CN111305619A

CN111305619A - Same-speed driving right-angle steering comb tooth exchange parking system

Info

Publication number: CN111305619A
Application number: CN202010336163.2A
Authority: CN
Inventors: 梁崇彦; 梁迅
Original assignee: Foshan Nuoxing Technology Co ltd
Current assignee: Foshan Nuoxing Technology Co ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2020-06-19

Abstract

A constant-speed driving right-angle steering comb tooth exchange parking system comprises parking equipment consisting of a parking area, a plate trailer, a comb tooth device, a reversing device and a control device, and external equipment consisting of a preparation area, an external plate trailer, an external comb tooth device and an external control device; the same-speed driving means that the linear speeds of four driving rollers of the roller device of the plate trailer of the parking equipment and the roller device of the external plate trailer of the external equipment are respectively the same; the right-angle steering means that the flat car of the parking equipment can realize plane right-angle steering displacement; the comb exchange means that the position exchange of the vehicle is realized between the conversion parking space of the parking equipment and the plate car, between the plate car of the parking equipment and the parking space, between the conversion parking space of the parking equipment and the external plate car of the external equipment, and between the external plate car of the external equipment and the temporary parking space by adopting a comb exchange technology that an inner frame vertically moves and an outer frame horizontally moves; the system is flexibly configured according to actual sites, and has strong adaptability and practicability.

Description

Same-speed driving right-angle steering comb tooth exchange parking system

Technical Field

The invention relates to the field of parking equipment, in particular to a method for realizing position exchange and carrying of vehicles inside and outside the parking equipment by matching the same-speed driving technology, the right-angle steering technology and the internal and external frame moving comb tooth exchange technology.

Background

As the number of private cars increases dramatically, parking spaces become problematic. The self-propelled parking lot is convenient and random to embody, but is not easy to find a proper parking space in a large-area parking lot. Moreover, the self-propelled parking lot occupies a relatively large area, and it is impractical to completely rely on the self-propelled parking lot to solve the parking problem in a city with small-sized soil. In order to park more vehicles on a limited land, various mechanical parking apparatuses have been developed in recent years. However, the efficiency of car parking and taking in and out of the mechanical parking facility is low, and it is difficult to cope with the periodic surge-like peak of car parking and taking in and out in parking lots in places such as hospitals and theaters.

AGV truck related technology has attempted to be applied to self-propelled parking lots in recent years, but at higher construction and maintenance costs. In addition, the related technologies of the AGV truck cannot be directly transplanted to the matching application of the parking equipment due to the great difference of the operation modes of different types of parking equipment. How to adopt traditional, reliable prior art, with simple, low-cost mode, promote the convenience that the user deposited/got the car and improve parking equipment's operating efficiency, still be the problem that this trade awaits solution.

Patent application No. 2020202573899, title filed on 5/3/2020: a ground guide rail orthogonal comb tooth type vehicle carrying system' provides a technical scheme for realizing position transfer of a vehicle by adopting a ground guide rail orthogonal and comb tooth exchange mode in parking equipment, and provides a new idea for solving the automatic operation problem of parking on one floor on the ground. However, in the technical scheme, a large number of guide rails and a large number of swing mechanisms need to be arranged on the ground of the equipment, the stability of the carrier is relatively poor, the height of the vehicle is limited by the structure of the carrier, and the vehicle exchange form is relatively complex; in addition, the technical scheme can not take measures to solve the problem that the operation efficiency of the tide type access vehicle is influenced, and an automatic exchange technical scheme between an external vehicle and parking equipment is not provided.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a technical scheme for realizing the position exchange and the carrying of vehicles inside and outside the parking equipment by matching the technologies of same-speed driving, right-angle steering and internal and external frame moving comb teeth exchange, realizes the automation of parking/picking up vehicles in a simple and low-cost mode, and greatly improves the parking/picking up efficiency of the parking equipment.

Broach frame and broach exchange device are trade conventional device, and the broach frame includes an inner tower, an outrigger, and its theory of operation is: inner tower and outrigger all are provided with the wheel that can the bearing vehicle, with the long direction vertically strip broach of vehicle, the strip broach of inner tower and the strip broach of outrigger stagger the setting each other, adopt the inner tower motionless, the outrigger can vertically lift or the outrigger motionless, the inner tower can vertically lift or the inner tower, the relative motion's that the outrigger homoenergetic vertically lifted mode, make inner tower and outrigger can realize crossing each other of vertical position, thereby realize exchanging the vehicle of parking on the inner tower to the outrigger on or exchanging the vehicle of parking on the outrigger to the vehicle parking position exchange on the inner tower. Under different application scenes, the comb tooth exchange device has different forms and characteristics.

The invention relates to a same-speed driving right-angle steering comb tooth exchange parking system, which is characterized in that: the parking system comprises parking equipment and external equipment; the same-speed driving means that the linear speeds of four driving rollers of the roller device of the plate trailer of the parking equipment are the same and the rotating directions are the same, and the linear speeds of four driving rollers of the roller device of the external plate trailer of the external equipment are the same; the right-angle steering means that the flat car of the parking equipment realizes plane right-angle steering of displacement at the intersection point of the transverse channel and the longitudinal channel, and the rotation directions are the same; the comb exchange is to realize the position exchange of a user vehicle between a conversion parking space and a plate car of the parking equipment, between the plate car and a parking space of the parking equipment, between the conversion parking space and an external plate car of the parking equipment and between the external plate car and a temporary parking space of the external equipment by adopting a comb exchange technology of vertically moving an inner frame and horizontally moving an outer frame.

The parking equipment is at least one set and comprises a parking area, a plate car, a comb tooth device, a reversing device and a control device.

The parking area is arranged close to the external equipment and comprises a parking space group, a transverse channel, a longitudinal channel and a conversion parking space.

The parking space group is at least one, is arranged on the ground of the parking area and consists of a plurality of parking spaces which are longitudinally arranged in parallel, the parking spaces are rectangles with the same specification and size, and are fixedly provided with movable external frame units of the comb tooth devices, the length size is larger than the length size of the parking equipment for parking the vehicle and larger than the length size of the movable external frame units, and the width size is larger than the width size of the parking equipment for parking the vehicle and larger than the width size of the movable external frame units; the width dimension of the parking space group is equal to the length dimension of the parking spaces, and the length dimension is equal to the sum of the width dimensions of all the parking spaces of the parking space group.

The cross-sectional width dimension of the transverse channel is at least equal to the length dimension of the parking space.

The longitudinal channel is perpendicular to the transverse channel, and the width dimension of the cross section is at least equal to the width dimension of the parking space.

The parking area is formed by combining the parking position group, the transverse channel and the longitudinal channel; wherein the parking space group and the transverse channel are combined to be provided, and the combination is one of the following two basic forms: in a first basic form, the number of the parking space groups is one, one length sideline of the transverse channel is arranged next to one length sideline of the parking space groups, and the length dimension is at least equal to that of the next parking space group; in a second basic form, the number of the parking space groups is two, the transverse channel is arranged in the middle of the two parking space groups, the two length sidelines are respectively adjacent to the length sideline of one parking space group, and the length size is at least equal to the length size of the parking space group with more parking spaces in the two parking space groups; the parking area is formed by randomly combining the basic form I, the basic form II and the longitudinal channel, and the parking position group, the transverse channel and the longitudinal channel are arranged according to the following three principles: in principle one, all the parking spaces are arranged in the same direction; in principle two, at least one longitudinal channel is communicated between any two transverse channels; in principle three, at least one width borderline of any parking space is adjacent to one length borderline of one of the transverse channels.

The conversion parking space is formed by one of the parking spaces in the parking space group which is located on the outermost side of the parking area and is adjacent to the external equipment; the conversion parking space is only used for temporarily parking the vehicle and exchanging the position of the vehicle, and cannot be used for parking the vehicle for a long time.

The plate trailer comprises a vehicle plate, a swing mechanism and a roller device.

The vehicle plate is a rectangular plate-shaped steel structural member, the length dimension of the vehicle plate is at least equal to that of the parking space, and the width dimension of the vehicle plate is at least equal to that of the parking space; the slewing mechanism comprises a rotating part; the rotating component is arranged at the lower position of the vehicle board and can horizontally rotate relative to the vehicle board, and the central line of the horizontal rotation motion is a perpendicular line passing through the center of the shape of the vehicle board; the roller device comprises a power mechanism and four driving rollers; the power mechanism is a motor speed reducer unit and is fixedly arranged on a rotating part of the slewing mechanism; the four driving rollers are symmetrically arranged around the rotation center of the rotating part, have the same maximum outer edge size and are driven by the power mechanism to rotate synchronously and in the same direction; and a rotating part of the slewing mechanism rotates to drive the roller device to rotate horizontally, and the maximum slewing diameter of the rotating part and the roller device is smaller than the width size of the vehicle plate.

The comb device comprises a movable outer frame unit and a movable inner frame unit.

The movable outer frame unit comprises a movable outer frame, a parking space driving device and a plate car driving device.

The movable outer frame is arranged on the ground of each parking space and consists of a left frame and a right frame which are symmetrically arranged by using the center line of the parking space in the vehicle length direction, the left frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing the left wheel of the vehicle, and the notches of the strip-shaped comb teeth are inward; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the right frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing and bearing wheels on the right side of the vehicle, and the gaps of the strip-shaped comb teeth face inwards; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the lower plane of the strip-shaped comb teeth of the left frame and the right frame is higher than the ground of the parking space, and the clearance height is larger than the height size of the strip-shaped comb teeth of the movable inner frame unit at the descending limit position.

The parking space driving device is matched with the movable outer frame and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on one side of the parking space close to the transverse channel of the parking area, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide part is divided into a left guide part and a right guide part, which are respectively and tightly mounted on the parking space and are symmetrically arranged with the center line of the parking space in the vehicle length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when the clutch of the motor reducer of the parking space driving device is in a suction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously linearly displace so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the restraint of the left guide part and the right guide part.

The plate trailer driving device is matched with the movable outer frame, is arranged on a vehicle plate of the plate trailer, and comprises a motor reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on the middle position of the vehicle plate, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively fastened and installed on the sweep and are symmetrically arranged with the center line of the sweep in the length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when the clutch of the motor reducer of the plate trailer driving device is in a suction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously linearly displace so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the restraint of the left guide part and the right guide part.

The left guide part and the right guide part of the plate trailer driving device are arranged at the same height as the left guide part and the right guide part of the parking space driving device.

