CN113187290A - Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method - Google Patents
Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method Download PDFInfo
- Publication number
- CN113187290A CN113187290A CN202110597003.8A CN202110597003A CN113187290A CN 113187290 A CN113187290 A CN 113187290A CN 202110597003 A CN202110597003 A CN 202110597003A CN 113187290 A CN113187290 A CN 113187290A
- Authority
- CN
- China
- Prior art keywords
- parking
- frame
- tooth
- comb
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
- E04H6/186—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means without transverse movement of the car after leaving the transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
- E04H6/225—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes without transverse movement of the parking palette after leaving the transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
Abstract
The invention belongs to the technical field of intelligent parking, and provides a comb tooth parking robot-based multi-layer lifting and transverse moving garage and a using method thereof. The garage comprises a frame, a bottom layer parking frame, a middle layer parking frame and a top layer parking frame; the bottom layer parking frame is a fixed comb-tooth frame; the top parking frame is arranged at the top of the frame and comprises a movable comb-tooth frame and a lifting device thereof; the middle-layer parking frame comprises a transverse moving device, a movable comb-tooth frame and a lifting device, wherein the lifting device of the movable comb-tooth frame is arranged on the transverse moving device; the movable comb-tooth frame and the racks of the fixed comb-tooth frame are arranged in a staggered manner; the lifting device can drive the movable comb rack to horizontally lift or lower; when the movable comb-tooth frame is lowered to the lowest position, the comb-tooth frame of the comb-tooth robot can be accommodated in and out of a gap between the movable comb-tooth frame and the fixed comb-tooth frame. The garage is simpler in structure; the parking robot is adopted to park and take the car, so that the labor and the time are saved; more vehicles can be parked.
Description
Technical Field
The invention belongs to the technical field of intelligent parking, relates to a lifting and transverse moving garage, and particularly relates to a multi-layer lifting and transverse moving garage based on a comb-tooth parking robot and a using method of the multi-layer lifting and transverse moving garage.
Background
With the increase of the popularity of household vehicles, the number of urban vehicles is increased, but the number of parking spaces in cities is limited, and the urban land is more and more scarce, so that the parking is increasingly tense, and with the improvement of the living standard of people, the parking mode with small floor area and high automation level is gradually increased. Adopt intelligent parking robot to carry the vehicle to the parking stall, replace the manual work and look for the parking stall, can effectively increase the parking quantity under the same area, and also can not appear the situation of jam in the parking lot at the peak period of getting the car in the parking, this kind of parking mode and intelligent parking robot receive expectation and favor of many people. The driver only needs to park the vehicle on the parking exchange position, and the parking robot can transport the vehicle to the parking lot or the garage according to the preset program. Currently, parking robots include lift plate type, grip lift type, comb tooth type, and the like. The comb-tooth parking robot realizes the position conversion of the vehicle on the parking comb-tooth frame and the parking robot by the staggered movement of the racks between the parking comb-tooth frame and the parking robot. For the comb-tooth type parking robot, comb-tooth frames which are in staggered fit with the comb-tooth frames of the parking robot are arranged on all parking spaces. Although more parking spaces can be designed in a limited space by using the intelligent parking robot, the increased parking spaces are limited.
In order to design more parking spaces in a parking lot, a multi-structure three-dimensional parking garage is available in the market at present, and the number of the parking spaces can be increased by one time in the parking lot occupying the same ground space. Among them, the lifting and horizontal moving stereo garage is the most common. The lifting and transverse moving three-dimensional parking garage can be applied to underground parking garages with higher floor spaces, has a simple structure, and is widely applied to places such as shopping malls, hospitals and office buildings. Taking a three-parking-space stereo garage as an example, the three-parking-space stereo garage can change three parking spaces into five parking spaces, seven parking spaces and the like through lifting and transverse moving, and the parking spaces are increased under the condition that the floor area is not changed. However, many vehicle drivers do not use the lifting and horizontal moving stereo garage, and need special managers to operate, which wastes manpower and material resources. More times, the lifting and horizontal moving garage is not effectively utilized, and resources are wasted.
