial effects that:
1. the invention combines the stereo garage and the open-air garage, so that a vehicle owner only needs to park the vehicle in the appointed open-air garage, and the vehicle can be transferred to the stereo garage for parking.
2. According to the invention, by separating the self-detection comb tooth assembly from the transport vehicle, one transport vehicle can transport different self-detection comb tooth assemblies, and the parking space of the open-air garage can realize temporary parking of vehicles during the parking peak, so that the possibility of congestion is reduced.
3. The self-detection comb tooth assembly can automatically identify whether the vehicle is accurately parked or not through the combination of the pressure sensors, so that the vehicle is prevented from being damaged in the carrying process.
Drawings
Fig. 1 is a perspective view of a stereo garage according to the present invention;
FIG. 2 is a schematic view of the traversing mechanism according to the present invention;
FIG. 3 is a schematic view of the lift mechanism of the present invention;
FIG. 4 is a schematic diagram of the comb exchange mechanism of the present invention;
FIG. 5 is a schematic view of a combplate according to the present invention;
fig. 6 is a schematic view of a parking comb plate according to the present invention;
FIG. 7 is a schematic plan view of an open-air garage according to the present invention;
FIG. 8 is an enlarged schematic view of portion A of FIG. 7;
FIG. 9 is a perspective view of an inset bar in accordance with the present invention;
FIG. 10 is a perspective view of the self-detecting comb tooth assembly with the offset detector plate removed in accordance with the present invention;
figure 11 is a schematic view of a truck according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 7 and 11, an indoor and outdoor combined automatic parking method uses a parking system including a stereo garage, an open-air garage and a truck. The open-air garage is used for a vehicle owner to park, and the carrier is used for carrying the vehicle parked on the open-air garage to the three-dimensional garage. The stereo garage comprises an outer frame 1, a transverse moving mechanism 2, a lifting mechanism 3, a comb tooth exchange mechanism 4, a parking comb tooth plate group 5 and a transition platform 6.
As shown in figures 1 and 2, the transverse moving mechanism 2 comprises a transverse moving slide rail 2-1, a bottom plate, a side plate, a transverse moving slide block 2-2, a first steel wire roller 2-3, a first transmission shaft, a vertical bearing seat, a transverse moving platform 2-4, a first steel wire rope 2-5 and a transverse moving motor 2-6. The bottom plates are all fixed at the bottom of the outer frame 1. Two parallel transverse sliding rails 2-1 are fixed on the bottom plate; two transverse sliding blocks 2-2 are respectively arranged on the two transverse sliding rails 2-1. The transverse sliding block 2-2 and the corresponding transverse sliding rail 2-1 form a sliding pair. The bottom surface of the transverse moving platform 2-4 is fixed with the top parts of the four transverse moving sliding blocks 2-2. The two side plates are respectively fixed at two ends of the bottom of the outer frame 1 through a triangular fixing frame. The two first transmission shafts are supported on the two side plates through vertical bearing seats respectively. First steel wire rollers 2-3 are fixed on the two first transmission shafts. The two first steel wire rollers 2-3 are connected through first steel wire ropes 2-5. The traversing motors 2-6 are fixed on one side plate. The output shaft of the traversing motor 2-6 is fixed with the first transmission shaft on the corresponding side plate through a flexible coupling.
As shown in fig. 1 and 3, the lifting mechanism 3 comprises a lifting top plate 3-1, a supporting shaft 3-2, a horizontal fixing sleeve 3-3, a second steel wire roller 3-4, a second transmission shaft, a lifting motor 3-5, a lifting platform 3-6, a winding shaft and a second steel wire rope 3-7; the bottom ends of the four supporting shafts 3-2 are respectively fixed with four corners of the transverse moving platform 2-4, and the top ends of the four supporting shafts and four corners of the lifting top plate 3-1 are respectively fixed through horizontal fixing shaft sleeves. Four corners of the lifting platform 3-6 and the four supporting shafts 3-2 form sliding pairs respectively. Two second transmission shafts which are horizontally arranged are respectively supported at two sides of the top surface of the lifting top plate 3-1. The two second steel wire rollers 3-4 are respectively fixed with the two second transmission shafts. A bobbin shaft arranged in parallel with the second transmission shaft is supported on the top surface of the elevating top plate 3-1. Two reels are fixed on the winding shaft. The lifting motor 3-5 is fixed on the lifting top plate 3-1. The output shaft of the lifting motor 3-5 is fixed with one end of the winding shaft. One ends of the two second steel wire ropes 3-7 are respectively fixed with the two reels, and the other ends of the two second steel wire ropes respectively bypass the two second steel wire rollers 3-4 and are fixed with the lifting platform 3-6. The winding directions of the two second steel wire ropes 3-7 on the winding wheel are opposite, so that the rotation of the lifting motor 3-5 can simultaneously wind the two second steel wire ropes 3-7 or release the two second steel wire ropes 3-7, and the lifting motion of the lifting platform 3-6 is realized.
