CN114016784A

CN114016784A - Longitudinal and transverse displacement system of carrier

Info

Publication number: CN114016784A
Application number: CN202111341788.9A
Authority: CN
Inventors: 薛剑
Original assignee: Foshan Nuoxing Technology Co ltd
Current assignee: Foshan Nuoxing Technology Co ltd
Priority date: 2021-11-13
Filing date: 2021-11-13
Publication date: 2022-02-08
Anticipated expiration: 2041-11-13
Also published as: CN114016784B

Abstract

The invention relates to a longitudinal and transverse displacement system of a carrier, which comprises a parking area, a vehicle storing and taking area, a longitudinal channel, a transverse channel, a main control unit, a carrier, a longitudinal guide wheel unit, a transverse guide wheel unit and a vehicle exchange device, wherein the parking area is provided with a parking area; the carrier is powered by an energy storage battery; the longitudinal driving unit drives the carrying vehicle to move along the longitudinal channel, and the transverse driving unit drives the carrying vehicle to move along the transverse channel; the switching of the two displacement modes is realized through the reversing unit, so that the carrier can enter the transverse channel from the longitudinal channel or enter the longitudinal channel from the transverse channel according to the route planned by the main control unit, and the displacement can be stopped when the carrier is over against a parking area or a target parking space of a parking and taking area; the longitudinal guide wheel unit and the transverse guide wheel unit guide the displacement of the transport vehicle; the ground of the system area has no guide track and no steering mechanism, and the carrier has no AGV driving wheel structure, so that the system area is simple, low in cost and efficient, and is fully intelligent and unattended.

Description

Longitudinal and transverse displacement system of carrier

Technical Field

The invention relates to the field of parking facilities, in particular to a vertical and horizontal displacement system of a carrier.

Background

Conventional mechanical parking equipment, even in a fully automated fashion, requires a user to enter the parking equipment to access the vehicle. Firstly, certain potential safety hazards exist, secondly, after a user enters the parking equipment, the parking equipment enters a stop operation state until the user is confirmed to leave, and therefore the whole operation efficiency of the parking equipment is adversely affected. In recent years, a full-automatic garage adopts a VGA (video graphics array) carrier and a parking device (or parking lot) matched guide system to realize unmanned vehicle access, and the novel full-automatic garage overcomes the defects of the prior art, but has the defects of large investment, relatively low operation efficiency and high follow-up maintenance cost. There are also proposals for implementing longitudinal and transverse displacement of the carrier by laying guide rails on the ground and providing a steering mechanism, but such proposals have at least the drawback of complicated mechanism. Therefore, the efficient operation of the longitudinal and transverse displacement of the truck in a simple and low-cost manner is still a problem to be solved in the industry.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a technical scheme of a longitudinal and transverse displacement system of a carrier, and achieves the purpose of realizing high-efficiency operation of the carrier in a simple and low-cost mode.

The invention discloses a basic technical scheme of a longitudinal and transverse displacement system of a carrier, which is characterized in that:

the system does not need to be provided with a guide rail and a steering mechanism on the ground; the system comprises a parking area, a vehicle storing and taking area, a longitudinal channel, a transverse channel, a main control unit, a carrier, a longitudinal guide wheel unit and a transverse guide wheel unit; also included is a vehicle exchange device.

The number of the parking areas is at least one, the ground projection is rectangular, the transverse size is at least the sum of the width sizes of N parking spaces, and N is a positive integer; the longitudinal dimension is at least the length dimension of one or two parking spaces; the transverse distance between two adjacent parking areas is at least the width size of one parking space and is used as the transverse channel; the longitudinal distance between two adjacent parking areas is at least the length dimension of one parking space and is used as the longitudinal channel. The above definition is such that the longitudinal dimensions of the parking area are two, one being the length dimension of at least one parking space but less than the length dimensions of two parking spaces and the other being the length dimensions of at least two parking spaces; the lateral dimension is the width dimension of a parking space or a plurality of parking spaces.

The parking and taking area is arranged close to the parking area and is at least one, the ground projection is rectangular, the transverse size is at least the sum of the width sizes of N parking spaces, and N is a positive integer; the longitudinal dimension is at least the length dimension of one parking space; the transverse distance between the car storing and taking area and the adjacent parking area is at least the width size of one parking space and is used as the transverse channel; the longitudinal distance between adjacent parking areas is at least the length dimension of one parking space and serves as the longitudinal channel. The above definition enables the longitudinal size of the vehicle access area to be two, one is the length size of at least one parking space but less than the length sizes of two parking spaces, and the other is the length size of at least two parking spaces; the lateral dimension is the width dimension of a parking space or a plurality of parking spaces.

The longitudinal channel is arranged next to the longitudinal sideline of the parking area and the longitudinal sideline of the vehicle access area, and the transverse dimension is at least the width dimension of one parking space.

The transverse channel is arranged close to the transverse sideline of the parking area and the transverse sideline of the vehicle access area, and the longitudinal dimension is at least the length dimension of one parking space.