Disclosure of Invention
In view of the problems in the prior art, the invention aims to solve the problems that the existing lifting and horizontal moving stereo garage is low in utilization rate, needs to be managed by a special person and is not suitable for a comb-tooth type parking robot, and the invention aims to provide a multi-layer lifting and horizontal moving garage based on a comb-tooth type parking robot.
The invention also aims to provide a use method of the multi-layer lifting and transverse moving garage based on the comb-tooth parking robot. The technical scheme adopted by the invention is as follows:
the invention provides a multi-layer lifting and transverse moving garage based on a comb-tooth type parking robot. The bottom layer parking frame is a fixed comb-tooth frame fixedly installed on a parking space of a lower layer. The top parking frame is arranged at the top of the frame and comprises a movable comb-tooth frame and a lifting device thereof. The middle layer parking frame comprises a transverse moving device, a movable comb-tooth frame and a lifting device, wherein the lifting device of the movable comb-tooth frame is arranged on the transverse moving device and is connected with the movable comb-tooth frame. The racks of the movable comb-tooth frame and the fixed racks of the fixed comb-tooth frame are arranged in a staggered mode. The lifting device of the movable comb-tooth frame can drive the movable comb-tooth frame to horizontally lift or lower. The movable comb-tooth frame can be lowered to the lower part of the fixed comb-tooth frame, and when the movable comb-tooth frame is lowered to the lowest position, the gap between the movable comb-tooth frame and the fixed comb-tooth frame at least can accommodate the comb-tooth frame of the comb-tooth parking robot to enter and exit.
Furthermore, the lifting and horizontal moving garage comprises a layer of fixed comb-tooth frame, a layer of top layer parking frame, a layer or a plurality of layers of middle layer parking frames, each layer of the lifting and horizontal moving garage at least comprises one fixed comb-tooth frame, one top layer parking frame or one middle layer parking frame, and the number of the middle layer parking frames in one row of a certain layer is one less than that of the fixed comb-tooth frames in one row or that of the top layer parking frames in one row.
Furthermore, a temporary parking comb-tooth frame is arranged outside the frame, and the temporary parking comb-tooth frame is a fixed comb-tooth frame or a movable comb-tooth frame driven by a steering wheel. The plurality of lifting and transverse moving garages can share one temporary parking comb rack, and the number of the temporary parking comb racks can be determined according to the number of the comb parking robots.
Furthermore, the lifting device comprises a motor, a rope shaft connected with the motor and a steel wire rope wound on the rope shaft and connected with the movable comb-tooth frame. The motors of the same movable comb rack run synchronously. When the motor drives the rope shaft to rotate, the steel wire rope is lengthened or shortened, and therefore the movable comb-tooth frame is lifted and lowered.
Furthermore, the transverse moving device comprises a transverse moving frame, a plurality of motors fixed on the transverse moving frame and rollers connected with the motors and matched with the transverse guide rails on the frame. The motors of the same middle layer parking frame run synchronously. When the motor drives the roller to rotate, the roller transversely moves along the transverse guide rail, so that the transverse movement of the middle-layer parking frame is realized.
In the invention, the multi-layer lifting and transverse moving garage comprises two comb tooth frames, namely a movable comb tooth frame and a fixed comb tooth frame, wherein each comb tooth frame can be used for parking a vehicle, and the middle-layer parking frame and the top-layer parking frame both comprise the movable comb tooth frame. When the racks of the movable comb-tooth frame and the racks of the fixed comb-tooth frame are crossed and staggered in the process of lifting the movable comb-tooth frame, a vehicle parked on the fixed comb-tooth frame is parked on the movable comb-tooth frame due to the supporting effect of the movable comb-tooth frame, and another vehicle can be parked on the fixed comb-tooth frame; in the process of lowering the movable comb-tooth rack, when the racks of the movable comb-tooth rack and the racks of the fixed comb-tooth rack are crossed, the vehicle parked on the movable comb-tooth rack is changed to be parked on the fixed comb-tooth rack due to the supporting effect of the fixed comb-tooth rack.