As shown in fig. 1, 4 and 5, the comb exchange mechanism 4 comprises a comb exchange carriage 4-1, a comb exchange slider 4-2, a lead screw 4-3, a comb exchange motor 4-4 and a conveying comb plate 4-5. The comb tooth exchange sliding frame 4-1 is fixed in the middle of the lifting platform 3-6. The screw rod 4-3 is supported on the comb tooth exchange carriage 4-1. The two comb tooth exchange slide blocks 4-2 and the comb tooth exchange sliding frame 4-1 form a sliding pair, and form a screw pair together with the screw rod 4-3. The comb tooth exchange motor 4-4 is fixed on the comb tooth exchange sliding frame 4-1. An output shaft of the comb tooth exchange motor 4-4 is fixed with one end of the screw rod 4-3. The axis of the screw rod 4-3 is horizontally arranged and is vertical to the axis of the transverse sliding rail 2-1 in the transverse sliding mechanism 2.
The conveying comb plates 4-5 comprise an integrally formed U-shaped plate and two first comb strip groups. The U-shaped plate is composed of a connecting plate 4-5-1 and two side plates 4-5-2 which are integrally formed. Two ends of the connecting plate 4-5-1 are respectively connected with the inner ends of the two side plates 4-5-2. The connecting plate 4-5-1 is fixed with the two comb tooth exchange slide blocks through the connecting beam. The outer end of the side plate 4-5-2 on the U-shaped plate is an open end. The open end of the U-shaped plate faces to the side away from the comb exchange motor 4-4. The distance between the inner side edges of the two side plates 4-5-2 is s, and s is 2.2 m. The first comb-tooth strip group comprises n first comb-tooth strips 4-5-3 which are sequentially arranged at equal intervals along the length direction of the side plate 4-5-2, wherein n is 10. The two first comb-tooth strip groups are respectively arranged at the inner side edges of the two side plates 4-5-2. The width of the first comb rack 4-5-3 is a, and a is more than or equal to 0.2 and less than or equal to 0.25 m. The distance between two adjacent first comb tooth bars 4-5-3 in the same first comb tooth bar group is b, and b is more than or equal to 0.2 and less than or equal to 0.25 m. The distance between the first comb tooth strip 4-5-3 closest to the connecting plate 4-5-1 in the first comb tooth strip group and the inner side edge of the connecting plate 4-5-1 is b. The first comb tooth strip 4-5-3 farthest from the connecting plate 4-5-1 in the first comb tooth strip group is flush with the end part of the outer end of the side plate. The distance between the two first comb-tooth strip groups is c, and c is 1 m.
As shown in fig. 1 and 6, the parking comb plate group 5 is composed of x × y parking comb plates arranged in x rows and y columns; x is 2 and y is 5. The parking comb plate group is arranged on one side of the transverse moving mechanism 2. The arrangement direction of the parking comb plates in the same row is parallel to the axis of the transverse sliding rail 2-1 in the transverse sliding mechanism 2. The parking comb plates in the same row are vertically arranged. The parking comb plate comprises a first middle plate 5-1 and two second comb strip groups which are integrally formed. The inner end of the first middle plate 5-1 is fixed with the outer frame 1. The two second comb-tooth bar groups are respectively arranged at two sides of the first middle plate 5-1. The second comb tooth strip group comprises n second comb tooth strips 5-2 which are sequentially arranged at equal intervals along the length direction of the first middle plate 5-1. The width of the second comb rack 5-2 is equal to d, and d is more than or equal to 0.5b and less than b. The distance between two adjacent second comb racks 5-2 is equal to e, and a + b is equal to d + e. The outer side edge of the second comb tooth bar 5-2 farthest from the inner end of the first middle plate 5-1 in the second comb tooth bar group is flush with the outer end edge of the first middle plate 5-1. The distance between the outer end faces of the second comb racks 5-2 in the two second comb rack groups is equal to p, and p is 2.15 m. The width of the first intermediate plate 5-1 is equal to q, q being 0.95 m. The conveying comb plate 4-5 is positioned between the parking comb plate group 5 and the comb exchange motor 4-4. The transition platform 6 is arranged in the outer frame 1 and is flush with the external ground for temporarily parking the carrier. The transition platform 6 and the parking comb plate group are positioned on the same side of the transverse moving mechanism 2. The conveying comb plate 4-5 pushed out along with the comb exchange sliding block in the comb exchange mechanism 4 can exchange comb teeth with any parking comb plate.