The movable outer frame of the movable outer frame unit is positioned right above a parking space corresponding to the parking area when the movable outer frame is normally kept still; a driving gear of the parking space driving device arranged on the parking space is meshed with a rack of the movable outer frame, a clutch of the parking space driving device is in a normal suction state, and a clutch of the plate trailer driving device is in a normal separation state; when the plate car is moved to the position opposite to the parking space, the central lines of the left guide part and the right guide part of the car space driving device arranged above the parking space and the central lines of the left guide part and the right guide part of the plate car driving device arranged above the plate car are respectively positioned on the same straight line, the clutch of the output part of the motor reducer of the plate trailer driving device is in a disengaged state, the clutch of the output part of the motor reducer of the parking space driving device is in an actuation state, the motor reducer of the parking space driving device rotates to drive the two driving gears to rotate, the racks of the left frame and the right frame of the movable outer frame are driven to linearly displace towards the plate trailer direction, so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the constraint of the left guide part and the right guide part of the parking space driving device; then, the left frame and the right frame of the movable outer frame simultaneously enter the plate trailer position and start to be restrained by a left guide part and a right guide part which are arranged on the plate trailer driving device; when the left frame and the right frame of the movable outer frame continue to move, the two racks are respectively meshed with the two driving gears of the plate trailer driving device, and the two driving gears of the plate trailer driving device are in a follow-up rotating state; when the motor reducer of the parking space driving device stops rotating, the clutch of the output part of the motor reducer of the parking space driving device is changed to be in a disengaged state, the clutch of the output part of the motor reducer of the plate trailer driving device is changed to be in an attraction state, the motor reducer of the plate trailer driving device rotates to drive the two driving gears to rotate, and the two racks are driven to continue to linearly displace towards the plate trailer, so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the constraint of the left guide part and the right guide part of the plate position driving device; and finally, the left frame and the right frame of the movable outer frame leave the parking space position and completely enter the board truck position.

The movable inner frame unit is arranged on a plate of the plate trailer and comprises a movable inner frame and a lifting device; the movable inner frame is in a structure that a middle component is connected with two symmetrically-arranged two-side strip-shaped comb teeth, the gaps of the two-side strip-shaped comb teeth are outward, the arrangement specification and the size of the comb teeth are matched with the arrangement specification and the size of two rows of strip-shaped comb teeth of the left frame and the right frame of the movable outer frame unit, and the two rows of strip-shaped comb teeth can respectively bear wheels on the left side and the right side of a vehicle; the middle component is fixedly arranged on a movable part of the lifting device and can be driven by the lifting device to vertically lift, so that the strip-shaped comb teeth on the two sides are driven to synchronously vertically lift; the lifting device is a linear displacement driving device and comprises a movable part and a fixed part; the movable part is fixedly arranged on a middle component of the movable inner frame, and the strip-shaped comb teeth positioned on two sides are symmetrically distributed along the central line of the vehicle length direction of the vehicle plate; the fixed part is tightly installed on the vehicle plate, and the central line of the vehicle plate in the vehicle length direction is superposed with the central line of the movable inner frame unit in the vehicle length direction; the lifting limit position of the movable part of the lifting device enables the lower planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be higher than the upper planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame unit; the descending limit position of the movable part of the lifting device enables the upper planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be lower than the lower planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame unit.

When the strip-shaped comb teeth of the movable outer frame are positioned vertically above the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame from top to bottom without obstacles.

When the strip-shaped comb teeth of the movable outer frame are positioned vertically below the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame from bottom to top without obstacles.

The reversing device comprises a rotary unit and a rotary part of a rotary mechanism of the plate trailer; the number of the rotary units is equal to the number of the intersection points of the central lines of the transverse channels and the central lines of the longitudinal channels.

The rotation driving of the reversing device adopts one of the following two modes:

in the first mode, the rotating unit of the reversing device serves as a driving side, the rotating part of the rotating mechanism of the plate trailer serves as a follow-up side, and the rotating unit of the reversing device rotates to drive the rotating part of the rotating mechanism of the plate trailer to rotate along with the plate trailer; the method comprises the following steps: the rotary unit comprises a motor reducer and a rotary panel; the base of the motor reducer is fixedly arranged below the ground at the corresponding intersection point, the rotating output component is fixedly connected with the rotating panel, and the rotating center of the rotating output component is positioned above the intersection point; the rotary panel is a circular plate, the circle center of the rotary panel is overlapped with the rotation center of a rotation output part of the motor speed reducer, the upper surface of the rotary panel is flush with the ground, and the diameter of the rotary panel is at least equal to the diagonal distance between any two rollers of the roller device of the plate trailer passing through the center point of the plate trailer, so that when the plate trailer moves right above the rotary panel, all the rollers of the roller device are positioned on the rotary panel; the slewing mechanism of the plate trailer also comprises a slewing base; the rotary base is fixedly arranged at the position below a plate of the plate trailer; a rotating part of a rotating mechanism of the plate trailer is arranged on the rotating base and can horizontally rotate relative to the vehicle plate, and the central line of the rotating motion is a perpendicular line of the centroid of the vehicle plate; when the plate trailer moves to a position right above the intersection point, a motor reducer of the rotary unit rotates to drive the rotary panel to rotate, and the roller device of the plate trailer and a rotary part of the rotary mechanism are driven to synchronously rotate by friction force generated by contact of a roller of the roller device of the plate trailer and the rotary panel; when the rotation angle of the roller device of the plate trailer reaches 90 degrees, the motor reducer of the rotary unit stops rotating, and the plate trailer realizes the right-angle steering of displacement.

In the second mode, a rotating part of the rotating mechanism of the plate trailer serves as a driving side, a rotating unit of the reversing device serves as a follow-up side, and the rotating part of the rotating mechanism of the plate trailer rotates to drive the rotating unit of the reversing device to rotate along with the plate trailer; the method comprises the following steps: the rotary unit comprises a base and a rotary panel; the base is fixedly arranged below the ground at the corresponding intersection point position; the rotary panel is a circular plate and is arranged on the base and can horizontally rotate relative to the base, the rotating center is positioned above the intersection point, the upper surface of the rotary panel is flush with the ground, the diameter of the rotary panel is at least equal to the diagonal distance between any two rollers of the roller device of the plate trailer passing through the central point of the plate trailer, and when the plate trailer moves to the position right above the rotary panel, all the rollers of the roller device are positioned on the rotary panel; the swing mechanism of the plate trailer also comprises a motor reducer; the base of the motor reducer is fixedly arranged below the vehicle plate of the plate vehicle, the rotating output component is fixedly connected with the rotating component of the rotating mechanism of the plate vehicle, and the rotating center line is a perpendicular line of the centroid of the vehicle plate; when the plate trailer moves to a position right above the intersection point, a motor reducer of a slewing mechanism of the plate trailer rotates to drive a rotating part of the slewing mechanism of the plate trailer to rotate, so that a roller device of the plate trailer is driven to synchronously rotate; when the rotation angle of the roller device of the plate trailer reaches 90 degrees, a motor reducer of a slewing mechanism of the plate trailer stops rotating, and the plate trailer realizes the right-angle steering of displacement; when the roller device of the plate trailer rotates, the friction force generated by the contact of the roller device of the plate trailer and the rotary panel of the rotary unit drives the rotary panel of the rotary unit to rotate synchronously, and the rotary panel of the rotary unit cannot cause abrasion to the outer surface of the roller.

The control device controls the operation of the parking equipment, is in signal connection with the plate trailer, is in signal connection with the movable inner frame unit of the comb tooth device, is in signal connection with the movable outer frame unit of the comb tooth device, and is in signal connection with the reversing device; the control device is in signal connection with an external control device of the external equipment and is used for carrying out information interaction on the external equipment. The signal connection is conventional in the industry, and can be in a wired or wireless form, and can be in network interconnection or industrial bus connection.

The control device of the parking equipment is a conventional configuration in the industry, the main control element is a single chip microcomputer or a PLC or an MPU or an industrial personal computer, and is matched with peripherals such as a power supply, an I/O chip, a communication element, a data memory, a keyboard, a mouse, a display, a printer and the like, and control software is specially designed according to related functions of the technical scheme of the invention.

The external equipment comprises a preparation area, an external plate trailer, an external comb device and an external control device.

The preparation area comprises temporary parking spaces and transverse moving channels.

The temporary parking spaces are arranged on the ground of the preparation area and used for temporarily parking vehicles to be stored by users and vehicles to be taken by users, the temporary parking spaces are at least one in number and are longitudinally arranged in parallel, the length dimension of each temporary parking space is at least equal to that of a parking space of a parking group of a parking area of the parking equipment, the width dimension of each temporary parking space is at least equal to that of the parking space, the length direction center line of each temporary parking space is parallel to that of the parking space, and the external movable outer frame unit of the external comb tooth device is fixedly arranged on the ground.

One side line of the length direction of the traverse channel is close to a width direction side line of one side of the temporary parking space close to the parking equipment, the width size of the cross section is at least equal to the length size of the temporary parking space, the length size is at least equal to the sum of the width sizes of all the adjacent temporary parking spaces, and the width side lines of one side of all the temporary parking spaces close to the traverse channel are all positioned above the length side line of the traverse channel; and the other side line of the transverse moving channel in the length direction is close to the conversion parking space of the parking equipment, and the width side line of the conversion parking space close to one side of the transverse moving channel is positioned above the length side line of the transverse moving channel.

The external plate trailer comprises a vehicle plate and a roller device.

The sweep is a rectangular plate-shaped steel structural member, the length dimension of the sweep is at least equal to that of the temporary parking space, and the width dimension of the sweep is at least equal to that of the temporary parking space; the roller device comprises a power mechanism and four driving rollers; the power mechanism is a motor speed reducer unit and is fixedly arranged at the lower position of the vehicle plate; the maximum outer edges of the four driving rollers have the same size, and are driven by the power mechanism to synchronously and unidirectionally rotate, and the tangential direction of rotation is parallel to the central line of the transverse moving channel in the length direction.

The external comb device comprises an external movable external frame unit and an external movable internal frame unit.

The external movable external frame unit comprises a movable external frame, a temporary parking space driving device and an external plate trailer driving device.

And the movable outer frame of the external movable outer frame unit has the same structure as that of the movable outer frame unit of the comb tooth exchange device of the parking equipment.

The movable outer frame of the external movable outer frame unit is arranged on the ground of each temporary parking place and consists of a left frame and a right frame which are symmetrically arranged along the central line of the temporary parking place in the vehicle length direction, the left frame is in a groove shape with an inward notch, the groove-shaped upper layer member is strip-shaped comb teeth capable of bearing and bearing the left wheels of the vehicle, and the notches of the strip-shaped comb teeth are inward; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the right frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing and bearing wheels on the right side of the vehicle, and the gaps of the strip-shaped comb teeth face inwards; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the lower plane of the strip-shaped comb teeth of the left frame and the right frame is higher than the ground of the temporary parking space, and the clearance height is larger than the height size of the strip-shaped comb teeth of the movable inner frame of the external movable inner frame unit at the descending limit position.

The temporary parking space driving device of the external movable outer frame unit has the same structure as the parking space driving device of the movable outer frame unit of the comb tooth exchange device of the parking equipment.