Meanwhile, the number of the parking frames in the middle layer is one less than that of the parking frames in the bottom layer or the top layer, namely, each middle layer of the frame has a blank position in the space in the same row of the garage. When the comb tooth parking robot needs to park a vehicle on a certain top parking frame or take out the vehicle parked on the certain top parking frame, the position of the middle layer parking frame needs to be adjusted through the transverse moving device, the blanks of all the middle layers are located corresponding to the hall layer parking frame, the corresponding movable comb tooth frame is lifted or lowered through the lifting device of the hall layer parking frame, the exchange of the vehicle between the fixed comb tooth frame and the movable comb tooth frame is achieved, and the comb tooth parking robot can conveniently park or take the vehicle.
The invention also provides a use method of the comb tooth parking robot-based multi-layer lifting and transverse moving garage, which comprises the following steps:
when the vehicle is stored, the vehicle is firstly parked on the top parking frame, then the middle parking frame and finally the bottom parking frame are arranged;
wherein, parking the vehicle in the top parking frame, including: the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the top parking frame is adjusted to the highest position through the lifting device;
wherein parking the vehicle to the intermediate level parking stand comprises:
if the bottom parking frame corresponding to the middle parking frame does not park the vehicle, adjusting the position of the movable comb-tooth frame of the middle parking frame to the lowest position through the lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if the bottom layer parking frame corresponding to the middle layer is used for parking the vehicle, but the bottom layer parking frame beside the middle layer is not used for parking the vehicle, the middle layer parking frame is adjusted to be above the bottom layer parking frame which is not used for parking the vehicle through the transverse moving device; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if other vehicles are parked on the bottom parking frame corresponding to the middle layer and the bottom parking frame beside the middle layer, the other vehicles are carried to the parking exchange position from the corresponding bottom parking frame through the comb-shaped parking robot; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device; the other vehicles are transported to corresponding bottom layer parking spaces from the parking exchange positions through the comb tooth parking robot;
wherein, parking the vehicle to bottom parking frame includes: the comb tooth parking robot parks the vehicle on the fixed comb tooth frame of the bottom parking frame;
when getting the car, include following five conditions:
first, a vehicle parked on a bottom parking rack is taken out, comprising: the comb parking robot directly carries the vehicle from the bottom parking frame to the parking exchange position;
when all parking the vehicle on the parking frame of all bottoms, take out the vehicle on the parking frame of intermediate level, include: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frame to parking exchange positions of the vehicles which are not parked or temporary parking comb tooth frames; the positions of the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of other middle layers of the garage corresponding to the middle layer parking frames; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to another/certain parking exchange position; the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from a parking exchange position or a temporary parking comb tooth frame;
thirdly, when at least one bottom parking frame is used for parking the vehicle, the vehicle on the middle parking frame is taken out, comprising: the position of the middle layer parking frame is adjusted through the transverse moving device, so that the middle layer parking frame corresponds to the bottom parking frame for vehicles which are not parked, and the middle layer parking frame does not exist at the position of other middle layers of the garage corresponding to the middle layer parking frame; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to the parking exchange position;
fourthly, take out the vehicle on the top layer parking frame, and its bottom parking frame that corresponds does not park the vehicle, include: the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to the parking exchange position;
fifthly, take out the vehicle on the top layer parking frame, and its bottom parking frame that corresponds has parked the vehicle, include: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frames to the unoccupied bottom parking frames or temporary parking comb tooth frames of the parking exchange positions of the unoccupied vehicles; the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to another/a certain parking exchange position; the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from a parking exchange position or a temporary parking comb tooth frame.
Taking a three-layer lifting and transverse moving garage as an example, the common lifting and transverse moving garage occupies three ground parking spaces and can park a structure of seven vehicles, the top layer can park three vehicles, the middle layer and the bottom layer can park two vehicles, the vehicle carrying platforms of the top layer and the middle layer can be lifted, and the vehicle carrying platforms of the bottom layer and the middle layer can be transversely moved. The multi-layer lifting and transverse moving garage disclosed by the invention can be used for parking eight vehicles when a three-layer structure is also selected and three ground parking spaces are occupied after the temporary parking comb-tooth frame or parking exchange position is combined, the top layer and the bottom layer can be used for parking three vehicles, the middle layer can be used for parking two vehicles, the vehicle carrying platforms of the top layer and the middle layer can be lifted and moved only by the middle layer in a transverse moving mode, and the bottom layer does not need to move transversely. Because the parking exchange position can be temporarily borrowed, or a plurality of garages share one temporary parking comb rack, each multi-layer lifting and transverse moving garage occupying three ground parking spaces has one more parking space compared with the traditional multi-layer lifting and transverse moving garage. In addition, the multi-layer lifting and transverse moving garage is not only suitable for garages occupying three parking spaces on the ground, but also suitable for garages occupying any number of parking spaces. Compared with the traditional lifting and traversing garage, the multi-layer lifting and traversing garage has a simpler structure, can be used for parking more vehicles, and greatly improves the space utilization rate.