As shown in fig. 7, 8, 9 and 10, the open-air garage includes a platform plate 8, a climbing transition plate 10, a fitting strip 11, a first pressure sensor and a self-detecting comb tooth assembly 9. The platform plate 8 is fixed on the ground through the upright posts at intervals. The obliquely arranged climbing transition plate 10 is aligned and fixed with the top end of the inner side edge of the platform plate 8, and the bottom end of the obliquely arranged climbing transition plate is contacted and fixed with the outdoor ground. The outer edge of the platform plate 8 is provided with k parking grooves, and k is 10. The parking groove is composed of a rectangular through groove and two rectangular mounting grooves. The rectangular through groove is communicated with the outer side edge of the platform plate 8. The width of the rectangular through groove is c. The two rectangular mounting grooves are respectively arranged on two sides of the rectangular through groove. The width of the rectangular mounting groove is larger than (p-q)/2. And first pressure sensors are fixed at two ends of all the rectangular mounting grooves. All the rectangular mounting grooves are provided with embedded strips 11. Two ends of the bottom of the embedding strip 11 are respectively fixed with the two corresponding first pressure sensors. The fitting strip 11 has 2k strips, and the first pressure sensors have 4 k. When the fitting strip 11 receives the squeezing of the vehicle, the value detected by the corresponding first pressure sensor changes. The top surface of the embedded strip 11 is provided with a comb tooth groove group. The comb tooth groove group is composed of n comb tooth grooves 11-1 which are sequentially arranged at equal intervals along the length direction of the embedded strip 11. The comb tooth grooves 11-1 are rectangular in cross section. The width of the comb tooth grooves 11-1 is b, and the distance between two adjacent comb tooth grooves 11-1 is a.
The self-detection comb tooth assembly 9 comprises an inner concave comb tooth plate 9-1, a dislocation detection plate 9-2, a second pressure sensor 9-3 and a third pressure sensor 9-4. The concave comb plate 9-1 comprises a second middle plate and two third comb strip groups which are integrally formed. The concave comb plate 9-1 is made of magnetic material (material capable of being attracted by magnet, in this embodiment, iron alloy). And the two third comb-tooth bar groups are respectively arranged at two sides of the second middle plate. The third comb tooth strip group comprises n third comb tooth strips which are sequentially arranged at equal intervals along the length direction of the second middle plate. The thickness of the third comb rack is equal to the depth of the comb tooth groove. The cross-sectional shape of the second intermediate plate is the same as the cross-sectional shape of the first intermediate plate 5-1. The cross-sectional shape of the third comb tooth bar is the same as the cross-sectional shape of the second comb tooth bar 5-2. And the distance between every two adjacent third comb racks is equal to e. The thickness of the third comb rack is larger than that of the second intermediate plate. The bottom surface of the third comb rack is flush with the bottom surface of the second middle plate (forming a state that the second middle plate is concave). The outer ends of the top surfaces of all the third comb teeth bars are embedded with third pressure sensors 9-4. And second pressure sensors 9-3 are fixed at four corners of the top surface of the second middle plate. The cross section of the dislocation detection plate 9-2 is rectangular, and the width is p. Four corners of the bottom surface of the dislocation detection plate 9-2 are respectively fixed with the four second pressure sensors 9-3. The top surface of the dislocation detection plate 9-2 is flush with the top surface of the third comb rack.