The temporary parking space driving device of the external movable external frame unit is matched with the movable external frame of the external movable external frame unit and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is tightly installed on one side, close to the transverse channel, of the parking temporary parking space, and the clutch is installed on the output part; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively and tightly installed on the temporary parking space and are symmetrically arranged with the central line of the temporary parking space in the vehicle length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when the clutch of the motor reducer of the temporary parking space driving device is in a suction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously linearly displace so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the restraint of the left guide part and the right guide part.

And the structure of the external plate trailer driving device of the external movable outer frame unit is the same as that of the plate trailer driving device of the movable outer frame unit of the comb tooth exchange device of the parking equipment.

The external plate trailer driving device of the external movable external frame unit is matched with the movable external frame of the external movable external frame unit, is arranged on a vehicle plate of the external plate trailer and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on the middle position of the vehicle plate, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively fastened and installed on the sweep and are symmetrically arranged with the center line of the sweep in the length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when the clutch of the motor reducer of the plate trailer driving device is in a suction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously linearly displace so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the restraint of the left guide part and the right guide part.

The left guide part and the right guide part of the external plate trailer driving device are arranged at the same height as the left guide part and the right guide part of the temporary parking space driving device.

The movable outer frame of the external movable outer frame unit is positioned right above the temporary parking place corresponding to the parking area when in normal standing; a driving gear of the temporary parking space driving device arranged above the temporary parking space is meshed with a rack of the movable outer frame, a clutch of the temporary parking space driving device is in a normal suction state, and a clutch of the external plate car driving device is in a normal separation state; when the external plate car is moved to the position just opposite to the temporary car, the central lines of the left guide part and the right guide part of the temporary car driving device arranged above the temporary car are respectively positioned on the same straight line with the central lines of the left guide part and the right guide part of the external plate car driving device arranged above the external plate car, the clutch of the output part of the motor reducer of the external plate trailer driving device is in a disengaged state, the clutch of the output part of the motor reducer of the temporary parking space driving device is in a suction state, the motor reducer of the temporary parking space driving device rotates to drive the two driving gears to rotate, the racks of the left frame and the right frame of the movable outer frame are driven to linearly displace towards the direction of the external plate trailer, so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the constraint of the left guide part and the right guide part of the temporary parking space driving device; then, the left frame and the right frame of the movable outer frame simultaneously enter the outer plate trailer position and start to be restrained by a left guide part and a right guide part which are arranged on the outer plate trailer driving device; when the left frame and the right frame of the movable outer frame continue to move, the two racks are respectively meshed with the two driving gears of the external plate trailer driving device, and the two driving gears of the external plate trailer driving device are in a follow-up rotating state; when the motor reducer of the temporary parking space driving device stops rotating, the clutch of the output part of the motor reducer of the temporary parking space driving device is changed to be in a disengaged state, the clutch of the output part of the motor reducer of the external plate trailer driving device is changed to be in an attraction state, the motor reducer of the external plate trailer driving device rotates to drive the two driving gears to rotate, and the two racks are driven to continue to linearly displace towards the direction of the external plate trailer, so that the left frame and the right frame of the movable outer frame synchronously linearly displace under the constraint of the left guide part and the right guide part of the plate position driving device; and finally, the left frame and the right frame of the movable outer frame leave the temporary parking space and completely enter the external plate trailer position.

The structure of the external movable inner frame unit is the same as that of the movable inner frame unit of the comb tooth exchange device of the parking equipment.

The external movable internal frame unit is arranged on a vehicle plate of the external plate vehicle and comprises a movable internal frame and a lifting device; the movable inner frame is in a structure that a middle component is connected with two symmetrically-arranged two-side strip-shaped comb teeth, the gaps of the two-side strip-shaped comb teeth are outward, the arrangement specification and the size of the comb teeth are matched with the arrangement specification and the size of two rows of strip-shaped comb teeth of the left frame and the right frame of the movable outer frame unit of the external movable outer frame unit, and the two rows of strip-shaped comb teeth can respectively bear wheels on the left side and the right side of the vehicle; the middle component is fixedly arranged on a movable part of the lifting device and can be driven by the lifting device to vertically lift, so that the strip-shaped comb teeth on the two sides are driven to synchronously vertically lift; the lifting device is a linear displacement driving device and comprises a movable part and a fixed part; the movable part is fixedly arranged on a middle component of the movable inner frame, and the strip-shaped comb teeth positioned on two sides are symmetrically distributed along the central line of the vehicle length direction of the vehicle plate; the fixed part is tightly installed on the vehicle plate, and the vehicle length direction central line of the vehicle plate is superposed with the vehicle length direction central line of the movable inner frame of the external movable inner frame unit; the lifting limit position of the movable part of the lifting device enables the lower planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be higher than the upper planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame of the external movable outer frame unit; the descending limit position of the movable part of the lifting device enables the upper planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be lower than the lower planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame of the external movable outer frame unit.

When the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit are positioned vertically above the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit from top to bottom without obstacles.

When the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit are positioned vertically below the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit from bottom to top without obstacles.

The external control device comprises a human-computer interface and a control unit; the human-computer interface receives the parking operation of a user for storing the vehicle in the parking equipment and the vehicle taking operation of the user for storing the vehicle in the parking equipment, and is in signal connection with the control unit; the control unit controls the operation of the external equipment, is in signal connection with the human-computer interface, is in signal connection with the external plate trailer, and is in signal connection with the external movable external frame unit; the external movable inner frame unit is connected with the external comb device through signals, the external control device carries out information interaction on the parking equipment, and the external control device is connected with the control device of the parking equipment through signals.

The signal connection is the conventional technology in the industry, can adopt a wired or wireless form, and can adopt network interconnection or industrial bus connection; the user needs to input the identity information of the vehicle during parking operation, and the industry mature technologies related to the identity information of the vehicle comprise license plate recognition, electronic license plate recognition and various IC card recognition capable of representing the identity of the vehicle or a vehicle owner, so that a related recognition or reading device is arranged on a human-computer interface; which are conventional in the art. The user car taking operation is to input the vehicle identity information provided during the car parking on the human-computer interface, and comprises the steps of inputting a license plate or performing card reading operation of various IC cards.

The control unit is similar to a parking equipment control device which is configured conventionally in the industry, the main control element is a single chip microcomputer or a PLC or an MPU or an industrial personal computer, and is matched with peripherals such as a power supply, an I/O chip, a communication element, a data memory, a keyboard and a mouse, a display, a printer and the like, and control software is specially designed according to related functions of the technical scheme of the invention.

Preferably, the invention relates to a same-speed driving right-angle steering comb tooth exchange parking system, which is characterized in that: the software control logic for parking a vehicle by a user of the parking system includes the following.

Step 1: and the user plans to park the vehicle and drives into the temporary parking space in the preparation area of the external equipment.

Step 2: and the user inputs the identity information of the vehicle on a human-computer interface of an external control device of the external equipment, and the identity information and the parking request are sent to a control unit of the external control device.

And step 3: the control unit obtains the information of the vehicles to be stored of the user from the human-computer interface, and the temporary parking space where the vehicles to be stored of the user are parked is used as a target parking space; and acquiring current running state information from the external plate trailer, wherein the position of the external plate trailer is a target starting point position.

And 4, step 4: and if the external plate trailer is currently positioned right opposite to the target parking space, turning to the step 6.

And 5: and sending an instruction to enable the external plate trailer to move to a position right facing the target parking space.

Step 6: and sending an instruction to enable the temporary parking space driving device arranged at the target parking space and the external plate trailer driving device arranged at the external plate trailer to operate in a matching manner, so that all the movable outer frames of the external movable outer frame unit at the target parking space are displaced to enter the position of the external plate trailer and are located right above the movable inner frame of the external movable inner frame unit of the external comb device.

And 7: and sending an instruction to enable the external movable inner frame unit arranged on the external plate car to be matched with the external movable outer frame unit of the target parking space to operate, and exchanging the user-planned-to-be-stored vehicle originally parked on the comb teeth of the external movable outer frame unit to the comb teeth of the movable inner frame of the external movable inner frame unit.

And 8: and sending an instruction to enable the temporary parking space driving device arranged at the target parking space and the external plate trailer driving device arranged at the external plate trailer to operate in a matching manner, so that the movable outer frame of the external movable outer frame unit at the target parking space reversely displaces, and the original position of the target parking space is returned to stand.

And step 9: and if the external plate vehicle is over against the conversion parking space of the target parking equipment currently, turning to step 12.

Step 11: and sending an instruction to enable the external plate trailer to move to a position facing the conversion parking space of the target parking equipment.

Step 12: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the external plate trailer driving device arranged at the external plate trailer to operate in a matching manner, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the external plate trailer and are located right above the movable inner frame of the external movable inner frame unit.

Step 13: and sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external plate car and a movable outer frame unit of the conversion parking place to operate in a matched mode, and exchanging the user planned-to-be-stored vehicle originally parked on the comb teeth of the movable inner frame of the external movable inner frame unit onto the comb teeth of the movable outer frame unit.

Step 14: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the external plate car driving device arranged at the external plate car to operate in a matching manner, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space for standing.

Step 15: and sending information that the vehicle to be stored by the user is positioned above the conversion parking space to a control device of the target parking equipment, and sending related identity information of the vehicle.

Step 16: the control means of the target parking apparatus determines an empty parking space of the parking area of the target parking apparatus as a target parking space; and acquiring current running state information from the board vehicle of the target parking equipment, wherein the position of the board vehicle is a target starting point position.

And step 17: and if the plate trailer is located at the position opposite to the conversion parking space currently, turning to step 19.

Step 18: the control device plans a displacement route from the target starting point position to the position right facing the conversion parking space of the plate trailer; and sending an instruction to enable the plate trailer to operate according to the planned displacement route and to be displaced to the position right facing the conversion parking space.

Step 19: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the plate trailer and are located right above the movable inner frame of the movable inner frame unit.

Step 20: and sending an instruction to enable the movable inner frame unit of the comb tooth device arranged on the plate car and the movable outer frame unit of the conversion parking place to operate in a matched mode, and switching the user planned-to-be-stored vehicle originally parked on the comb teeth of the movable outer frame unit to the comb teeth of the movable inner frame unit.

Step 21: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space for standing.

Step 22: planning a displacement route of the plate trailer from the current position to the position opposite to the target parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to be displaced to a position opposite to the target parking space; when the displacement route needs to be subjected to right-angle steering, an instruction is sent out so that the rotating unit above the intersection point corresponding to the right-angle steering is matched with the rotating mechanism of the plate trailer to carry out reversing.

Step 23: and sending an instruction to enable the parking space driving device arranged at the target parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the target parking space are displaced to enter the positions of the plate trailer and are located right above the movable inner frames of the movable inner frame units.

Step 24: and sending an instruction to enable the movable inner frame unit of the comb tooth device arranged on the plate trailer to operate in cooperation with the movable outer frame unit of the target parking space, and exchanging the user planned-to-be-stored vehicle originally parked on the comb teeth of the movable inner frame unit onto the comb teeth of the movable outer frame unit.