Traditional lifting and horizontal moving garage relies on manual operation, because of unable start-up vehicle, can not take out the vehicle of bottom from the garage back, again will be located the top layer or the vehicle in intermediate floor to and carry back the garage with the vehicle of former bottom, consequently, need leave a vacancy at the frame bottom in the garage, take out after all intermediate floor or the vehicle on top can both be through going up and down or the sideslip. In the invention, the parking robot is adopted to store and take out the vehicle, the vehicle does not need to be started, and the vehicle can be transported to other positions through the parking robot. A parking robot is adopted to carry the vehicle, and a parking exchange position is necessarily required to be set; and the parking exchange position suitable for the comb-tooth type parking robot is necessarily provided with a comb-tooth frame. Then, the parking robot can firstly carry the vehicles on the bottom layer to the comb-tooth frame with the parking exchange position, then take out the vehicles on the middle layer or the top layer, and finally, the vehicles on the bottom layer are parked in the garage. Because the parking robot is automatically executed, the whole car taking process does not need manual intervention, takes a short time and runs automatically, and a driver does not feel troublesome or waste time. If the temporary parking comb-tooth frame is combined, the parking robot does not need to run back and forth between the garage and the parking exchange position, and the vehicle taking time is further shortened.
Under the condition that a plurality of parking exchange positions are arranged, when the comb-tooth parking robot takes a vehicle, a plurality of other vehicles which block the vehicle taking are firstly conveyed to the parking exchange positions, at least one left unoccupied parking exchange position is used for parking the vehicle to be taken, and the other vehicles are conveyed back to the garage again. However, it is not desirable to provide a large number of temporary parking frames to avoid a reduction in space efficiency, and it is necessary to transport a plurality of other vehicles to and fro between a garage and a parking exchange position, which takes a long time. This may cause the user to feel that it takes a long time to get the car and the experience of using it is poor. Therefore, each intermediate level of the garage should have a blank space. In this way, even the vehicle which is the most difficult to take out, the vehicle to be taken out can be transported to the parking exchange position only by taking out one vehicle which is not to be taken out first.
The present invention has the following advantageous effects
1. Compared with the traditional lifting and transverse moving garage, the multi-layer lifting and transverse moving garage is simpler in structure, only the middle layer parking frame and the top layer parking frame are required to be lifted horizontally, the middle layer parking frame can move transversely, and the bottom layer fixed comb tooth frame is not required to move transversely;
2. the parking robot is adopted for parking and taking the vehicle, the whole process is automatically operated, manual management is not needed, manual interference is avoided, the operation of a driver is facilitated, and the labor and time cost are saved;
3. compared with the traditional lifting and transverse moving garage, the multi-layer lifting and transverse moving garage can be used for parking more vehicles under the same specification.