If the longitudinal size of the parking area is smaller than the length sizes of the two parking spaces, at least one of the two transverse sidelines of the parking area is adjacent to any one transverse channel; if the longitudinal dimension of the parking area is larger than the length dimensions of the two parking spaces, two transverse sidelines of the parking area are respectively adjacent to any one transverse channel. The above definition enables at least one width direction borderline of any parking space in the parking area with the longitudinal dimension being the length dimension of one or two parking spaces to be communicated with any transverse channel, so that the carrier can reach any parking space in the parking area through the transverse channel.

If the longitudinal size of the vehicle storing and taking area is smaller than the length sizes of the two parking spaces, at least one of the two transverse sidelines of the vehicle storing and taking area is adjacent to any one transverse channel; and if the longitudinal size of the vehicle storing and taking area is larger than the length sizes of the two parking spaces, two transverse sidelines of the vehicle storing and taking area are respectively adjacent to any one transverse channel. The width direction borderlines of any parking space in the parking and taking area with the longitudinal dimension being the length dimension of one or two parking spaces are at least communicated with any transverse channel, so that the carrier can reach any parking space in the parking and taking area through the transverse channel.

Any one of the longitudinal channels communicates with at least one of the transverse channels. The above definition enables at least one of the two longitudinal edges of the longitudinal channel to communicate with any one of the lateral channels, so that a truck can enter the longitudinal channel from the lateral channel or enter the lateral channel from the longitudinal channel.

The main control unit is used for controlling the operation of the carrier and comprises a control module and a main communication module; the control module is used for planning a walking route of the transport vehicle, sending an instruction to the transport vehicle through the main communication module, and receiving real-time data information including position information and state information sent by the transport vehicle through the main communication module.

The carrying vehicle is at least one, and comprises a structural part, an energy storage battery, a slave control module, a slave communication module, a reversing unit, a longitudinal driving unit and a transverse driving unit.

The structural part is a plane steel structure, the projection of the outline on the ground is rectangular, and the size of the structural part is matched with that of the parking space.

The energy storage battery is arranged on the structural part and supplies power to the electric component arranged on the carrying vehicle.

The slave control module is used for controlling the operation of the longitudinal driving unit, the transverse driving unit and the reversing unit, acquiring a walking route of the truck from the master control unit through the slave communication module, and sending real-time data information including position information and state information of the truck to the master control unit through the slave communication module.

The reversing unit is electrically connected with the energy storage battery, is in signal connection with the slave control module, and comprises a displacement driving part and a movable plate; the displacement driving part comprises a fixed part and a moving part, and the fixed part is fixed at a relative position and is fixedly arranged at the lower position of the structural part; the moving part is arranged on the fixed part, can be output by the slave control module and can perform reciprocating displacement relative to the fixed part; the movable plate is fixedly arranged on the moving part and moves back and forth relative to the fixed part along with the moving part; one displacement direction of the moving part enables the movable plate to displace towards the direction close to the ground, and the other displacement direction enables the movable plate to displace towards the direction away from the ground. From the above description it can be seen that: the displacement driving component belongs to a common and simple electromechanical component, can be realized by reciprocating linear displacement generated by linear motor driving or electromagnetic driving or electric cylinder driving, electric hydraulic cylinder driving and the like, and can also be realized by a mechanism of mechanical transmission driving a cam to rotate in a reciprocating manner or gear and rack reciprocating linear displacement or screw mechanism reciprocating linear displacement and the like; these are conventional technologies and will not be described herein.

The installation positions of the longitudinal driving unit and the transverse driving unit adopt one of the following two modes:

the first method is as follows: the longitudinal driving unit is arranged on the structural part; the transverse driving unit is arranged on the movable plate of the reversing unit; as can be seen from the above description, this way allows the distance between the traverse driving unit and the ground to be directly changed following the displacement of the moving member of the reversing unit; when the moving piece of the reversing unit moves towards the direction close to the ground, the transverse driving unit moves towards the direction close to the ground; when the moving member of the reversing unit moves away from the ground, the transverse driving unit moves away from the ground.

The second method comprises the following steps: the transverse driving unit is arranged on the structural part; the longitudinal driving unit is mounted on the movable plate of the reversing unit. As can be seen from the above description, this way allows the distance between the wale driving unit and the ground to be directly changed following the displacement of the moving member of the reversing unit; when the moving piece of the reversing unit moves towards the direction close to the ground, the longitudinal driving unit moves towards the direction close to the ground; when the moving member of the reversing unit moves away from the ground, the longitudinal driving unit moves away from the ground.