Step 25: and sending an instruction to enable the parking space driving device arranged at the target parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the target parking space is reversely displaced and returns to the original position of the target parking space to stand.

Step 26: the vehicle storage information including the user vehicle identity information and the storage position information of the target parking equipment is specially stored and is sent to a control unit of an external control device of the external equipment at the same time, and the control unit is used for being called when a user takes a vehicle.

Preferably, the invention relates to a same-speed driving right-angle steering comb tooth exchange parking system, which is characterized in that: the user pickup software control logic of the parking system includes the following.

Step 1: and the user inputs the identity information of the vehicle to be acquired on a human-computer interface of an external control device of the external equipment.

Step 2: and a control unit of the external control device of the external equipment acquires the identity information of the vehicle to be taken of the user from the human-computer interface, and then acquires the parked parking equipment information from the specially stored vehicle storage information corresponding to the record of the identity information of the vehicle to be taken, wherein the parking equipment is used as target parking equipment.

And step 3: and sending the identity information of the vehicle which the user intends to take to the target parking equipment, and requesting the target parking equipment to transfer the vehicle which the user intends to take to the conversion parking space.

And 4, step 4: the control device of the target parking equipment receives a vehicle taking request sent by a control unit of an external control device of the external equipment and identity information of a vehicle which is planned to be taken by a user, and determines a specific parking space of the vehicle, which is parked in a parking area of the target parking equipment, wherein the parking space is used as a target parking space; and acquiring current running state information from the board vehicle of the target parking equipment, wherein the position of the board vehicle is a target starting point position.

And 5: and 7, if the plate trailer is located at the position opposite to the target parking space currently, turning to the step 7.

Step 6: the control device plans a displacement route of the plate trailer from the target starting point position to the position opposite to the target parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to be displaced to a position opposite to the target parking space; when the displacement route needs to be subjected to right-angle steering, an instruction is sent out so that the rotating unit above the intersection point corresponding to the right-angle steering is matched with the rotating mechanism of the plate trailer to carry out reversing.

And 7: and sending an instruction to enable the parking space driving device arranged at the target parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the target parking space are displaced to enter the positions of the plate trailer and are located right above the movable inner frames of the movable inner frame units.

And 8: and sending an instruction to enable the movable inner frame unit of the comb tooth device arranged on the plate car to operate in cooperation with the movable outer frame unit of the target parking space, and switching the user planned vehicle originally parked on the comb teeth of the movable outer frame unit to the comb teeth of the movable inner frame unit.

And step 9: and sending an instruction to enable the parking space driving device arranged at the target parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the target parking space is reversely displaced and returns to the original position of the target parking space to stand.

Step 10: the control device plans a displacement route from the current position of the plate trailer to the position right facing the conversion parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to displace to a position right facing the conversion parking space; when the displacement route needs to be subjected to right-angle steering, an instruction is sent out so that the rotating unit above the intersection point corresponding to the right-angle steering is matched with the rotating mechanism of the plate trailer to carry out reversing.

Step 11: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the plate trailer and are located right above the movable inner frame of the movable inner frame unit.

Step 12: and sending an instruction to enable the movable inner frame unit of the comb tooth device arranged on the plate car and the movable outer frame unit of the conversion parking place to operate in a matched mode, and switching a user planned to take a vehicle originally parked on the comb teeth of the movable inner frame unit to the comb teeth of the movable outer frame unit.

Step 13: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the plate trailer driving device arranged on the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space for standing.

Step 14: and sending the information of the relative identity of the vehicle to an external control device of the external equipment, wherein the vehicle which the user plans to take is positioned above the conversion parking space.

Step 15: the external control device of the external equipment determines an empty temporary parking space in a preparation area of the external equipment as a target parking space; and acquiring current running state information from the external plate trailer, wherein the position of the external plate trailer is a target starting point position.

Step 16: and the external control device sends out an instruction to enable the external plate trailer to move to a position right facing the conversion parking space.

And step 17: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the external plate trailer driving device arranged at the external plate trailer to operate in a matching way, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the external plate trailer and are positioned right above the movable inner frame of the movable inner frame unit.

Step 18: and sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external flat car to be matched with the movable outer frame unit of the conversion parking space to operate, and switching a user planned vehicle originally parked on comb teeth of the movable outer frame unit to the movable inner frame comb teeth of the movable inner frame unit.

Step 19: and sending an instruction to enable the parking space driving device arranged at the conversion parking space and the external plate car driving device arranged at the external plate car to operate in a matching manner, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space for standing.

Step 20: and sending an instruction to enable the external plate trailer to move to a position right facing the target parking space.

Step 21: and sending an instruction to enable the temporary parking space driving device arranged at the target parking space and the external plate trailer driving device arranged at the external plate trailer to operate in a matching manner, so that the external movable outer frame of the external movable outer frame unit of the target parking space is completely displaced to enter the position of the external plate trailer and is positioned right above the movable inner frame of the external movable inner frame unit.

Step 22: and sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external flat car to operate in a matched manner with an external movable outer frame unit of the target parking space, and switching a user planned vehicle originally parked on comb teeth of a movable inner frame of the external movable inner frame unit to comb teeth of the external movable outer frame unit.

Step 23: and sending an instruction to enable an external parking space driving device arranged at the target parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matching manner, so that the external movable outer frame of the external movable outer frame unit at the target parking space moves reversely, and the original position of the target parking space is returned to stand.

Step 24: and the user finishes the vehicle taking operation completely, and vehicle storage information including the user vehicle identity information and the storage position information of the target parking equipment is transferred to historical data for special storage.

Further, the same-speed driving right-angle steering comb tooth exchange parking system is characterized in that: the parking areas of the parking equipment of the parking system are simplified and combined, and a longitudinal channel is eliminated; the simplified combination arrangement takes the form of one of: the number of the parking space groups is one, the transverse channel is arranged next to one length sideline of the parking space group, and the length dimension is at least equal to that of the adjacent parking space group; the number of the parking space groups is two, the transverse channel is arranged in the middle of the two parking space groups, the two length sidelines are respectively adjacent to the length sideline of one parking space group, and the length size is at least equal to that of the parking space group with more parking spaces in the two parking space groups; meanwhile, the parking equipment of the parking system does not have the longitudinal channel, so that the intersection point of the longitudinal channel and the transverse channel does not exist, the reversing device is cancelled, the swing mechanism of the plate trailer of the parking equipment is cancelled, and the power mechanism of the roller device is directly and tightly mounted at the position below the plate trailer of the plate trailer; the parking and taking operation logics of the parking system are correspondingly simplified. The simplified parking system is actually the basic form one and the basic form two of the parking space group and the transverse passage combined arrangement.

Further, the same-speed driving right-angle steering comb tooth exchange parking system is characterized in that: a turntable unit is additionally arranged on an external plate trailer of the external equipment; the turntable unit comprises a fixed part and a rotating part; the lower part of the fixed part is fixedly arranged on the vehicle plate of the external plate vehicle; the rotating part is arranged at the upper position of the fixed part; the movable inner frame unit of the external comb device is arranged above the rotating part; the turntable unit is classified as an automobile turntable in a conventional device in the industry, and a vehicle to be taken by a user can turn around for 180 degrees through the turntable unit, so that the vehicle can directly run out without backing up when the user intends to transfer the vehicle to a parking space in a preparation area of the external device.

Further, the same-speed driving right-angle steering comb tooth exchange parking system is characterized in that: the transverse channel of the parking area of the parking equipment is provided with two metal guide rails which are symmetrically arranged by the central line of the transverse channel in the length direction, the longitudinal channel of the parking area of the parking equipment is provided with two metal guide rails which are symmetrically arranged by the central line of the longitudinal channel in the length direction, and the metal guide rails of the transverse channel and the metal guide rails of the longitudinal channel have the same section size and are mutually vertical; the cross section shapes and the sizes of four driving rollers of the roller device of the plate trailer of the parking equipment are matched with the metal guide rail of the transverse channel and the metal guide rail of the longitudinal channel, and the four driving rollers can be supported and guided by the metal guide rail of the transverse channel and the metal guide rail of the longitudinal channel.

Further, the same-speed driving right-angle steering comb tooth exchange parking system is characterized in that: and guide rollers are arranged on the periphery of the plate trailer of the parking equipment.

The invention has the advantages that: the technical scheme that the position exchange and the carrying of the vehicles inside and outside the parking equipment are realized by the plate trailer matched moving inner and outer frame comb tooth exchange technology driven at the same speed and steered at a right angle is provided, the automation of parking/taking the vehicles is realized in a simple and low-cost mode, and the parking/taking efficiency can be greatly improved. According to the technical scheme, a user only needs to drive a vehicle to be parked into a parking space in a preparation area of the external equipment and then inputs the identity information of the vehicle, so that the parking operation is finished, the vehicle does not need to be driven into the parking equipment, and whether the parking space at an entrance and an exit of the parking equipment is empty or not does not need to be considered. And the user can wait to pick up the vehicle at the parking space in the preparation area of the external equipment only by inputting the identity information of the vehicle to be picked up on the human-computer interface of the external control device of the external equipment, so that the vehicle can be picked up in an appointment mode easily. Since the preparation area can be arranged in a place where vehicles are relatively easy to park, the flexible configuration and turnover use of a plurality of parking spaces of the preparation area can better cope with the requirement of the stage tide type access vehicle.

In addition, the parking equipment can be flexibly configured according to the actual site conditions, one or more preparation areas can be matched with one or more sets of parking equipment, and the adaptability and the practicability are high.

Drawings

FIG. 1 is a simplified plan view of one embodiment of a constant velocity drive quarter-turn comb-swap parking system of the present invention.

In the figure: 1 preparing an area; 11, a first temporary parking space; 12, a second temporary parking space; 13, a third temporary parking space; 14, a temporary parking space IV; 21 an external movable external frame unit; 22 a movable inner frame; 23 a movable external frame unit; 24, a movable inner frame; 3 traversing the channel; 4, external plate lathes; 52 a revolving unit; 61, parking equipment I; a first parking space 61A; 61B, converting the parking space I; 62, a second parking device; a second 62A parking space; 62B, converting the parking space II; 7, turning a plate vehicle; 91 transverse channel one; 92, a second transverse channel; 10 longitudinal channel.

Fig. 2-15 are schematic plan views of a second embodiment of a constant speed drive quarter-turn comb-swap parking system of the present invention.

In the figure: 1 preparing an area; 11, a first temporary parking space; 12, a second temporary parking space; 13, a third temporary parking space; 14, a temporary parking space IV; 21 an external movable external frame unit; 22 a movable inner frame; 23 a movable external frame unit; 24, a movable inner frame; 3 traversing the channel; 4, external plate lathes; 52 a revolving unit; 61, parking equipment I; a first parking space 61A; 61B, converting the parking space I; 62, a second parking device; a second 62A parking space; 62B, converting the parking space II; 7, turning a plate vehicle; 81 user vehicles; 91 transverse channel one; 10 longitudinal channel.