The number of the self-detection comb tooth assemblies 9 is k. k self-checking comb tooth assemblies 9 are respectively arranged on k parking grooves. The two third comb tooth strip groups of the inner concave comb tooth plate 9-1 are respectively clamped into the comb tooth groove groups of the two embedded strips 11 on the corresponding parking grooves.
As shown in fig. 11, the truck includes a chassis 7-1, a traveling assembly, a fixed plate 7-3, a lifting plate 7-4, a lifting slide shaft 7-5, and a hydraulic cylinder 7-6. The travel assembly includes four travel motors and four travel wheels 7-2. Four traveling wheels 7-2 are supported on two sides of the chassis 7-1 in a group of two. The four traveling motors are all fixed on the bottom surface of the chassis 7-1. The output shafts of the four traveling motors are respectively fixed with the four traveling wheels 7-2. The fixing plate 7-3 is arranged above the chassis 7-1 at intervals and is fixed with the chassis 7-1. Four lifting sliding shafts 7-5 and the fixed plate 7-3 form a sliding pair, and the top ends of the sliding pairs are respectively fixed with four corners of the bottom surface of the lifting plate 7-4. The hydraulic cylinder 7-6 is fixed on the fixed plate 7-3. The piston rod of the hydraulic cylinder 7-6 is fixed with the center position of the bottom surface of the lifting plate 7-4. Electromagnets are fixed at four corners of the top surface of the lifting plate 7-4.
And under the condition that a piston rod of the hydraulic cylinder 7-6 is retracted, the distance between the top surface of the lifting plate 7-4 and the ground is smaller than the distance between the self-detection comb tooth assembly 9 and the ground.
The indoor and outdoor combined automatic parking method comprises the following specific steps:
step one, a vehicle owner drives the vehicle to one of the self-detection comb tooth assemblies 9 on the platform plate 8 through the climbing transition plate 10, and wheels on two sides of the vehicle are respectively positioned on two third comb tooth plates on the self-detection comb tooth assemblies 9. This self-detecting comb tooth assembly 9 serves as a working self-detecting comb tooth assembly.
And if the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is greater than 10000N, the sum of the pressures detected by the four second pressure sensors 9-3 on the working self-detection comb tooth assembly is less than 1000N, and all the third pressure sensors 9-4 do not detect the pressures, the parking of the vehicle owner is finished, and the step II is executed.
If the sum of the pressures detected by the four second pressure sensors 9-3 in the self-detection comb tooth assembly 9 is greater than 1000N or the pressure detected by any one third pressure sensor 9-4 is greater than 1000N, the parking position of the vehicle owner is wrong, the vehicle owner cannot carry the vehicle, the vehicle owner is prompted to park the vehicle again until the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is greater than 10000N, the sum of the pressures detected by the four second pressure sensors 9-3 on the working self-detection comb tooth assembly is less than 1000N, and the step II is carried out after all the third pressure sensors 9-4 do not detect the pressure.
And step two, the carrier vehicle moves to the position right below the working self-detection comb tooth assembly. The hydraulic cylinder 7-6 in the carrier is pushed out, so that the electromagnet on the lifting plate 7-4 is contacted with the bottom surface of the concave comb plate 9-1 in the working self-detection comb tooth assembly.
And step three, electrifying the electromagnet on the lifting plate 7-4, and attracting the electromagnet with the concave comb plate 9-1 in the working self-detection comb plate assembly. And the hydraulic cylinder 7-6 is continuously pushed out, so that the working self-detection comb tooth assembly is completely separated from the comb tooth groove group in the corresponding embedded strip.
And step four, the carrier vehicle moves to a transition platform 6 of the stereo garage.
And step five, the transverse moving motors 2-6 and the lifting motors 3-5 rotate, so that the conveying comb plate 4-5 moves to be lower than the working self-detection comb tooth assembly and is aligned with the working self-detection comb tooth assembly in the axial direction of the transverse moving slide rail 2-1.
And step six, the comb tooth exchange motor 4-4 rotates forwards, so that the conveying comb tooth plate 4-5 moves to the position right below the working self-detection comb tooth assembly.