The longitudinal driving unit is arranged below the carrier, is electrically connected with the energy storage battery, is in signal connection with the slave control module and comprises a longitudinal motor reducer and a longitudinal roller; the number of the longitudinal rollers is four, and the rotation center line is vertical to the longitudinal center line of the structural part; the slave control module sends a signal to enable a motor of the longitudinal motor reducer to rotate forward or reversely or stop rotating; the longitudinal rollers are divided into two groups by taking two transverse sidelines close to the structural part as a group, wherein at least one group of longitudinal rollers are driven by the longitudinal motor reducer to rotate in the same direction and at the same speed, so that the carrying vehicle is driven to longitudinally displace. The above "at least one group of the longitudinal rollers are driven by the longitudinal motor reducer to rotate in the same direction and at the same speed, so as to drive the truck to longitudinally displace" because the two transversely arranged longitudinal rollers rotate in the same direction and at the same speed during longitudinal displacement, and the displacement is relatively stable; at this time, the other two longitudinal rollers follow. Obviously, the two groups of four longitudinal rollers rotate in the same direction and at the same speed to drive the carrier to move longitudinally more stably.

The transverse driving unit is arranged below the carrier, is electrically connected with the energy storage battery, is in signal connection with the slave control module and comprises a transverse motor reducer and a transverse roller; the number of the transverse rollers is four, and the rotation center line is vertical to the transverse center line of the structural part; the slave control module sends a signal to enable a motor of the transverse motor speed reducer to rotate forwards or reversely or stop rotating; the transverse rollers are divided into two groups by taking two longitudinal side lines close to the structural part as a group, wherein at least one group of transverse rollers is driven by the transverse motor reducer to rotate in the same direction and at the same speed, so that the carrying vehicle is driven to transversely displace. The above "at least one group of the transverse rollers are driven by the transverse motor reducer to rotate in the same direction and at the same speed so as to drive the truck to perform transverse displacement", because the two longitudinally arranged transverse rollers rotate in the same direction and at the same speed during transverse displacement, the displacement is relatively stable; at this time, the other two lateral rollers follow. Obviously, the two groups of four transverse rollers rotate in the same direction and at the same speed to drive the carrier to transversely move more stably.

The moving parts of the reversing unit, the wale driving unit and the wale driving unit must be arranged not to interfere with each other.

The longitudinal guide wheel unit consists of a plurality of guide wheels; the guide wheel can rotate independently, the rotation center line is perpendicular to the ground, and the center connecting line of the guide wheels arranged in the same direction is a straight line parallel to the center line of the longitudinal channel; the longitudinal guide wheel units are arranged at the positions of the side lines on the two sides of the longitudinal channel, and the arrangement height of the longitudinal guide wheel units is consistent with that of the longitudinal side lines of the structural part of the carrier; the inner width dimension between two opposite rows of rollers arranged on the same longitudinal channel is the same as the width dimension of the structural part of the truck, and two longitudinal side lines of the structural part of the truck which is positioned on the longitudinal channel and stands or moves can be restrained.

The transverse guide wheel unit consists of a plurality of guide wheels; the guide wheels can rotate independently, the rotating center lines of the guide wheels are perpendicular to the ground, and the center connecting line of the guide wheels arranged in the same direction is a straight line parallel to the center line of the transverse channel; the longitudinal guide wheel units are arranged at the positions of side lines on two sides of the transverse channel, and the arrangement height of the longitudinal guide wheel units is consistent with that of the transverse side line of the structural member of the carrier; the width dimension between two opposite rows of rollers arranged on the same transverse channel is the same as the inner width dimension of the structural part of the carrier, and two transverse sidelines of the structural part of the carrier which is positioned on the transverse channel and stands or moves can be restrained.

The vehicle exchange device is a comb-tooth type vehicle exchange device or a vehicle plate type vehicle exchange device or a tire clamping type vehicle exchange device. The technical scheme of the invention can be directly used, one part of the devices is arranged on a carrying vehicle, and the other part of the devices is arranged on a parking space, so that the vehicles can be exchanged from the parking space to the carrying vehicle or from the carrying vehicle to the parking space. The specific structure and the related operation principle of these devices belong to the conventional technology in the industry, and are not described in detail herein.

Furthermore, the invention provides an improvement scheme of a basic technical scheme of a vertical and horizontal displacement system of a carrier, which is characterized in that: the system is additionally provided with a passing detection unit; the passage detection unit is in signal connection with the main control unit, and at least one passage is arranged at each intersection position of the transverse channel and the longitudinal channel; when the truck moves through the intersection position of the transverse channel and the longitudinal channel, namely the truck is detected and found by the communication detection unit arranged at the intersection position, the related information is sent to the main control unit. According to the conventional theory, the following steps are carried out: the above-mentioned passage detection unit preferably adopts a correlation type photoelectric switch (i.e. an optical channel detection device).

Preferably, based on the first improvement scheme, the present invention provides a vertical and horizontal displacement system for a transporting vehicle, which is characterized in that: the passing detection unit is a position switch, and the position switch is triggered and sends a signal to the main control unit when the carrier moves through the setting position of the position switch. According to the conventional theory, the following steps are carried out: the position switch can be a contact rocker switch or a non-contact proximity switch, and can also be a correlation photoelectric switch.