Fig. 16 to 18 are schematic diagrams (in elevation) illustrating the operation of the comb-tooth exchanging device of the constant-speed driving right-angle steering comb-tooth exchanging parking system according to the present invention.

In the figure: 16, the ground; 21A left comb teeth; 21B left guide rail; 21C left guide; 21D right comb teeth; 21E right guide rail; 21F right guide; 24, a movable inner frame; 7, turning a plate vehicle; 7C plate vehicle left guide piece; 7F lathing a right guide piece; 81 user vehicle.

Detailed Description

The invention will be further explained with reference to the drawings, without limiting the scope of the invention to the following.

Fig. 1 is a schematic plan view of one embodiment of a constant-speed-driving quarter-turn comb-exchange parking system according to the present invention. The parking system shown in fig. 1 is a set of external equipment and two sets of parking equipment.

As can be seen in the figure, the external device is arranged at the upper right corner of the figure, 4 temporary parking spaces are longitudinally arranged in parallel in the preparation area 1 above the figure, and from left to right, a temporary parking space i 11, a temporary parking space ii 12, a temporary parking space iii 13 and a temporary parking space iv 14 are respectively arranged; and 1, surveying the temporary parking space one 11: an external movable outer frame unit 21 is provided above the temporary parking space one 11. The other temporary parking spaces are set to be the same as the temporary parking space one 11.

A traverse passage 3 is provided immediately below the preparation area 1; inspecting the transverse moving channel 3: an external plate trailer 4 is currently parked on the transverse moving channel 3; an external movable internal frame unit (a movable internal frame 22 therein is shown) of the external comb device is provided above the external plate trailer 4.

A first parking device 61 is arranged on the left side below the drawing; a first row of parking spaces adjacent to the traverse channel 3 is arranged above the drawing of the first parking device 61, and 6 first parking spaces 61A are arranged from left to right, wherein the parking space on the rightmost side is set as a first conversion parking space 61B; a width sideline above the first conversion parking space 61B is adjacent to the transverse moving channel 3; the first parking equipment 61 is provided with four rows of parking spaces from top to bottom; a first transverse channel 91 is arranged between the first row of parking spaces and the second row of parking spaces, a third row of parking spaces is adjacent to the second row of parking spaces, and a second transverse channel 92 is arranged between the third row of parking spaces and the fourth row of parking spaces; the first transverse channel 91 and the second transverse channel 92 are communicated through the longitudinal channel 10 at the leftmost side; it can be seen that all parking spaces are arranged in the same direction, and at least one width borderline of all parking spaces is adjacent to one length borderline of one transverse channel.

It is shown that a turning unit 52 is provided at a point where the longitudinal center line of the longitudinal passage 10 of the parking facility one 61 and the longitudinal center line of the lateral passage one 91 meet each other, and another turning unit 52 is provided at a point where the longitudinal center line of the longitudinal passage 10 and the longitudinal center line of the lateral passage two 92 meet each other.

A second parking device 62 is arranged on the right side below the drawing; shown only partially in the drawings.

As can be seen, the second switching space 62B of the second parking equipment 62 is located at the leftmost side of the first row of parking spaces, and the upper width sideline is adjacent to the traverse passage 3; a plurality of second parking spaces 62A are provided on the right side of the second switching parking space 62B.

The embodiment shown in fig. 1 is provided with one set of external equipment for supporting and supporting two sets of parking equipment.

Fig. 2 to 15 are schematic plan views showing the operation of a user vehicle 81 from a temporary parking space driven into the preparation area 1 of the external device to one of parking spaces parked in the first parking device 61 according to a second embodiment of the constant-speed-drive quarter-turn comb-exchange parking system of the present invention.

Fig. 2 contains essentially the main details of fig. 1, except that parking device one 61 and parking device two 62 are similar, not all shown, and not shown after the second row of parking spaces. The embodiment is also matched with one set of external equipment and supports two sets of parking equipment.

As shown in fig. 3, in addition to fig. 2, the user vehicle 81 enters the rightmost temporary space four 14 in the preparation area 1 in which the external device is shown, and the wheels of the vehicle are supported by the external movable outer frame unit 21 of the temporary space four 14. Obviously, this is the user parking operation. As described above, the user should input the identification information of the user vehicle 81 on the human-machine interface of the external control device of the external apparatus, and the identification information and the parking request are transmitted to the control unit of the external control device of the external apparatus. The control unit obtains the information of the vehicles to be stored of the user from the human-computer interface, and the temporary parking space where the vehicles to be stored of the user are parked is used as a target parking space (namely the temporary parking space four 14); and acquiring current running state information from the external plate trailer 4, wherein the leftmost position of the transverse moving channel 3 where the external plate trailer 4 is positioned is a target starting position.

As shown in fig. 4, based on fig. 3, the control unit sends a command to displace the external board truck 4 to a position directly facing the target parking space (temporary parking space four 14).

As shown in fig. 5, based on fig. 4, a command is issued to make the temporary parking space driving device disposed at the target parking space cooperate with the external flatbed driving device disposed on the external flatbed vehicle, so that the movable outer frame of the external movable outer frame unit 21 of the target parking space is completely displaced into the position of the external flatbed vehicle 4 and is located right above the movable inner frame 22 of the external movable inner frame unit.

And sending an instruction to enable the external movable inner frame unit of the external comb tooth device arranged on the external flat car 4 to be matched with the external movable outer frame unit 21 of the target parking space to operate, and exchanging the user car 81 originally parked on the comb teeth of the external movable outer frame unit 21 to the comb teeth of the movable inner frame 22 of the external movable inner frame unit.

As shown in fig. 6, based on fig. 5, a command is issued to make the temporary parking space driving device disposed at the target parking space and the external trigger driving device disposed on the external trigger 4 operate cooperatively, so that the movable outrigger of the external movable outrigger unit 21 at the target parking space moves reversely, and returns to the original position of the target parking space to stand.

As shown in fig. 7, based on fig. 6, a command is issued to displace the exterior truck 4 to a position facing the first change-over parking space 61B of the target parking facility.

As shown in fig. 8, based on fig. 7, the control device of the parking facility cooperates with the control unit of the external control device of the external device, and sends out a command to make the parking space driving device disposed at the first convertible parking space 61B cooperate with the external flatbed driving device disposed on the external flatbed 4, so that the movable outer frame of the movable outer frame unit 21 of the first convertible parking space 61B is completely displaced to enter the position of the external flatbed 4 and is located right above the movable inner frame 22 of the external movable inner frame unit.

And sending an instruction to enable an external movable inner frame unit of an external comb device arranged on the external plate trailer 4 to be matched with the movable outer frame unit 23 of the first conversion parking space 61B to operate, and exchanging the user vehicle 81 originally parked on the comb teeth of the movable inner frame 22 of the external movable inner frame unit onto the comb teeth of the movable outer frame unit 23.

As shown in fig. 9, based on fig. 8, a command is issued to cause the parking space driving device disposed at the first convertible parking space 61B and the external board vehicle driving device disposed at the external board vehicle 4 to operate cooperatively, so that the movable outrigger of the movable outrigger unit 23 of the first convertible parking space 61B is displaced in the opposite direction, and returns to the original position of the first convertible parking space 61B to stand.

As shown in fig. 10, based on fig. 9, the control device of the parking facility one 61 issues a command to displace the truck 7 to a position that is just opposite to the shift space one 61B.

As shown in fig. 11, based on fig. 10, a command is issued to cause the parking space driving device disposed at the first switching parking space 61B and the trigger driving device disposed at the trigger 7 to operate cooperatively, so that all the movable outer frames of the movable outer frame unit 23 at the first switching parking space 61B are displaced into the position of the trigger 7 and are located right above the movable inner frame 24 of the movable inner frame unit.

And sending an instruction to enable the movable inner frame unit of the comb tooth device arranged on the plate trailer 7 and the movable outer frame unit 23 of the conversion parking space 7 to operate in a matched mode, and exchanging the user vehicle 81 originally parked on the comb teeth of the movable outer frame unit 23 to the comb teeth of the movable inner frame 24 of the movable inner frame unit.

As shown in fig. 12, based on fig. 11, a command is issued to cause the parking space driving device disposed at the first conversion parking space 61B and the trigger driving device disposed at the trigger 7 to operate cooperatively, so that the movable outrigger of the movable outrigger unit 23 of the first conversion parking space 61B is displaced in the reverse direction, and returns to the original position of the first conversion parking space 61B to stand.

As shown in fig. 13, on the basis of fig. 12, a command is issued to displace the truck 7 to a position facing the target parking space (the target parking space in the present embodiment is the leftmost parking space in the first row of the first parking facility 61).

As shown in fig. 14, based on fig. 13, a command is issued to cause the parking space driving device provided in the target parking space to cooperate with the board vehicle driving device provided in the board vehicle 7, so that all the movable outer frames of the movable outer frame unit 23 in the target parking space are displaced into the position of the board vehicle 7 and are located right above the movable inner frame 24 of the movable inner frame unit.

The movable inner frame unit of the comb tooth device provided on the plate trailer 7 is instructed to operate in cooperation with the movable outer frame unit 23 of the target parking space, and the user vehicle 81 originally parked on the comb teeth of the movable inner frame 24 of the movable inner frame unit is switched to the comb teeth of the movable outer frame unit 23.

As shown in fig. 15, based on fig. 14, a command is issued to cause the parking space driving device provided in the target parking space to cooperate with the board vehicle driving device provided in the board vehicle 7 to move, so that the movable outrigger of the movable outrigger unit 23 in the target parking space is reversely displaced and returns to the original target parking space to stand.

The vehicle storage information, including the identity information of the user vehicle 81 and the relevant storage location information, is stored specifically and sent to the control unit of the external control device of the external device for the user to call when he or she gets the vehicle.

The process of picking up the car by the user is obtained by referring to the above-mentioned reverse operation of fig. 15 to fig. 2, and is not described herein again.

The details of a constant speed drive quarter-turn comb-swap parking system of the present invention are described below in several elevation views.

Fig. 16 to 18 are schematic diagrams (in elevation) illustrating the operation process of the comb-tooth exchanging device of the same-speed driving right-angle steering comb-tooth exchanging parking system according to the present invention, wherein the user vehicle 81 is exchanged from the comb-tooth outer frame to the comb-tooth inner frame.

As shown in fig. 16, a left guide 21C and a right guide 21F are fixedly mounted on the floor surface 16 of the parking space; the left guide piece 21C supports and restrains a lower-layer member left guide rail 21B of the left frame of the comb tooth outer frame to form a linear displacement guide rail pair; the right guide piece 21F supports and restrains a lower-layer member right guide rail 21E of the right frame of the comb tooth outer frame to form another linear displacement guide rail pair; the upper layer component of the left frame of the comb tooth outer frame is left comb teeth 21A, and the upper layer component of the right frame of the comb tooth outer frame is right comb teeth 21D; the left comb tooth 21A and the right comb tooth 21D hold the user vehicle 81.