Drawings
Fig. 1 is a schematic structural view of a movable comb-tooth holder in embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a fixed comb-tooth frame in embodiment 1 of the present invention;
fig. 3 is a schematic view showing the fitting of the movable comb-tooth frame and the fixed comb-tooth frame in embodiment 1 of the present invention;
fig. 4 is a schematic view of the lifting-sliding garage in the embodiment 1 of the present invention in a non-vehicle state;
fig. 5 is a schematic view of a full car state of the lifting-sliding garage in embodiment 1 of the invention;
FIG. 6 is a schematic view showing the movable comb-tooth holder with the intermediate layer stopped lowered in embodiment 1 of the present invention;
fig. 7 is a schematic view of the top stop movable comb-tooth frame being lowered in embodiment 1 of the present invention;
wherein, 1 is a movable comb-tooth frame, 2 is a fixed comb-tooth frame, 3 is a square frame, 4 is a rack, 5 is a parking plate, 6 is a fixed rack, 7 is a cutting groove, 8 is a frame, 9 is a bottom layer parking frame, 10 is a middle layer parking frame, 11 is a transverse moving device, 12 is a lifting device, 13 is a top layer parking frame, 14 is a transverse moving frame, 15 is a roller and 16 is a transverse guide rail.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
Example 1
The embodiment relates to a multi-layer lifting and horizontal moving garage based on a comb-tooth type parking robot, and as shown in fig. 1-5, the multi-layer lifting and horizontal moving garage can park three layers of vehicles and comprises a frame 8, a bottom layer parking frame 9, a middle layer parking frame 10 and a top layer parking frame 13. The bottom layer parking frame 9 is a fixed comb-tooth frame 2 fixedly installed on a parking space of a lower layer. The top parking frame 13 is arranged on the top of the frame 8 and comprises a movable comb-tooth frame 1 and a lifting device 12 thereof. The middle layer parking frame comprises a transverse moving device 11, a movable comb-tooth frame 1 and a lifting device 12, wherein the lifting device 12 of the movable comb-tooth frame 1 is arranged on the transverse moving device 11 and is connected with the movable comb-tooth frame 1. The racks 4 of the movable comb-tooth frame 1 and the fixed racks 6 of the fixed comb-tooth frame 2 are arranged in a staggered mode. The lifting device 12 of the movable comb-tooth frame 1 can drive the movable comb-tooth frame 1 to horizontally lift or lower. The movable comb-tooth frame 1 can be lowered below the fixed comb-tooth frame 2, and when the movable comb-tooth frame is lowered to the lowest position, the gap between the movable comb-tooth frame and the fixed comb-tooth frame 2 at least can accommodate the comb-tooth frame of the comb-tooth parking robot to move in and out.
The lifting device 12 comprises a motor, a rope shaft connected with the motor and a steel wire rope wound on the rope shaft and connected with the movable comb-tooth frame 1. The motors of the same movable comb rack run synchronously. When the motor drives the rope shaft to rotate, the steel wire rope is lengthened or shortened, and therefore the movable comb-tooth frame is lifted and lowered.
The traverse device 11 comprises a traverse frame 14, a plurality of motors fixed on the traverse frame 14, and rollers 15 connected with the motors and matched with transverse guide rails 16 on the frame. The motors of the same middle layer parking frame run synchronously. When the motor rotates the roller 15, the roller 15 moves laterally along the lateral guide rail 16, thereby achieving the lateral movement 11 of the intermediate parking stand 10.
In this embodiment, the lifting and horizontal moving garage comprises a bottom parking frame 9, a top parking frame 13 and a middle parking frame 10, each of the parking frames at least comprises a fixed comb-tooth frame 2, the top parking frame 13 or the middle parking frame 10, and the number of the middle parking frames in one row of a certain layer is one less than that of the fixed comb-tooth frames in one row or that of the top parking frames in one row.
As shown in fig. 2, the fixed comb-tooth frame 2 comprises a parking plate 5 for parking vehicles, a plurality of fixed racks 6 with the same height are arranged on the parking plate 5 at positions corresponding to the tires, and the fixed racks 6 extend upwards from the edge of the parking plate 5 and then horizontally extend into the parking plate along the direction perpendicular to the edge of the parking plate. Both sides of each fixed rack 6 of the parking plate 5 are provided with a cutting groove 7.
As shown in fig. 1 and 3, the movable comb-tooth frame 1 comprises a frame 3, and racks 4 extending horizontally inwards are arranged on two sides of the frame 3. The rack 4 of the movable comb-tooth frame 1 is arranged in a staggered way with the fixed rack 6 of the fixed comb-tooth frame 2 and is matched with the cutting groove 7, and the frame 3 of the movable comb-tooth frame 1 can be sleeved outside the parking plate 5 of the fixed comb-tooth frame 2.