Preferably, based on the first improvement scheme, the present invention provides a vertical and horizontal displacement system for a transporting vehicle, which is characterized in that: the passing detection unit is an identification code scanning device, and when the carrier moves to pass through the setting position of the identification code scanning device, the identification code scanning device is triggered to carry out scanning operation and send a scanning result to the main control unit. According to the conventional theory, the following steps are carried out: if the unique identification code is arranged at the position of the transport vehicle corresponding to the identification code scanning device, the identification code scanning device can correctly identify whether the passing object is the transport vehicle or not, and can determine which specific transport vehicle is.

Preferably, based on the first improvement scheme, the present invention provides a vertical and horizontal displacement system for a transporting vehicle, which is characterized in that: the passing detection unit is an image shooting device, and when the carrier moves to pass through the setting position of the image shooting device, the image shooting device is triggered to carry out shooting operation and send a shot image to the main control unit. According to the conventional theory, the following steps are carried out: if a unique marker (including a code) is arranged at the position of the transport vehicle corresponding to the image shooting device, the image shooting device can correctly identify whether the passing object is the transport vehicle, can determine which specific transport vehicle is, and even can judge whether the transport vehicle is loaded on the transport vehicle.

Furthermore, the second improvement scheme of the basic technical scheme of the longitudinal and transverse displacement system of the carrying vehicle is characterized in that: the inner angles of four outer angles of the rectangular outline of the structural part of the carrier are obtuse angles. Since no guide wheel is positioned at the transfer position between the vertical passage and the horizontal passage, if a direction deviation exists after the transport vehicle passes through the transfer position, friction and even impact are easily generated on the next group of guide wheels in the displacement direction. This preferred scheme sets up the interior angle of four external angles of the rectangle outline of the structure of carrier to the obtuse angle, will make the carrier through this handing-over position after no matter continue the displacement along original direction or turn to the displacement instead, can both play and avoid causing direct impact's effect to the next group guide pulley of displacement direction.

Furthermore, the invention provides a third improvement scheme of the basic technical scheme of the vertical and horizontal displacement system of the carrier, which is characterized in that: a first positioning element is arranged at the transverse sideline position of the rectangular outline of the structural member of the carrier, a second positioning element matched with the first positioning element is respectively arranged at the position, adjacent to the transverse sideline position of the transverse channel, of each parking space of the parking area and the position, adjacent to the transverse border position of the transverse channel, of each parking space of the access vehicle area, and the second positioning element is provided with a unique identification code matched with the corresponding parking space; the first positioning element arranged on any parking space and the second positioning element arranged on any carrier form a group of positioning components, so that the carrier can displace along the transverse channel, a corresponding parking space identification code can be obtained in real time when the carrier approaches any parking space, the real-time position of the carrier is obtained, and whether the displacement is continued or stopped when the carrier is over against the parking space is determined;

furthermore, the invention provides a fourth improvement scheme of the basic technical scheme of the longitudinal and transverse displacement system of the carrier, which is characterized in that: the system is additionally provided with a charging area; the charging area is provided at a position where the transportation vehicle can reach, and a device capable of charging an energy storage battery of the transportation vehicle is provided.

Furthermore, the invention provides a fourth improvement scheme of the basic technical scheme of the longitudinal and transverse displacement system of the carrier, which is characterized in that: the system is additionally provided with a vehicle turntable device. The invention relates to a vehicle turntable device, which belongs to a device commonly used in the industry. The vehicle turntable device is preferably arranged on a parking space in a vehicle parking and taking area, and the specific structure and the related operation principle belong to the conventional technology in the industry and are not described in detail herein.

The invention has the advantages that: the system has the advantages that the guide rails and the steering mechanisms are not required to be arranged on the ground of the parking area, the parking and taking area and the running channel of the carrier, and when a user parks the vehicle, the vehicle only needs to be driven into the parking space of the parking and taking area, so that the system can automatically carry the vehicle to the parking space of the parking area; when the user got the car, the system was automatic promptly the regional user vehicle of parking carry to the parking stall of acceping the car region to simple, low-cost, efficient mode realizes full intelligence, unmanned on duty, and the carrier that can move about freely and quickly need not to set up complicated AGV drive wheel structure, and parking region and access car region need not to set up complicated guiding mechanism.

Drawings

Fig. 1 to 6 are schematic views illustrating operation of one embodiment of a longitudinal and transverse displacement system for a truck according to the present invention.