Fig. 17 shows, on the basis of the state of fig. 16, the pallet truck 7 displaced to a position facing the parking space; at this time, the forward projections of the left and

right guides

7C and 7F of the board car mounted on the board car 7 coincide with the left and

right guides

21C and 21F mounted on the parking space, respectively; the movable internal frame 24 mounted above the pallet truck 7 is visible.

As can be seen from the foregoing, the parking space driving device installed on the parking space and the flat car driving device installed on the flat car 7 cooperate to operate, so that the left frame and the right frame of the comb-teeth outer frame can be linearly displaced to the position right above the movable inner frame 24 installed on the flat car 7.

Fig. 18 shows that, on the basis of the state of fig. 17, the movable inner frame 24 mounted on the cart 7 is driven by the lifting device to vertically ascend, and passes through the left comb 21A of the left frame and the right comb 21D of the right frame of the comb outer frame from bottom to top, and when the movable inner frame 24 ascends to the limit position, the user vehicle 81 is supported by the comb of the movable inner frame 22.

The operation of other comb exchange devices used in the present invention can be found with reference to fig. 16 to 18 and the related text descriptions, which are not described herein again.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention and are intended to be equivalent changes of position are included in the scope of the present invention.

Claims

1. The utility model provides a with fast drive right angle and turn to broach exchange parking system which characterized in that: the parking system comprises parking equipment and external equipment; the same-speed driving means that the linear speeds of four driving rollers of the roller device of the plate trailer of the parking equipment are the same and the rotating directions are the same, and the linear speeds of four driving rollers of the roller device of the external plate trailer of the external equipment are the same; the right-angle steering means that the flat car of the parking equipment realizes plane right-angle steering of displacement at the intersection point of the transverse channel and the longitudinal channel, and the rotation directions are the same; the comb exchange is to realize the position exchange of a user vehicle between a conversion parking space and a plate car of the parking equipment, between the plate car and a parking space of the parking equipment, between the conversion parking space of the parking equipment and an external plate car of the external equipment and between the external plate car of the external equipment and a temporary parking space by adopting a comb exchange technology of vertically moving an inner frame and horizontally moving an outer frame;

the parking equipment is at least one set and comprises a parking area, a plate car, a comb tooth device, a reversing device and a control device;

the parking area is arranged close to the external equipment and comprises a parking position group, a transverse channel, a longitudinal channel and a conversion parking space;

the parking space group is at least one, is arranged on the ground of the parking area and consists of a plurality of parking spaces which are longitudinally arranged in parallel, the parking spaces are rectangles with the same specification and size, and are fixedly provided with movable external frame units of the comb tooth devices, the length size is larger than the length size of the parking equipment for parking the vehicle and larger than the length size of the movable external frame units, and the width size is larger than the width size of the parking equipment for parking the vehicle and larger than the width size of the movable external frame units; the width size of the parking space group is equal to the length size of the parking spaces, and the length size of the parking space group is equal to the sum of the width sizes of all the parking spaces of the parking space group;

the cross-sectional width dimension of the transverse channel is at least equal to the length dimension of the parking space;

the longitudinal channel is perpendicular to the transverse channel, and the width dimension of the cross section is at least equal to the width dimension of the parking space;

the parking area is formed by combining the parking position group, the transverse channel and the longitudinal channel; wherein the parking space group and the transverse channel are combined to be provided, and the combination is one of the following two basic forms: in a first basic form, the number of the parking space groups is one, one length sideline of the transverse channel is arranged next to one length sideline of the parking space groups, and the length dimension is at least equal to that of the next parking space group; in a second basic form, the number of the parking space groups is two, the transverse channel is arranged in the middle of the two parking space groups, the two length sidelines are respectively adjacent to the length sideline of one parking space group, and the length size is at least equal to the length size of the parking space group with more parking spaces in the two parking space groups; the parking area is formed by randomly combining the basic form I, the basic form II and the longitudinal channel, and the parking position group, the transverse channel and the longitudinal channel are arranged according to the following three principles: in principle one, all the parking spaces are arranged in the same direction; in principle two, at least one longitudinal channel is communicated between any two transverse channels; in principle three, at least one width sideline of any parking space is adjacent to one length sideline of one transverse channel;

the conversion parking space is formed by one of the parking spaces in the parking space group which is located on the outermost side of the parking area and is adjacent to the external equipment; the conversion parking space is only used for temporarily parking the vehicle and exchanging the position of the vehicle, and cannot be used for parking the vehicle for a long time;

the plate trailer comprises a vehicle plate, a swing mechanism and a roller device;

the vehicle plate is a rectangular plate-shaped steel structural member, the length dimension of the vehicle plate is at least equal to that of the parking space, and the width dimension of the vehicle plate is at least equal to that of the parking space; the slewing mechanism comprises a rotating part; the rotating component is arranged at the lower position of the vehicle board and can horizontally rotate relative to the vehicle board, and the central line of the horizontal rotation motion is a perpendicular line passing through the center of the shape of the vehicle board; the roller device comprises a power mechanism and four driving rollers; the power mechanism is a motor speed reducer unit and is fixedly arranged on a rotating part of the slewing mechanism; the four driving rollers are symmetrically arranged around the rotation center of the rotating part, have the same maximum outer edge size and are driven by the power mechanism to rotate synchronously and in the same direction; a rotating part of the slewing mechanism rotates to drive the roller device to horizontally rotate, and the maximum slewing diameters of the rotating part and the roller device are smaller than the width size of the vehicle plate;

the comb teeth device comprises a movable outer frame unit and a movable inner frame unit;

the movable outer frame unit comprises a movable outer frame, a parking space driving device and a plate trailer driving device;

the movable outer frame is arranged on the ground of each parking space and consists of a left frame and a right frame which are symmetrically arranged by using the center line of the parking space in the vehicle length direction, the left frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing the left wheel of the vehicle, and the notches of the strip-shaped comb teeth are inward; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the right frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing and bearing wheels on the right side of the vehicle, and the gaps of the strip-shaped comb teeth face inwards; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the lower planes of the strip-shaped comb teeth of the left frame and the right frame are higher than the ground of the parking space, and the clearance height is larger than the height dimension of the strip-shaped comb teeth of the movable inner frame unit at the descending limit position;

the parking space driving device is matched with the movable outer frame and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on one side of the parking space close to the transverse channel of the parking area, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide part is divided into a left guide part and a right guide part, which are respectively and tightly mounted on the parking space and are symmetrically arranged with the center line of the parking space in the vehicle length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when a clutch of a motor reducer of the parking space driving device is in an attraction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously and linearly displace so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the restraint of the left guide part and the right guide part;

the plate trailer driving device is matched with the movable outer frame, is arranged on a vehicle plate of the plate trailer, and comprises a motor reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on the middle position of the vehicle plate, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively fastened and installed on the sweep and are symmetrically arranged with the center line of the sweep in the length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when a clutch of a motor reducer of the plate trailer driving device is in an attraction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears are respectively driven to synchronously and linearly displace, so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the restraint of the left guide part and the right guide part;

the left guide part and the right guide part of the plate trailer driving device are arranged at the same height as the left guide part and the right guide part of the parking space driving device;

the movable inner frame unit is arranged on a plate of the plate trailer and comprises a movable inner frame and a lifting device; the movable inner frame is in a structure that a middle component is connected with two symmetrically-arranged two-side strip-shaped comb teeth, the gaps of the two-side strip-shaped comb teeth are outward, the arrangement specification and the size of the comb teeth are matched with the arrangement specification and the size of two rows of strip-shaped comb teeth of the left frame and the right frame of the movable outer frame unit, and the two rows of strip-shaped comb teeth can respectively bear wheels on the left side and the right side of a vehicle; the middle component is fixedly arranged on a movable part of the lifting device and can be driven by the lifting device to vertically lift, so that the strip-shaped comb teeth on the two sides are driven to synchronously vertically lift; the lifting device is a linear displacement driving device and comprises a movable part and a fixed part; the movable part is fixedly arranged on a middle component of the movable inner frame, and the strip-shaped comb teeth positioned on two sides are symmetrically distributed along the central line of the vehicle length direction of the vehicle plate; the fixed part is tightly installed on the vehicle plate, and the central line of the vehicle plate in the vehicle length direction is superposed with the central line of the movable inner frame unit in the vehicle length direction; the lifting limit position of the movable part of the lifting device enables the lower planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be higher than the upper planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame unit; the descending limit position of the movable part of the lifting device enables the upper planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be lower than the lower planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame unit;

when the strip-shaped comb teeth of the movable outer frame are positioned vertically above the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame from top to bottom without obstacles;

when the strip-shaped comb teeth of the movable outer frame are positioned vertically below the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame from bottom to top without obstacles;

the reversing device comprises a rotary unit and a rotary part of a rotary mechanism of the plate trailer; the number of the rotary units is equal to the number of the intersection points of the central lines of the transverse channels and the central lines of the longitudinal channels;

in the first mode, the rotating unit of the reversing device serves as a driving side, the rotating part of the rotating mechanism of the plate trailer serves as a follow-up side, and the rotating unit of the reversing device rotates to drive the rotating part of the rotating mechanism of the plate trailer to rotate along with the plate trailer; the method comprises the following steps: the rotary unit comprises a motor reducer and a rotary panel; the base of the motor reducer is fixedly arranged below the ground at the corresponding intersection point, the rotating output component is fixedly connected with the rotating panel, and the rotating center of the rotating output component is positioned above the intersection point; the rotary panel is a circular plate, the circle center of the rotary panel is overlapped with the rotation center of a rotation output part of the motor speed reducer, the upper surface of the rotary panel is flush with the ground, and the diameter of the rotary panel is at least equal to the diagonal distance between any two rollers of the roller device of the plate trailer passing through the center point of the plate trailer, so that when the plate trailer moves right above the rotary panel, all the rollers of the roller device are positioned on the rotary panel; the slewing mechanism of the plate trailer also comprises a slewing base; the rotary base is fixedly arranged at the position below a plate of the plate trailer; a rotating part of a rotating mechanism of the plate trailer is arranged on the rotating base and can horizontally rotate relative to the vehicle plate, and the central line of the rotating motion is a perpendicular line of the centroid of the vehicle plate; when the plate trailer moves to a position right above the intersection point, a motor reducer of the rotary unit rotates to drive the rotary panel to rotate, and the roller device of the plate trailer and a rotary part of the rotary mechanism are driven to synchronously rotate by friction force generated by contact of a roller of the roller device of the plate trailer and the rotary panel; when the rotation angle of the roller device of the plate trailer reaches 90 degrees, the motor reducer of the rotary unit stops rotating, and the plate trailer realizes the right-angle steering of displacement;