And seventhly, the lifting motor 3-5 rotates forwards to enable the conveying comb plate 4-5 to be lifted until the bottom surface of the conveying comb plate 4-5 is higher than the top surface of the working self-detection comb tooth assembly, and the vehicle is switched to the conveying comb plate 4-5.
And step eight, reversely rotating the comb tooth exchange motor 4-4 to reset the conveying comb plate 4-5.
Meanwhile, the carrier vehicle travels to one of the parking grooves on the platform plate 8 where the self-detection comb tooth assembly 9 is not placed. The hydraulic cylinder 7-6 is then pushed out so that the bottom surface of the self-checking comb assembly 9 is higher than the top surface of the platform plate. The carrier moves to the lower part of the platform plate, and the concave comb plate 9-1 reaches the position right above the two embedded strips on the parking groove. The hydraulic cylinder 7-6 retracts until the two third comb tooth strip groups of the inner concave comb tooth plate 9-1 respectively enter the comb tooth groove groups on the two embedded strips. The electromagnet on the lifting plate 7-4 is powered off, and the hydraulic cylinder 7-6 retracts to the limit position.
And step nine, selecting an unparked parking comb plate as a working parking comb plate. The transverse moving motor 2-6 and the lifting motor 3-5 rotate, so that the conveying comb plate 4-5 is aligned with the working and parking comb plate in the axial direction of the transverse moving slide rail 2-1, and the bottom surface of the conveying comb plate 4-5 is higher than the top surface of the working and parking comb plate.
Step ten, the comb tooth exchange motor 4-4 rotates forwards, so that the conveying comb plate 4-5 moves to the position right above the working and parking comb plate.
And step eleven, reversely rotating the lifting motor 3-5 to enable the top surface of the conveying comb plate 4-5 to be lower than the bottom surface of the corresponding parking comb plate, and exchanging vehicles onto the parking comb plate. The parking is completed.
Claims (8)
1. An indoor and outdoor combined automatic parking method adopts a parking system comprising a stereo garage, an open-air garage and a carrier; the method is characterized in that: the stereo garage comprises an outer frame (1), a transverse moving mechanism (2), a lifting mechanism (3), a comb tooth exchange mechanism (4), a parking comb tooth plate group (5) and a transition platform (6);
the transverse moving mechanism (2) comprises a transverse moving slide rail (2-1), a transverse moving slide block (2-2), a first steel wire roller (2-3), a first transmission shaft, a transverse moving platform (2-4), a first steel wire rope (2-5) and a transverse moving motor (2-6); the transverse sliding rail (2-1) is fixed at the bottom of the outer frame (1); the transverse sliding block (2-2) and the transverse sliding rail (2-1) form a sliding pair; the transverse moving platform (2-4) is fixed with the transverse moving slide block (2-2); two first transmission shafts are respectively supported at two ends of the bottom of the outer frame; first steel wire rollers (2-3) are fixed on the two first transmission shafts; the two first steel wire rollers (2-3) are connected through a first steel wire rope (2-5); one of the first transmission shafts is driven by a traverse motor (2-6);
the lifting mechanism (3) comprises a lifting top plate (3-1), a supporting shaft (3-2), a second steel wire roller (3-4), a second transmission shaft, a lifting motor (3-5), a lifting platform (3-6), a winding shaft and a second steel wire rope (3-7); the bottom end of the supporting shaft (3-2) is fixed with the transverse moving platform (2-4), and the top end of the supporting shaft is fixed with the lifting top plate (3-1); the lifting platform (3-6) and the support shaft (3-2) form a sliding pair; the second transmission shafts are respectively supported at two sides of the top surface of the lifting top plate (3-1); the second steel wire roller (3-4) is fixed with the second transmission shaft; the winding shaft is supported on the lifting top plate (3-1); the winding shaft is driven by a lifting motor (3-5); a winding wheel is fixed on the winding shaft; one end of the second steel wire rope (3-7) is fixed with the reel, and the other end of the second steel wire rope bypasses the second steel wire roller (3-4) and is fixed with the lifting platform (3-6);
the comb tooth exchange mechanism (4) comprises a comb tooth exchange sliding frame (4-1), a comb tooth exchange sliding block (4-2), a lead screw (4-3), a comb tooth exchange motor (4-4) and a conveying comb plate (4-5); the comb tooth exchange sliding frame (4-1) is fixed on the lifting platform (3-6); the lead screw (4-3) is supported on the comb tooth exchange carriage (4-1); the comb tooth exchange slide block (4-2) and the comb tooth exchange sliding frame (4-1) form a sliding pair, and form a screw pair together with the screw rod (4-3); the screw rod (4-3) is driven by a comb tooth exchange motor (4-4);