The embodiment also relates to a car storing and taking method of the three-layer lifting and transverse moving comb-tooth frame, wherein the car storing method comprises the following steps:
s1: detecting whether unused top parking frames exist in the garage or not, if yes, adjusting the positions of all middle parking frames through a transverse moving device to enable the positions, corresponding to the top parking frames, of all middle layers of the garage to be free of middle parking frames, adjusting the positions of movable comb-tooth frames of the top parking frames to be the lowest positions through a lifting device, parking the vehicle on the corresponding fixed comb-tooth frames through the comb-tooth parking robot, and adjusting the positions of the movable comb-tooth frames of the top parking frames to be the highest positions through the lifting device;
if not, go to step S2;
s2: detecting whether an unused middle layer parking frame exists in the garage, and if not, performing step S3;
if so, detecting whether the corresponding bottom parking frame is parked with a vehicle, and if not, adjusting the position of the movable comb-tooth frame of the middle parking frame to the lowest position through the lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if yes, detecting whether the bottom parking frame beside the corresponding bottom parking frame is parked with the vehicle, and if not, adjusting the middle parking frame to the position above the bottom parking frame which is not parked with the vehicle through the transverse moving device; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if so, carrying the other vehicle from the corresponding bottom parking frame to a parking exchange position through the comb-tooth parking robot; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device; the other vehicles are transported to corresponding bottom layer parking spaces from the parking exchange positions through the comb tooth parking robot;
s3: and detecting the position of the unoccupied bottom parking frame in the garage, and parking the vehicle on the fixed comb-tooth frame by the comb-tooth parking robot.
The vehicle taking method comprises the following steps:
s1: detecting the position of the vehicle parked in the garage, if the vehicle is parked on the top parking frame, performing the step S2, if the vehicle is parked on the middle parking frame, performing the step S3, and if the vehicle is parked on the bottom parking frame, performing the step S10;
s2: detecting whether other vehicles are parked in the bottom parking frame corresponding to the top parking frame where the vehicles are parked, if so, performing steps S4-5 and S8-9, and if not, performing steps S5 and S8;
s3: detecting whether a vacant bottom parking frame exists in the garage, if so, performing the step S6-8, otherwise, performing the steps S4, S6 and S8-9;
s4: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frames to the parking exchange positions of the unoccupied vehicles or the unoccupied bottom parking frames;
s5: the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; as shown in figure 7 of the drawings,
s6: the position of the middle layer parking frame is adjusted through the transverse moving device, so that the middle layer parking frame corresponds to the bottom parking frame for vehicles which are not parked, and the middle layer parking frame does not exist at the position of other middle layers of the garage corresponding to the middle layer parking frame; as shown in fig. 6;
s7: adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device;
s8: the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to another/a certain parking exchange position;
s9: the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from the parking exchange position;
s10: the comb parking robot carries the vehicle on the bottom parking frame to a certain parking exchange position.
Example 2
The embodiment relates to a double-layer lifting garage suitable for a comb-tooth type parking robot. The difference between the double-layer lifting garage and the three-layer lifting and horizontal moving garage in the embodiment 1 is only that the three-layer lifting and horizontal moving garage in the embodiment further comprises a temporary parking comb-tooth frame. The temporary parking comb-tooth frame is a movable comb-tooth frame driven by a steering wheel and is positioned outside the frame.
The embodiment also relates to a vehicle storing and taking method of the three-layer lifting and horizontal moving garage. The vehicle access method of the present embodiment is different from the vehicle access method of embodiment 1 only in steps S4 and S9. In this embodiment, step S4 is: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frames to the unoccupied bottom parking frames or temporary parking comb tooth frames of the parking exchange positions of the unoccupied vehicles; s9 is: the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from a parking exchange position or a temporary parking comb tooth frame.
Claims (6)
1. A multi-layer lifting and transverse moving garage based on a comb-tooth type parking robot is characterized in that the multi-layer lifting and transverse moving garage can at least park three layers of vehicles and comprises a frame, a bottom layer parking frame, a middle layer parking frame and a top layer parking frame; the bottom parking frame is a fixed comb-tooth frame fixedly arranged on a low-level parking space; the top parking frame is arranged at the top of the frame and comprises a movable comb-tooth frame and a lifting device thereof; the middle-layer parking frame comprises a transverse moving device, a movable comb-tooth frame and a lifting device, wherein the lifting device of the movable comb-tooth frame is arranged on the transverse moving device and is connected with the movable comb-tooth frame; the racks of the movable comb-tooth rack and the fixed racks of the fixed comb-tooth rack are arranged in a staggered manner; the lifting device of the movable comb-tooth frame can drive the movable comb-tooth frame to horizontally lift or lower; the movable comb-tooth frame can be lowered to the lower part of the fixed comb-tooth frame, and when the movable comb-tooth frame is lowered to the lowest position, the gap between the movable comb-tooth frame and the fixed comb-tooth frame at least can accommodate the comb-tooth frame of the comb-tooth parking robot to enter and exit.