In the figure: 01a, a first parking space; 01b, parking stall two; 01c, parking lot III; 01d, parking space IV; 01e, parking stall five; 01f parking space six; 02a, a first parking space; 02b, parking space II in the first area; 02c parking space III in the first area; 02d, parking space four in the first area; 02e, parking space five in the first area; 02f, parking space six in the first area; 02g of a first parking space seventh; 02h, parking space eight in the first area; parking space I in a second area 03 a; parking place two in 03 b; parking space III in a 03c area II; a second 03d area has a fourth parking space; parking place five in 03e zone II; a parking space six in a 03f area II; 03g of a second parking space seventh; the parking place eight in the second area 03 h; 04a vehicle I; 05a zone one vehicle; 05b a second vehicle in the first zone; 05c a third vehicle; 05d zone one vehicle four; 05h, eight vehicles in the first area; a first vehicle in a second area 06 a; 07a first carrier vehicle; 07b a second carrier; 08a endpoint one; 08b endpoint two; 08c endpoint three; 08d end point four; 09a zone one end point one; 09b a second endpoint of the first zone; 09c endpoint three of the first zone; 09d end point four of the first zone; 10a second region end point two; 10b second zone endpoint two; 10c, endpoint three in the second zone; 10d, end point four of the second area; 11a position switch one; 11b position switch two; 11c position switch three; 11d position switch four; 11e position switch five; 11f position switch six; 12a one-zone position switch I; 12b a first position switch II; 12c one-zone position switch III; 12d one-zone position switch IV; 12e one-zone position switch five; 12f one-position switch six; 12g one-position switch seven; 12h one-zone position switch eight; 13a two-position switch I; 13b two-position switch II; 13c two-position switch III; 13d, a second position switch IV; 13e two-position switch five; 13f two-position switch six; 13g two-position switch seven; 13h two-position switch eight; 14a channel end one; 14b channel endpoint two; 14c channel end point three; 17a detecting element of the carrier; 17b a second detection element of the carrier; 18a transverse channel one; 18b, a second transverse channel; 19 a longitudinal channel; 20a first optical channel detection assembly; 20b a second optical channel detection assembly; 20c an optical channel detection assembly III; and 20d, detecting a fourth optical channel.

FIG. 7 is a schematic view of a truck of the present invention in a vertical and horizontal displacement system.

In the figure: 07a truck body; 15a transversely moving the first roller; 15b transversely moving the second roller; 15c, transversely moving a roller III; 15d, transversely moving a roller four; 16a longitudinal roller I; 16b a second wale roller; 16c, a third longitudinal roller; 16d longitudinal rollers four; 21a transverse edge line one; 21b a second transverse edge line; 22a longitudinal edge line one; 22b longitudinal edge two.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 to 6 are schematic views illustrating an operation of a vertical and horizontal displacement system of a transporting vehicle according to an embodiment of the present invention.

First consider fig. 1. As can be seen, the system management area shown in the embodiment is composed of a vehicle access area, two parking areas, two transverse channels and a longitudinal channel; the method comprises the following steps: the projection of the car access area on the ground is rectangular, and the four endpoints are an endpoint I08 a, an endpoint II 08b, an endpoint III 08c and an endpoint IV 08d respectively; the projection of the parking area I on the ground is rectangular, and the four endpoints are an area endpoint I09 a, an area endpoint II 09b, an area endpoint III 09c and an area endpoint IV 09d respectively; the projection of the parking area II on the ground is a rectangle, and the four endpoints are a two-zone endpoint I10 a, a two-zone endpoint II 10b, a two-zone endpoint III 10c and a two-zone endpoint IV 10d respectively; four end points of the transverse channel I18 a are respectively a second end point 08b, a first area end point 09a, a channel end point 14a and a second area end point 10 b; four end points of the transverse channel II 18b are a first zone end point IV 09d, a channel end point III 14c, a second zone end point III 10c and a channel end point II 14b respectively; the four end points of the longitudinal channel 19 are a second zone end point 09b, a second zone end point 10a, a third zone end point 09c and a fourth zone end point 10d, respectively.

As can be seen in the figure, the parking and taking area is respectively provided with a parking space I01 a, a parking space II 01b, a parking space III 01c, a parking space IV 01d, a parking space V01 e and a parking space VI 01f from left to right; the positions of the lower transverse sidelines of the parking spaces, which are close to the upper part of the transverse channel I18 a, are respectively provided with a position switch I11 a, a position switch II 11b, a position switch III 11c, a position switch IV 11d, a position switch V11 e and a position switch VI 11 f.

As can be seen in the figure, a first zone parking space 02a, a second zone parking space 02b, a third zone parking space 02c and a fourth zone parking space 02d are respectively arranged above the first parking area from left to right; the positions of the upper transverse sidelines of the parking spaces, which are close to the lower part of the transverse channel I18 a, are respectively provided with a zone position switch I12 a, a zone position switch II 12b, a zone position switch III 12c and a zone position switch IV 12 d; a first parking space five 02e, a first parking space six 02f, a first parking space seven 02g and a first parking space eight 02h are respectively arranged from left to right below the parking area I; the positions of the lower transverse sidelines of the parking spaces, which are close to the upper part of the transverse channel I18 a, are respectively provided with a zone position switch five 12e, a zone position switch six 12f, a zone position switch seven 12g and a zone position switch eight 12 h.