the conveying comb plate (4-5) comprises an integrally formed U-shaped plate and two first comb strip groups; the U-shaped plate consists of a connecting plate (4-5-1) and two side plates (4-5-2) which are integrally formed; two ends of the connecting plate (4-5-1) are respectively connected with the inner ends of the two side plates (4-5-2); the connecting plate (4-5-1) is fixed with the comb tooth exchange slide block; the first comb tooth strip group comprises n first comb tooth strips (4-5-3) which are sequentially arranged at equal intervals along the length direction of the side plate (4-5-2), wherein n is more than or equal to 8 and less than or equal to 20; the two first comb tooth strip groups are respectively arranged at the inner side edges of the two side plates (4-5-2);
the parking comb plate group (5) consists of a plurality of parking comb plates; the parking comb plate group is arranged on one side of the transverse moving mechanism (2); the parking comb plate comprises a first middle plate (5-1) and two second comb strip groups which are integrally formed; the inner end of the first middle plate (5-1) is fixed with the outer frame (1); the two second comb tooth bar groups are respectively arranged on two sides of the first middle plate (5-1); the second comb tooth strip group comprises n second comb tooth strips (5-2) which are sequentially arranged at equal intervals along the length direction of the first middle plate (5-1); the transition platform (6) is arranged in the outer frame (1); the transition platform (6) and the parking comb plate group are positioned on the same side of the transverse moving mechanism (2);
the open-air garage comprises a platform plate (8), a climbing transition plate (10), an embedding strip (11), a first pressure sensor and a self-detection comb tooth assembly (9); the platform plates (8) are fixed on the ground at intervals; the top end of the obliquely arranged climbing transition plate (10) is aligned and fixed with the inner side edge of the platform plate (8), and the bottom end of the obliquely arranged climbing transition plate is contacted and fixed with the ground; k parking grooves are formed in the outer edge of the platform plate (8), and k is larger than or equal to 2; the parking groove consists of a rectangular through groove and two rectangular mounting grooves; the two rectangular mounting grooves are respectively arranged at two sides of the rectangular through groove; first pressure sensors are fixed on all the rectangular mounting grooves; all the rectangular mounting grooves are provided with embedded strips (11); the bottom of the embedding strip (11) is fixed with the corresponding first pressure sensor; the top surface of the embedded strip (11) is provided with a comb tooth groove group; the comb tooth groove group consists of n comb tooth grooves (11-1) which are sequentially arranged at equal intervals along the length direction of the embedded strip (11);
the self-detection comb tooth assembly (9) comprises an inner concave comb tooth plate (9-1), a dislocation detection plate (9-2), a second pressure sensor (9-3) and a third pressure sensor (9-4); the concave comb plate (9-1) comprises a second middle plate and two third comb strip groups which are integrally formed; the two third comb tooth bar groups are respectively arranged on two sides of the second middle plate; the third comb tooth strip group comprises n third comb tooth strips which are sequentially arranged at equal intervals along the length direction of the second middle plate; the outer ends of the top surfaces of all the third comb teeth bars are fixed with third pressure sensors (9-4); a second pressure sensor (9-3) is fixed on the top surface of the second middle plate; the bottom surface of the dislocation detection plate (9-2) is fixed with the second pressure sensor (9-3);
the number of the self-detection comb tooth assemblies (9) is k; k self-detection comb tooth assemblies (9) are respectively arranged on k parking grooves; the two third comb tooth strip groups of the inner concave comb tooth plate (9-1) are respectively clamped into the comb tooth groove groups of the two embedded strips (11) on the corresponding parking grooves;