2. The multi-story garage of claim 1, wherein the garage comprises a plurality of layers of fixed comb-tooth frames, a plurality of layers of top-story parking frames, and one or more layers of middle-story parking frames, each of the layers comprises at least one of the fixed comb-tooth frames, the top-story parking frames, and the number of the middle-story parking frames in a row of a certain story is one less than the number of the fixed comb-tooth frames in a row or the number of the top-story parking frames in a row.
3. The multi-story garage of claim 1, wherein a temporary parking rack is provided outside the frame, and the temporary parking rack is a fixed rack or a mobile rack driven by a steering wheel.
4. The multi-story lifting-and-traversing garage based on the comb-tooth parking robot as claimed in claim 1, wherein the lifting device comprises a motor, a rope shaft connected with the motor, and a steel wire rope wound on the rope shaft and connected with the movable comb-tooth frame.
5. The multi-story garage of claim 1, wherein the traversing mechanism comprises a traversing frame, a plurality of motors mounted on the traversing frame, and rollers coupled to the motors and engaging the transverse guide rails of the frame.
6. The use method of the multi-storey lifting and horizontal moving garage based on the comb-tooth parking robot is characterized by comprising the following steps of:
when the vehicle is stored, the vehicle is firstly parked on the top parking frame, then the middle parking frame and finally the bottom parking frame are arranged;
wherein, parking the vehicle in the top parking frame, including: the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the top parking frame is adjusted to the highest position through the lifting device;
wherein parking the vehicle to the intermediate level parking stand comprises:
if the bottom parking frame corresponding to the middle parking frame does not park the vehicle, adjusting the position of the movable comb-tooth frame of the middle parking frame to the lowest position through the lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if the bottom layer parking frame corresponding to the middle layer is used for parking the vehicle, but the bottom layer parking frame beside the middle layer is not used for parking the vehicle, the middle layer parking frame is adjusted to be above the bottom layer parking frame which is not used for parking the vehicle through the transverse moving device; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device;
if other vehicles are parked on the bottom parking frame corresponding to the middle layer and the bottom parking frame beside the middle layer, the other vehicles are carried to the parking exchange position from the corresponding bottom parking frame through the comb-shaped parking robot; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb tooth parking robot parks the vehicle on the corresponding fixed comb tooth frame; the position of the movable comb-tooth frame of the middle-layer parking frame is adjusted to the highest position through the lifting device; the other vehicles are transported to corresponding bottom layer parking spaces from the parking exchange positions through the comb tooth parking robot;
wherein, parking the vehicle to bottom parking frame includes: the comb tooth parking robot parks the vehicle on the fixed comb tooth frame of the bottom parking frame;
when getting the car, include following five conditions:
first, a vehicle parked on a bottom parking rack is taken out, comprising: the comb parking robot directly carries the vehicle from the bottom parking frame to the parking exchange position;
when all parking the vehicle on the parking frame of all bottoms, take out the vehicle on the parking frame of intermediate level, include: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frame to parking exchange positions of the vehicles which are not parked or temporary parking comb tooth frames; the positions of the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of other middle layers of the garage corresponding to the middle layer parking frames; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to another/certain parking exchange position; the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from a parking exchange position or a temporary parking comb tooth frame;
thirdly, when at least one bottom parking frame is used for parking the vehicle, the vehicle on the middle parking frame is taken out, comprising: the position of the middle layer parking frame is adjusted through the transverse moving device, so that the middle layer parking frame corresponds to the bottom parking frame for vehicles which are not parked, and the middle layer parking frame does not exist at the position of other middle layers of the garage corresponding to the middle layer parking frame; adjusting the position of the movable comb-tooth frame of the middle-layer parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to the parking exchange position;