in the second mode, a rotating part of the rotating mechanism of the plate trailer serves as a driving side, a rotating unit of the reversing device serves as a follow-up side, and the rotating part of the rotating mechanism of the plate trailer rotates to drive the rotating unit of the reversing device to rotate along with the plate trailer; the method comprises the following steps: the rotary unit comprises a base and a rotary panel; the base is fixedly arranged below the ground at the corresponding intersection point position; the rotary panel is a circular plate and is arranged on the base and can horizontally rotate relative to the base, the rotating center is positioned above the intersection point, the upper surface of the rotary panel is flush with the ground, the diameter of the rotary panel is at least equal to the diagonal distance between any two rollers of the roller device of the plate trailer passing through the central point of the plate trailer, and when the plate trailer moves to the position right above the rotary panel, all the rollers of the roller device are positioned on the rotary panel; the swing mechanism of the plate trailer also comprises a motor reducer; the base of the motor reducer is fixedly arranged below the vehicle plate of the plate vehicle, the rotating output component is fixedly connected with the rotating component of the rotating mechanism of the plate vehicle, and the rotating center line is a perpendicular line of the centroid of the vehicle plate; when the plate trailer moves to a position right above the intersection point, a motor reducer of a slewing mechanism of the plate trailer rotates to drive a rotating part of the slewing mechanism of the plate trailer to rotate, so that a roller device of the plate trailer is driven to synchronously rotate; when the rotation angle of the roller device of the plate trailer reaches 90 degrees, a motor reducer of a slewing mechanism of the plate trailer stops rotating, and the plate trailer realizes the right-angle steering of displacement;

the control device controls the operation of the parking equipment, is in signal connection with the plate trailer, is in signal connection with the movable inner frame unit of the comb tooth device, is in signal connection with the movable outer frame unit of the comb tooth device, and is in signal connection with the reversing device; the control device is in signal connection with an external control device of the external equipment and is used for carrying out information interaction on the external equipment;

the external equipment comprises a preparation area, an external plate trailer, an external comb device and an external control device;

the preparation area comprises temporary parking stalls and transverse moving channels;

the temporary parking spaces are arranged on the ground of the preparation area, are used for temporarily parking vehicles to be stored by users and vehicles to be taken by users, are at least one in number, are longitudinally arranged in parallel, have the length dimension at least equal to the length dimension of the parking spaces of the parking lot group of the parking area of the parking equipment, have the width dimension at least equal to the width dimension of the parking spaces, have the length direction central line parallel to the length direction central line of the parking spaces, and are fixedly provided with external movable outer frame units of the external comb tooth devices on the ground;

one side line of the length direction of the traverse channel is close to a width direction side line of one side of the temporary parking space close to the parking equipment, the width size of the cross section is at least equal to the length size of the temporary parking space, the length size is at least equal to the sum of the width sizes of all the adjacent temporary parking spaces, and the width side lines of one side of all the temporary parking spaces close to the traverse channel are all positioned above the length side line of the traverse channel; the other side line of the length direction of the traverse channel is close to a conversion parking space of the parking equipment, and the width side line of one side of the conversion parking space close to the traverse channel is positioned above the length side line of the traverse channel;

the external plate trailer comprises a vehicle plate and a roller device;

the sweep is a rectangular plate-shaped steel structural member, the length dimension of the sweep is at least equal to that of the temporary parking space, and the width dimension of the sweep is at least equal to that of the temporary parking space; the roller device comprises a power mechanism and four driving rollers; the power mechanism is a motor speed reducer unit and is fixedly arranged at the lower position of the vehicle plate; the maximum outer edges of the four driving rollers have the same size, and are driven by the power mechanism to synchronously and unidirectionally rotate, and the tangential direction of the rotation is parallel to the central line of the transverse moving channel in the length direction;

the external comb device comprises an external movable external frame unit and an external movable internal frame unit;

the external movable external frame unit comprises a movable external frame, a temporary parking place driving device and an external plate trailer driving device;

the movable outer frame of the external movable outer frame unit has the same structure as that of the movable outer frame unit of the comb tooth exchange device of the parking equipment;

the movable outer frame of the external movable outer frame unit is arranged on the ground of each temporary parking place and consists of a left frame and a right frame which are symmetrically arranged along the central line of the temporary parking place in the vehicle length direction, the left frame is in a groove shape with an inward notch, the groove-shaped upper layer member is strip-shaped comb teeth capable of bearing and bearing the left wheels of the vehicle, and the notches of the strip-shaped comb teeth are inward; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the right frame is in a groove shape with an inward notch, the groove-shaped upper layer component is strip-shaped comb teeth capable of bearing and bearing wheels on the right side of the vehicle, and the gaps of the strip-shaped comb teeth face inwards; the lower layer component is a plane linear guide rail, a rack with a downward tooth form is arranged below the plane linear guide rail, and the length direction of the rack is parallel to the length direction of the plane linear guide rail; the lower planes of the strip-shaped comb teeth of the left frame and the right frame are higher than the ground of the temporary parking space, and the clearance height is larger than the height dimension of the strip-shaped comb teeth of the movable inner frame of the external movable inner frame unit at the descending limit position;

the temporary parking space driving device of the external movable external frame unit has the same structure as the parking space driving device of the movable external frame unit of the comb tooth exchange device of the parking equipment;

the temporary parking space driving device of the external movable external frame unit is matched with the movable external frame of the external movable external frame unit and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is tightly installed on one side, close to the transverse channel, of the parking temporary parking space, and the clutch is installed on the output part; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively and tightly installed on the temporary parking space and are symmetrically arranged with the central line of the temporary parking space in the vehicle length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when a clutch of a motor reducer of the temporary parking space driving device is in an attraction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears respectively drive the two racks to synchronously and linearly displace so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the restraint of the left guide part and the right guide part;

the external plate car driving device of the external movable external frame unit has the same structure as the plate car driving device of the movable external frame unit of the comb tooth exchange device of the parking equipment;

the external plate trailer driving device of the external movable external frame unit is matched with the movable external frame of the external movable external frame unit, is arranged on a vehicle plate of the external plate trailer and comprises a motor speed reducer, a driving gear and a guide component; the motor speed reducer is fixedly arranged on the middle position of the vehicle plate, and the output part is provided with a clutch; the clutch enables the output component to be driven by the motor reducer to rotate or rotate along with the motor reducer; the number of the driving gears is two, the driving gears are respectively and tightly mounted on an output part of the motor speed reducer, and tooth profile parameters are matched with those of racks of the movable outer frame and can be respectively meshed with the two racks; the guide component is divided into a left guide component and a right guide component which are respectively fastened and installed on the sweep and are symmetrically arranged with the center line of the sweep in the length direction; the left guide part is matched with a planar linear guide rail of the left frame of the movable outer frame to form a linear displacement guide rail pair; the right guide part is matched with the planar linear guide rail of the right frame of the movable outer frame to form another linear displacement guide rail pair; when a clutch of a motor reducer of the plate trailer driving device is in an attraction state, the motor reducer rotates to drive the two driving gears to rotate, and the two driving gears are respectively driven to synchronously and linearly displace, so that the left frame and the right frame of the movable outer frame synchronously and linearly displace under the restraint of the left guide part and the right guide part;

the left guide part and the right guide part of the external plate trailer driving device are arranged at the same height as the left guide part and the right guide part of the temporary parking space driving device;

the structure of the external movable internal frame unit is the same as that of the movable internal frame unit of the comb tooth exchange device of the parking equipment;

the external movable internal frame unit is arranged on a vehicle plate of the external plate vehicle and comprises a movable internal frame and a lifting device; the movable inner frame is in a structure that a middle component is connected with two symmetrically-arranged two-side strip-shaped comb teeth, the gaps of the two-side strip-shaped comb teeth are outward, the arrangement specification and the size of the comb teeth are matched with the arrangement specification and the size of two rows of strip-shaped comb teeth of the left frame and the right frame of the movable outer frame unit of the external movable outer frame unit, and the two rows of strip-shaped comb teeth can respectively bear wheels on the left side and the right side of the vehicle; the middle component is fixedly arranged on a movable part of the lifting device and can be driven by the lifting device to vertically lift, so that the strip-shaped comb teeth on the two sides are driven to synchronously vertically lift; the lifting device is a linear displacement driving device and comprises a movable part and a fixed part; the movable part is fixedly arranged on a middle component of the movable inner frame, and the strip-shaped comb teeth positioned on two sides are symmetrically distributed along the central line of the vehicle length direction of the vehicle plate; the fixed part is tightly installed on the vehicle plate, and the vehicle length direction central line of the vehicle plate is superposed with the vehicle length direction central line of the movable inner frame of the external movable inner frame unit; the lifting limit position of the movable part of the lifting device enables the lower planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be higher than the upper planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame of the external movable outer frame unit; the descending limit position of the movable part of the lifting device enables the upper planes of the strip-shaped comb teeth on the two sides of the movable inner frame to be lower than the lower planes of the strip-shaped comb teeth on the left frame and the right frame of the movable outer frame of the external movable outer frame unit;

when the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit are positioned vertically above the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit from top to bottom without obstacles;

when the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit are positioned vertically below the strip-shaped comb teeth of the movable inner frame, the strip-shaped comb teeth of the movable inner frame can pass through the strip-shaped comb teeth of the movable outer frame of the external movable outer frame unit from bottom to top without obstacles;

2. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: the software control logic for parking by a user of the parking system comprises the following:

step 1: the user plans to store the vehicle and drives into a temporary parking space in the preparation area of the external equipment;

step 2: a user inputs identity information of a vehicle on a human-computer interface of an external control device of the external equipment, and the identity information and a parking request are sent to a control unit of the external control device;

and step 3: the control unit obtains the information of the vehicles to be stored of the user from the human-computer interface, and the temporary parking space where the vehicles to be stored of the user are parked is used as a target parking space; acquiring current running state information from the external plate trailer, wherein the position of the external plate trailer is a target starting point position;

and 4, step 4: if the external plate trailer is currently positioned over against the target parking space, turning to step 6;

and 5: sending an instruction to enable the external plate trailer to move to a position right facing the target parking space;

step 6: sending an instruction to enable a temporary parking space driving device arranged at the target parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matching mode, so that all the movable outer frames of the external movable outer frame units of the target parking space are displaced to enter the positions of the external plate trailer and are located right above the movable inner frames of the external movable inner frame units of the external comb tooth devices;

and 7: sending an instruction to enable the external movable inner frame unit arranged on the external plate car to operate in cooperation with the external movable outer frame unit of the target parking space, and exchanging a user planned-to-be-stored vehicle originally parked on comb teeth of the external movable outer frame unit to comb teeth of a movable inner frame of the external movable inner frame unit;

and 8: sending an instruction to enable a temporary parking space driving device arranged at the target parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matched mode, enabling a movable outer frame of an external movable outer frame unit at the target parking space to move reversely, and returning to the original position of the target parking space for standing;

and step 9: if the external plate vehicle is currently over against the conversion parking space of the target parking equipment, turning to step 12;

step 11: sending an instruction to enable the external plate trailer to move to a position facing a conversion parking space of the target parking equipment;