the carrier comprises a chassis (7-1), a traveling assembly, a fixing plate (7-3), a lifting plate (7-4), a lifting sliding shaft (7-5) and a hydraulic cylinder (7-6); the travelling assembly comprises four travelling motors and four travelling wheels (7-2); four traveling wheels (7-2) are supported on two sides of the chassis (7-1) in a group of two by two; the four travelling wheels (7-2) are respectively driven by four travelling motors; the fixing plates (7-3) are arranged above the chassis (7-1) at intervals and are fixed with the chassis (7-1); the lifting sliding shaft (7-5) and the fixed plate (7-3) form a sliding pair, and the top end of the sliding pair is fixed with the bottom surface of the lifting plate (7-4); the hydraulic cylinder (7-6) is fixed on the fixed plate (7-3); a piston rod of the hydraulic cylinder (7-6) is fixed with the bottom surface of the lifting plate (7-4); an electromagnet is fixed on the top surface of the lifting plate (7-4); the concave comb plate (9-1) is made of magnetic materials;
the indoor and outdoor combined automatic parking method comprises the following specific steps:
firstly, a vehicle owner drives the vehicle to one of the self-detection comb tooth assemblies (9) on the platform plate (8) through the climbing transition plate (10), and wheels on two sides of the vehicle are respectively positioned on two third comb tooth plates on the self-detection comb tooth assemblies (9); the self-detection comb tooth assembly (9) is used as a working self-detection comb tooth assembly;
if the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is greater than 10000N, the sum of the pressures detected by the four second pressure sensors (9-3) on the working self-detection comb tooth assembly is less than 1000N, and all the third pressure sensors (9-4) do not detect the pressure, the step II is carried out;
if the sum of the pressures detected by the four second pressure sensors (9-3) in the self-detection comb tooth assembly (9) is greater than 1000N or any one third pressure sensor (9-4) detects the pressure, waiting for the owner to adjust the position of the vehicle until the sum of the pressures detected by the four first pressure sensors corresponding to the working self-detection comb tooth assembly is greater than 10000N, the sum of the pressures detected by the four second pressure sensors (9-3) on the working self-detection comb tooth assembly is less than 1000N, and entering the second step after all the third pressure sensors (9-4) do not detect the pressure;
secondly, the carrier vehicle moves to the position right below the working self-detection comb tooth assembly; a hydraulic cylinder (7-6) in the carrier is pushed out, so that an electromagnet on a lifting plate (7-4) is contacted with the bottom surface of a concave comb plate (9-1) in the working self-detection comb tooth assembly;
thirdly, electrifying an electromagnet on the lifting plate (7-4) and attracting the electromagnet with an inwards concave comb plate (9-1) in the working self-detection comb tooth assembly; the hydraulic cylinder (7-6) is pushed out continuously, so that the working self-detection comb tooth assembly is separated from the comb tooth groove group in the corresponding embedded strip;
fourthly, the carrier vehicle moves to a transition platform (6) of the stereo garage;
step five, the transverse moving motors (2-6) and the lifting motors (3-5) rotate, so that the conveying comb plate (4-5) moves to be lower than the working self-detection comb tooth assembly and is aligned with the working self-detection comb tooth assembly;
rotating the comb tooth exchange motor (4-4) forward to enable the conveying comb tooth plate (4-5) to move to the position right below the working self-detection comb tooth assembly;
seventhly, the lifting motor (3-5) rotates forwards to enable the conveying comb plate (4-5) to be lifted until the bottom surface of the conveying comb plate (4-5) is higher than the top surface of the working self-detection comb plate assembly, and the vehicle is switched to the conveying comb plate (4-5);
step eight, the comb tooth exchange motor (4-4) rotates reversely, so that the conveying comb plate (4-5) is reset; meanwhile, the carrier places the working self-detection comb tooth assembly on the corresponding parking groove;
step nine, selecting an unparked parking comb plate as a working parking comb plate; the transverse moving motor (2-6) and the lifting motor (3-5) rotate, so that the conveying comb plate (4-5) is aligned with the working and parking comb plate in the axial direction of the transverse moving slide rail (2-1), and the bottom surface of the conveying comb plate (4-5) is higher than the top surface of the working and parking comb plate;
step ten, the comb tooth exchange motor (4-4) rotates forwards to enable the conveying comb plate (4-5) to move right above the working and parking comb plate;
and step eleven, reversely rotating the lifting motors (3-5) to enable the top surfaces of the conveying comb plates (4-5) to be lower than the bottom surfaces of the corresponding parking comb plates, and exchanging vehicles onto the parking comb plates.
2. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the width of the first comb rack (4-5-3) on the conveying comb plate (4-5) is a, and a is more than or equal to 0.2 and less than or equal to 0.25 m; the distance between two adjacent first comb tooth bars (4-5-3) in the same first comb tooth bar group is b, and b is more than or equal to 0.2 and less than or equal to 0.25 m; the distance between the first comb tooth strip (4-5-3) closest to the connecting plate (4-5-1) in the first comb tooth strip group and the inner side edge of the connecting plate (4-5-1) is b; the first comb rack (4-5-3) farthest away from the connecting plate (4-5-1) in the first comb rack group is flush with the end part of the outer end of the side plate; the distance between the two first comb tooth strip groups is c; the distance between the inner side edges of the two side plates (4-5-2) is s; the width of a second comb rack (5-2) on the parking comb plate is equal to d, and d is more than or equal to 0.5b and less than b; the distance between two adjacent second comb racks (5-2) is equal to e, and a + b is equal to d + e; the distance between the outer end faces of the second comb racks (5-2) in the two second comb rack groups is equal to p, and p is less than s; the width of the first intermediate plate (5-1) is equal to q, q < c; the width of a comb tooth groove (11-1) on the embedded strip (11) is b, and the distance between two adjacent comb tooth grooves (11-1) is a; the cross section shape of a third comb rack on the concave comb plate (9-1) is the same as that of the second comb rack (5-2); and the distance between every two adjacent third comb racks is equal to e.
3. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: and under the condition that a piston rod of the hydraulic cylinder (7-6) is retracted, the distance between the top surface of the lifting plate (7-4) and the ground is smaller than the distance between the self-detection comb tooth assembly (9) and the ground.
4. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the transverse moving motors (2-6) are fixed at the bottom of the outer frame; an output shaft of the traversing motor (2-6) is fixed with one of the first transmission shafts; the lifting motor (3-5) is fixed on the lifting top plate (3-1); an output shaft of the lifting motor (3-5) is fixed with one end of the winding shaft; the comb tooth exchange motor (4-4) is fixed on the comb tooth exchange sliding frame (4-1); an output shaft of the comb tooth exchange motor (4-4) is fixed with one end of the screw rod (4-3).
5. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the four traveling motors are all fixed on the bottom surface of the chassis (7-1); the output shafts of the four traveling motors are respectively fixed with the four traveling wheels (7-2).
6. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the axis of the lead screw (4-3) is horizontally arranged and is perpendicular to the axis of the transverse sliding rail (2-1) in the transverse sliding mechanism (2).
7. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the outer end of the side plate (4-5-2) on the U-shaped plate is an open end; the open end of the U-shaped plate faces to the side away from the comb tooth exchange motor (4-4).
8. An indoor and outdoor combined automatic parking method according to claim 1, characterized in that: the method for placing the working self-detection comb tooth assembly into the corresponding parking groove by the carrier specifically comprises the following steps:
(1) the carrier vehicle moves to one parking groove on the platform plate (8) where the self-detection comb tooth assembly (9) is not placed;
(2) the hydraulic cylinder (7-6) is pushed out, so that the bottom surface of the self-detection comb tooth assembly (9) is higher than the top surface of the platform plate;
(3) the carrier is driven to the lower part of the platform plate, so that the concave comb plate (9-1) reaches the position right above the two embedded strips on the parking groove;
(4) the hydraulic cylinder (7-6) retracts until the two third comb tooth bar groups of the inner concave comb tooth plate (9-1) respectively enter the comb tooth groove groups on the two embedded bars; the electromagnet on the lifting plate (7-4) is powered off, and the hydraulic cylinder (7-6) is continuously retracted to the limit position.
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| CN110159030A (en) * | 2019-05-13 | 2019-08-23 | 南京理工大学 | A kind of single channel comb teeth exchange parking systems and its parking method |
| CN112814442B (en) * | 2021-01-14 | 2022-03-25 | 浙江镭蒙科技有限公司 | Telescopic comb tooth frame |
| CN113266183B (en) * | 2021-04-14 | 2023-05-19 | 安徽鸿杰威尔停车设备有限公司 | Comb-tooth type berth transmission equipment capable of avoiding dislocation and working method thereof |
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| CN109162512A (en) | 2019-01-08 |
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