fourthly, take out the vehicle on the top layer parking frame, and its bottom parking frame that corresponds does not park the vehicle, include: the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to the parking exchange position;
fifthly, take out the vehicle on the top layer parking frame, and its bottom parking frame that corresponds has parked the vehicle, include: the comb tooth parking robot carries other vehicles on the corresponding bottom parking frames to the unoccupied bottom parking frames or temporary parking comb tooth frames of the parking exchange positions of the unoccupied vehicles; the positions of all the middle layer parking frames are adjusted through the transverse moving device, so that the middle layer parking frames do not exist at the positions of all the middle layers of the garage corresponding to the top layer parking frames; adjusting the position of the movable comb-tooth frame of the top parking frame to the lowest position through a lifting device; the comb parking robot carries the vehicle which is already exchanged to the bottom parking frame to another/a certain parking exchange position; the comb tooth parking robot carries other vehicles to an unoccupied bottom parking frame from a parking exchange position or a temporary parking comb tooth frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597003.8A CN113187290A (en) | 2021-05-31 | 2021-05-31 | Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597003.8A CN113187290A (en) | 2021-05-31 | 2021-05-31 | Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113187290A true CN113187290A (en) | 2021-07-30 |
Family
ID=76985766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110597003.8A Withdrawn CN113187290A (en) | 2021-05-31 | 2021-05-31 | Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113187290A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113775225A (en) * | 2021-09-27 | 2021-12-10 | 广东三浦车库股份有限公司 | Unmanned transformation method of lifting and transverse moving type parking equipment and unmanned garage |
| CN114482653A (en) * | 2022-03-22 | 2022-05-13 | 天易智能车库(深圳)有限公司 | Movable mechanical garage |
-
2021
- 2021-05-31 CN CN202110597003.8A patent/CN113187290A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113775225A (en) * | 2021-09-27 | 2021-12-10 | 广东三浦车库股份有限公司 | Unmanned transformation method of lifting and transverse moving type parking equipment and unmanned garage |
| CN114482653A (en) * | 2022-03-22 | 2022-05-13 | 天易智能车库(深圳)有限公司 | Movable mechanical garage |
| CN114482653B (en) * | 2022-03-22 | 2024-03-22 | 天易智能车库(深圳)有限公司 | Movable mechanical garage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108625637B (en) | The space car parking system and parking pick-up method being located above cell runway | |
| US5810539A (en) | Maximum auto-parking device | |
| CN113187290A (en) | Multi-layer lifting and transverse moving garage based on comb tooth parking robot and use method | |
| CN210508585U (en) | Intensive stereo garage | |
| CN102926569B (en) | Stereo garage as well as operation method and application thereof | |
| CN108979233B (en) | Extensible three-dimensional parking platform based on Internet of things | |
| CN108086751A (en) | Parallel operation tunnel stacking multi-storied garage | |
| WO2006066475A1 (en) | A space-saving three-dimensional garage | |
| CN211949829U (en) | Three-dimensional underground parking garage system | |
| CN202117369U (en) | Double-layer parking space lifting machine | |
| CN201598860U (en) | Planar multi-vehicle access type stereoscopic parking conveying device | |
| CN105525777A (en) | Automatic parking and taking-out equipment of intelligent three-dimensional garage | |
| CN111236717A (en) | Stereo garage system | |
| CN202810288U (en) | Plate type stereo garage | |
| CN202954599U (en) | Stereoscopic garage | |
| CN111927175B (en) | Three-dimensional parking system and three-dimensional parking garage based on intelligent control | |
| CN201486193U (en) | Stereo garage which can realize high-efficiency vehicle storage and taking | |
| CN113802900A (en) | Multi-layer lifting and transverse moving garage with separated vehicle carrying plates and parking method thereof | |
| CN113187289A (en) | Double-layer lifting garage suitable for comb-tooth type parking robot and use method | |
| CN117287076A (en) | Using method and control of multi-layer lifting garage applicable to comb-tooth parking robot | |
| CN113187288A (en) | Comb rack combination and lifting and transverse moving garage with same | |
| CN2746067Y (en) | Frame hanging board type multi-storey garage | |
| CN214996462U (en) | Simple lifting garage suitable for comb tooth parking robot | |
| CN213144010U (en) | Transverse moving device for comb tooth tower storehouse | |
| CN205348899U (en) | Automatic access arrangement of intelligence stereo garage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210730 |