As can be seen in the figure, a first parking space 03a, a second parking space 03b, a third parking space 03c and a fourth parking space 03d are respectively arranged above the second parking area from left to right; the positions of the upper transverse sidelines of the parking spaces, which are close to the lower part of the transverse channel I18 a, are respectively provided with a two-position switch I13 a, a two-position switch II 13b, a two-position switch III 13c and a two-position switch IV 13 d; a second-zone parking space five 03e, a second-zone parking space six 03f, a second-zone parking space seven 03g and a second-zone parking space eight 03h are respectively arranged from left to right below the second parking area; the positions of the lower transverse sidelines of the parking spaces, which are close to the upper part of the transverse channel I18 a, are respectively provided with a two-position switch five 13e, a two-position switch six 13f, a two-position switch seven 13g and a two-position switch eight 13 h.

As seen in the figure, a first vehicle 04a is parked in a first parking space 01a of the parking and taking area; a first zone vehicle I02 a, a first zone vehicle II 02b, a first zone vehicle III 02c, a first zone vehicle IV 02d and a first zone vehicle IV 02h of the parking area I are respectively parked with a first zone vehicle I05 a, a first zone vehicle II 05b, a first zone vehicle III 05c, a first zone vehicle IV 05d and a first zone vehicle IV 05 h; and a vehicle in the first parking area 06a is parked in the parking space 03a in the second parking area II.

As can be seen, the left side and the right side of the corresponding region above the transverse channel I18 a and the longitudinal channel 19 are respectively provided with an optical channel detection assembly I20 a and an optical channel detection assembly II 20 b; the left side and the right side of the corresponding area below the transverse channel II 18b and the longitudinal channel 19 are respectively provided with an optical channel detection assembly III 20c and an optical channel detection assembly IV 20 d; these optical path detecting elements function as the aforementioned traffic detecting unit.

As can be seen, cart-one 07a is currently positioned to the left of lateral aisle-one 18 a; truck two 07b is now in a right position on lateral aisle two 18 b.

The operation of the present embodiment is based on the main control unit receiving an instruction (hereinafter referred to as a first task instruction) to transport a vehicle i 04a currently located in a parking space i 01a of the parking area i to the parking area and an instruction (hereinafter referred to as a second task instruction) to transport a vehicle i 05h currently located in a parking space i 02h of the parking area i to the parking area i. According to the principle of high efficiency, the main control unit makes the following plans: the first carrier vehicle 07a completes the first task instruction and carries the vehicle one 04a currently located in the parking space one 01a of the vehicle access area to the parking space two 03b of the parking area two; and the second carrier 07b completes the second task instruction and carries the first-zone vehicle eight 05h currently parked in the first-zone parking space eight 02h of the first parking area to the fifth parking space 01e of the parking area.

Consider fig. 2. Fig. 2 is a schematic diagram of the first operation of the present embodiment based on fig. 1. As can be seen, the first cart 07a is laterally displaced to the left from the position of the first lateral passage 18a corresponding to the second parking space 01b in fig. 1, and is finally displaced to the position facing the first parking space 01a by the paired detection of the first position switch 11a disposed on the second parking space 01b and the first cart detecting element 17a disposed above the first cart 07 a; meanwhile, the second cart 07b is laterally displaced to the left from the position of the lateral channel 18b corresponding to the second parking space 03e in fig. 1, firstly crosses the position of the optical channel detection assembly three 20c to shield the optical channel of the optical channel detection assembly three 20c, and then is paired and detected by a first position switch eight 12h arranged at the first parking space eight 02h and a second cart detection element 17b arranged above the second cart 07b, and finally is displaced to the position facing the first parking space eight 02 h.

Consider fig. 3. Fig. 3 is a schematic diagram of the second step operation of the present embodiment based on fig. 2. It can be seen that a vehicle 04a currently located in a parking space 01a of the parking area is switched to a truck 07a by a vehicle switching device (not shown); the vehicle eighth 05h currently parked in the parking space eighth 02h of the parking area one is transferred onto the second transporting vehicle 07b by the vehicle transferring device (not shown).

Consider fig. 4. Fig. 4 is a third operation schematic diagram of the present embodiment based on fig. 3. As can be seen, the first cart 07a carrying the first vehicle 04a is laterally displaced to the right from the position of the first lateral passage 18a facing the first parking space 01a in fig. 3, passes through the first optical passage detection assembly 20a and the second optical passage detection assembly 20b, and is then paired and detected by the second two-position switch 13b disposed at the second parking space 03b and the first cart detection element 17a disposed below the first cart 07a, and is finally displaced to the position facing the second parking space 03 b; meanwhile, the second cart 07b carrying the first-zone vehicle eight 05h is laterally displaced to the right from the position of the second lateral channel 18b facing the first-zone parking space eight 02h in fig. 3, firstly passes over the position of the third optical channel detection assembly 20c, restores conduction to the optical channel of the third optical channel detection assembly 20c, and finally is displaced to the position facing the longitudinal channel 19.