step 12: sending an instruction to enable a parking space driving device arranged at the conversion parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matched mode, so that all the movable external frames of the movable external frame units of the conversion parking space are displaced to enter the position of the external plate trailer and are located right above the movable internal frames of the external movable internal frame units;

step 13: sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external plate car and a movable outer frame unit of the conversion parking place to operate in a matched mode, and exchanging vehicles to be stored by users originally parked on comb teeth of a movable inner frame of the external movable inner frame unit onto the comb teeth of the movable outer frame unit;

step 14: sending an instruction to enable a parking space driving device arranged at the conversion parking space and an external plate car driving device arranged at the external plate car to operate in a matched mode, so that the movable external frame of the movable external frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space to be kept stand;

step 15: sending information that a vehicle to be stored by a user is positioned above the conversion parking space to a control device of the target parking equipment, and sending related identity information of the vehicle;

step 16: the control means of the target parking apparatus determines an empty parking space of the parking area of the target parking apparatus as a target parking space; acquiring current running state information from a board vehicle of the target parking equipment, wherein the position of the board vehicle is a target starting point position;

and step 17: if the plate trailer is currently located at the position opposite to the conversion parking space, turning to step 19;

step 18: the control device plans a displacement route from the target starting point position to the position right facing the conversion parking space of the plate trailer; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to displace to a position right facing the conversion parking space;

step 19: sending an instruction to enable a parking space driving device arranged at the conversion parking space and a plate trailer driving device arranged at the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the plate trailer and are located right above the movable inner frames of the movable inner frame units;

step 20: sending an instruction to enable a movable inner frame unit of the comb tooth device arranged on the plate car to operate in a matched mode with a movable outer frame unit of the conversion parking place, and exchanging a user planned-to-be-stored vehicle originally parked on comb teeth of the movable outer frame unit to comb teeth of a movable inner frame of the movable inner frame unit;

step 21: sending an instruction to enable a parking space driving device arranged at the conversion parking space and a plate trailer driving device arranged at the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space to be kept stand;

step 22: planning a displacement route of the plate trailer from the current position to the position opposite to the target parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to be displaced to a position opposite to the target parking space; when the displacement route needs to be subjected to right-angle steering, sending an instruction to enable the rotary unit above the intersection point corresponding to the right-angle steering to be matched with the rotary mechanism of the plate trailer for reversing;

step 23: sending an instruction to enable the parking space driving device arranged in the target parking space and the plate trailer driving device arranged in the plate trailer to operate in a matched mode, so that the movable outer frames of the movable outer frame units of the target parking space are all displaced to enter the position of the plate trailer and are located right above the movable inner frames of the movable inner frame units;

step 24: sending an instruction to enable a movable inner frame unit of the comb tooth device arranged on the plate car to operate in cooperation with a movable outer frame unit of the target parking space, and exchanging a user planned-to-be-stored vehicle originally parked on comb teeth of a movable inner frame of the movable inner frame unit onto the comb teeth of the movable outer frame unit;

step 25: sending an instruction to enable a parking space driving device arranged in the target parking space and a plate trailer driving device arranged in the plate trailer to operate in a matched mode, enabling the movable outer frame of the movable outer frame unit of the target parking space to move reversely, and returning to the original position of the target parking space for standing;

3. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: the user vehicle taking software control logic of the parking system comprises the following:

step 1: a user inputs identity information of a vehicle to be acquired on a human-computer interface of an external control device of the external equipment;

step 2: a control unit of an external control device of the external equipment acquires identity information of a vehicle to be taken of a user from the human-computer interface, and then acquires information of parked parking equipment from a record corresponding to the identity information of the vehicle to be taken in the specially stored vehicle storage information, wherein the parking equipment is used as target parking equipment;

and step 3: sending the identity information of the vehicle which is planned to be taken by the user to the target parking equipment, and requesting the target parking equipment to transfer the vehicle which is planned to be taken by the user to a conversion parking space;

and 4, step 4: the control device of the target parking equipment receives a vehicle taking request sent by a control unit of an external control device of the external equipment and identity information of a vehicle which is planned to be taken by a user, and determines a specific parking space of the vehicle, which is parked in a parking area of the target parking equipment, wherein the parking space is used as a target parking space; acquiring current running state information from a board vehicle of the target parking equipment, wherein the position of the board vehicle is a target starting point position;

and 5: if the plate trailer is currently located at a position opposite to the target parking space, turning to step 7;

step 6: the control device plans a displacement route of the plate trailer from the target starting point position to the position opposite to the target parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to be displaced to a position opposite to the target parking space; when the displacement route needs to be subjected to right-angle steering, sending an instruction to enable the rotary unit above the intersection point corresponding to the right-angle steering to be matched with the rotary mechanism of the plate trailer for reversing;

and 7: sending an instruction to enable the parking space driving device arranged in the target parking space and the plate trailer driving device arranged in the plate trailer to operate in a matched mode, so that the movable outer frames of the movable outer frame units of the target parking space are all displaced to enter the position of the plate trailer and are located right above the movable inner frames of the movable inner frame units;

and 8: sending an instruction to enable a movable inner frame unit of the comb tooth device arranged on the plate car to operate in cooperation with a movable outer frame unit of the target parking space, and switching a user planned vehicle originally parked on comb teeth of the movable outer frame unit to comb teeth of a movable inner frame of the movable inner frame unit;

and step 9: sending an instruction to enable a parking space driving device arranged in the target parking space and a plate trailer driving device arranged in the plate trailer to operate in a matched mode, enabling the movable outer frame of the movable outer frame unit of the target parking space to move reversely, and returning to the original position of the target parking space for standing;

step 10: the control device plans a displacement route from the current position of the plate trailer to the position right facing the conversion parking space; sending an instruction to enable the plate trailer to operate according to the planned displacement route and to displace to a position right facing the conversion parking space; when the displacement route needs to be subjected to right-angle steering, sending an instruction to enable the rotary unit above the intersection point corresponding to the right-angle steering to be matched with the rotary mechanism of the plate trailer for reversing;

step 11: sending an instruction to enable a parking space driving device arranged at the conversion parking space and a plate trailer driving device arranged at the plate trailer to operate in a matched mode, so that all the movable outer frames of the movable outer frame units of the conversion parking space are displaced to enter the position of the plate trailer and are located right above the movable inner frames of the movable inner frame units;

step 12: sending an instruction to enable a movable inner frame unit of the comb tooth device arranged on the plate car to operate in a matched mode with a movable outer frame unit of the conversion parking place, and switching a user planned vehicle originally parked on comb teeth of a movable inner frame of the movable inner frame unit to comb teeth of the movable outer frame unit;

step 13: sending an instruction to enable a parking space driving device arranged at the conversion parking space and a plate trailer driving device arranged at the plate trailer to operate in a matched mode, so that the movable outer frame of the movable outer frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space to be kept stand;

step 14: sending a vehicle which a user intends to take to be positioned above the conversion parking space to an external control device of the external equipment, and sending related identity information of the vehicle;

step 15: the external control device of the external equipment determines an empty temporary parking space in a preparation area of the external equipment as a target parking space; acquiring current running state information from the external plate trailer, wherein the position of the external plate trailer is a target starting point position;

step 16: the external control device sends out an instruction to enable the external plate trailer to move to a position opposite to the conversion parking space;

and step 17: sending an instruction to enable a parking space driving device arranged at the conversion parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matching mode, so that all the movable external frames of the movable external frame units of the conversion parking space are displaced to enter the positions of the external plate trailer and are positioned right above the movable internal frames of the movable internal frame units;

step 18: sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external flat car to operate in a matched manner with a movable outer frame unit of the conversion parking space, and switching a user planned vehicle originally parked on comb teeth of the movable outer frame unit to comb teeth of a movable inner frame of the movable inner frame unit;

step 19: sending an instruction to enable a parking space driving device arranged at the conversion parking space and an external plate car driving device arranged at the external plate car to operate in a matched mode, so that the movable external frame of the movable external frame unit of the conversion parking space is reversely displaced and returns to the original position of the conversion parking space to be kept stand;

step 20: sending an instruction to enable the external plate trailer to move to a position right facing the target parking space;

step 21: sending an instruction to enable a temporary parking space driving device arranged at the target parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matching mode, so that the external movable external frame of the external movable external frame unit of the target parking space is enabled to be completely displaced to enter the position of the external plate trailer and is located right above the movable internal frame of the external movable internal frame unit;

step 22: sending an instruction to enable an external movable inner frame unit of the external comb tooth device arranged on the external plate car to operate in a matched manner with an external movable outer frame unit of the target parking space, and switching a user planned vehicle originally parked on comb teeth of a movable inner frame of the external movable inner frame unit to comb teeth of the external movable outer frame unit;

step 23: sending an instruction to enable an external parking space driving device arranged at the target parking space and an external plate trailer driving device arranged at the external plate trailer to operate in a matched mode, enabling an external movable outer frame of an external movable outer frame unit at the target parking space to move reversely, and returning to the original position of the target parking space for standing;

4. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: the parking areas of the parking equipment of the parking system are simplified and combined, and a longitudinal channel is eliminated; the simplified combination arrangement takes the form of one of: the number of the parking space groups is one, the transverse channel is arranged next to one length sideline of the parking space group, and the length dimension is at least equal to that of the adjacent parking space group; the number of the parking space groups is two, the transverse channel is arranged in the middle of the two parking space groups, the two length sidelines are respectively adjacent to the length sideline of one parking space group, and the length size is at least equal to that of the parking space group with more parking spaces in the two parking space groups; meanwhile, the parking system cancels a reversing device, a swing mechanism of the plate trailer of the parking equipment is cancelled, and a power mechanism of the roller device is directly and fixedly arranged at the position below the plate trailer of the plate trailer; the parking and taking operation logics of the parking system are correspondingly simplified.

5. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: a turntable unit is additionally arranged on an external plate trailer of the external equipment; the turntable unit comprises a fixed part and a rotating part; the lower part of the fixed part is fixedly arranged on the vehicle plate of the external plate vehicle; the rotating part is arranged at the upper position of the fixed part; the movable inner frame unit of the external comb device is arranged above the rotating part.

6. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: the transverse channel of the parking area of the parking equipment is provided with two metal guide rails which are symmetrically arranged by the central line of the transverse channel in the length direction, the longitudinal channel of the parking area of the parking equipment is provided with two metal guide rails which are symmetrically arranged by the central line of the longitudinal channel in the length direction, and the metal guide rails of the transverse channel and the metal guide rails of the longitudinal channel have the same section size and are mutually vertical; the cross section shapes and the sizes of four driving rollers of the roller device of the plate trailer of the parking equipment are matched with the metal guide rail of the transverse channel and the metal guide rail of the longitudinal channel, and the four driving rollers can be supported and guided by the metal guide rail of the transverse channel and the metal guide rail of the longitudinal channel.

7. The same-speed driving right-angle steering comb-tooth exchange parking system as the claim 1, wherein: and guide rollers are arranged on the periphery of the plate trailer of the parking equipment.