Consider fig. 5. Fig. 5 is a schematic diagram of the fourth operation based on fig. 4 in the present embodiment. It can be seen that the vehicle one 04a on the truck one 07a in fig. 4 is exchanged to the second parking space two 03b through a vehicle exchange device (not shown); at this point, the first task instruction is complete. Meanwhile, the second carrier 07b carrying the vehicle eight 05h in one area longitudinally moves upwards along the longitudinal channel 19 to reach the position of the first transverse channel 18a, and finally moves to the position opposite to the position of the fifth parking space 01e through the position switch five 11e arranged at the parking space five 01e in the vehicle access area and the pair detection of the second carrier detecting element 17b arranged above the second carrier 07 b.

Consider fig. 6. Fig. 6 is a schematic diagram of the fifth operation based on fig. 5 in the present embodiment. It can be seen that the vehicle eighth 05h on the second cart 07b in fig. 5 is exchanged to the parking space fifth 01e in the parking area by a vehicle exchange device (not shown); to this end, the second task instruction is complete.

Fig. 7 is a schematic view showing a structure of a truck in the vertical and horizontal displacement system of the truck according to the present invention.

As can be seen, the cart body 07 is provided with a first traverse roller 15a, a second traverse roller 15b, a third traverse roller 15c, a fourth traverse roller 15d and a traverse driving unit; a first longitudinal roller 16a, a second longitudinal roller 16b, a third longitudinal roller 16c and a fourth longitudinal roller 16d of the longitudinal driving unit; the rolling center lines of the first transverse roller 15a, the second transverse roller 15b, the third transverse roller 15c and the fourth transverse roller 15d are perpendicular to a first transverse sideline 21a and a second transverse sideline 21b of the truck main body 07; the rolling center lines of the first longitudinal roller 16a, the second longitudinal roller 16b, the third longitudinal roller 16c and the fourth longitudinal roller 16d are perpendicular to a first longitudinal side line 22a of the truck main body 07; and a second longitudinal edge 22 b.

As can be seen from the foregoing, the carrier is provided with a reversing unit, a longitudinal driving unit, and a lateral driving unit, and the reversing unit is provided with a movable plate capable of reciprocating displacement with respect to a structural member of the carrier.

the first method is as follows: the longitudinal driving unit is arranged on the structural member; the transverse driving unit is arranged on the movable plate of the reversing unit; the second method comprises the following steps: the transverse driving unit is arranged on the structural member; the longitudinal driving unit is arranged on the movable plate of the reversing unit.

From the above it can be concluded that: in any mode, the roller of one driving unit is in contact with the ground and can drive the vehicle carrying plate to move at one displacement limit position of the movable plates of the reversing unit, and the roller of the other driving unit leaves the ground and does not play any role in the movement of the vehicle carrying plate; the other displacement limit position of the movable plate of the reversing unit enables the roller of the driving unit which originally contacts the ground to leave the ground and not play any role in the displacement of the vehicle carrying plate, and the roller of the driving unit which originally leaves the ground contacts the ground and can drive the vehicle carrying plate to displace. This is why the carrier can be displaced vertically and horizontally.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a carrier moves about freely and quickly displacement system which characterized in that: the system does not need to be provided with a guide rail and a steering mechanism on the ground; the system comprises a parking area, a vehicle storing and taking area, a longitudinal channel, a transverse channel, a main control unit, a carrier, a longitudinal guide wheel unit and a transverse guide wheel unit; also includes a vehicle exchange device;

the number of the parking areas is at least one, the ground projection is rectangular, the transverse size is at least the sum of the width sizes of N parking spaces, and N is a positive integer; the longitudinal dimension is at least the length dimension of one or two parking spaces; the transverse distance between two adjacent parking areas is at least the width size of one parking space and is used as the transverse channel; the longitudinal distance between two adjacent parking areas is at least the length size of one parking space and is used as the longitudinal channel;

the parking and taking area is arranged close to the parking area and is at least one, the ground projection is rectangular, the transverse size is at least the sum of the width sizes of N parking spaces, and N is a positive integer; the longitudinal dimension is at least the length dimension of one parking space; the transverse distance between the car storing and taking area and the adjacent parking area is at least the width size of one parking space and is used as the transverse channel; the longitudinal distance between the adjacent parking areas is at least the length size of one parking space and is used as the longitudinal channel;

the longitudinal channel is arranged close to the longitudinal sideline of the parking area and the longitudinal sideline of the vehicle access area, and the transverse size is at least the width size of one parking space;

the transverse channel is arranged close to the transverse sideline of the parking area and the transverse sideline of the vehicle access area, and the longitudinal dimension is at least the length dimension of one parking space;

if the longitudinal size of the parking area is smaller than the length sizes of the two parking spaces, at least one of the two transverse sidelines of the parking area is adjacent to any one transverse channel; if the longitudinal size of the parking area is larger than the length sizes of the two parking spaces, two transverse sidelines of the parking area are adjacent to any one transverse channel respectively;

if the longitudinal size of the vehicle storing and taking area is smaller than the length sizes of the two parking spaces, at least one of the two transverse sidelines of the vehicle storing and taking area is adjacent to any one transverse channel; if the longitudinal size of the car storing and taking area is larger than the length sizes of the two parking spaces, two transverse sidelines of the car storing and taking area are adjacent to any one transverse channel respectively;

any one of the longitudinal channels is communicated with at least one transverse channel;

the main control unit is used for controlling the operation of the carrier and comprises a control module and a main communication module; the control module is used for planning a walking route of the transport vehicle, sending an instruction to the transport vehicle through the main communication module, and receiving real-time data information including position information and state information sent by the transport vehicle through the main communication module;

the system comprises at least one carrier, a control module, a communication module, a reversing unit, a longitudinal driving unit and a transverse driving unit, wherein the carrier comprises a structural part, an energy storage battery, a slave control module, a slave communication module, the reversing unit, the longitudinal driving unit and the transverse driving unit;

the structural part is a plane steel structure, the projection of the outline on the ground is rectangular, and the size of the structural part is matched with that of the parking space;

the energy storage battery is arranged on the structural part and supplies power to an electric component arranged on the carrying vehicle;

the slave control module is used for controlling the operation of the longitudinal driving unit, the transverse driving unit and the reversing unit, acquiring a walking route of the truck from the master control unit through the slave communication module, and sending real-time data information including position information and state information of the truck to the master control unit through the slave communication module;

the reversing unit is electrically connected with the energy storage battery, is in signal connection with the slave control module, and comprises a displacement driving part and a movable plate; the displacement driving part comprises a fixed part and a moving part, and the fixed part is fixed at a relative position and is fixedly arranged at the lower position of the structural part; the moving part is arranged on the fixed part, can be output by the slave control module and can perform reciprocating displacement relative to the fixed part; the movable plate is fixedly arranged on the moving part and moves back and forth relative to the fixed part along with the moving part; one displacement direction of the moving part enables the movable plate to displace towards the direction close to the ground, and the other displacement direction enables the movable plate to displace towards the direction away from the ground;

the first method is as follows: the longitudinal driving unit is arranged on the structural part; the transverse driving unit is arranged on the movable plate of the reversing unit;

the second method comprises the following steps: the transverse driving unit is arranged on the structural part; the longitudinal driving unit is arranged on the movable plate of the reversing unit;

the longitudinal driving unit is arranged below the carrier, is electrically connected with the energy storage battery, is in signal connection with the slave control module and comprises a longitudinal motor reducer and a longitudinal roller; the number of the longitudinal rollers is four, and the rotation center line is vertical to the longitudinal center line of the structural part; the slave control module sends a signal to enable a motor of the longitudinal motor reducer to rotate forward or reversely or stop rotating; the longitudinal rollers are divided into two groups by taking two transverse sidelines close to the structural part as a group, wherein at least one group of longitudinal rollers are driven by the longitudinal motor reducer to rotate in the same direction and at the same speed, so that the transport vehicle is driven to longitudinally displace;

the transverse driving unit is arranged below the carrier, is electrically connected with the energy storage battery, is in signal connection with the slave control module and comprises a transverse motor reducer and a transverse roller; the number of the transverse rollers is four, and the rotation center line is vertical to the transverse center line of the structural part; the slave control module sends a signal to enable a motor of the transverse motor speed reducer to rotate forwards or reversely or stop rotating; the transverse rollers are divided into two groups by taking two longitudinal side lines close to the structural part as a group, wherein at least one group of transverse rollers is driven by the transverse motor reducer to rotate in the same direction and at the same speed, so that the transport vehicle is driven to transversely displace;

the moving parts of the reversing unit, the longitudinal driving unit and the transverse driving unit are required to be arranged to be not interfered with each other;

the longitudinal guide wheel unit consists of a plurality of guide wheels; the guide wheel can rotate independently, the rotation center line is perpendicular to the ground, and the center connecting line of the guide wheels arranged in the same direction is a straight line parallel to the center line of the longitudinal channel; the longitudinal guide wheel units are arranged at the positions of the side lines on the two sides of the longitudinal channel, and the arrangement height of the longitudinal guide wheel units is consistent with that of the longitudinal side lines of the structural part of the carrier; the inner width dimension between two opposite rows of rollers arranged on the same longitudinal channel is the same as the width dimension of the structural part of the truck, and two longitudinal side lines of the structural part of the truck which is positioned on the longitudinal channel and stands or moves can be restrained;

the transverse guide wheel unit consists of a plurality of guide wheels; the guide wheels can rotate independently, the rotating center lines of the guide wheels are perpendicular to the ground, and the center connecting line of the guide wheels arranged in the same direction is a straight line parallel to the center line of the transverse channel; the longitudinal guide wheel units are arranged at the positions of side lines on two sides of the transverse channel, and the arrangement height of the longitudinal guide wheel units is consistent with that of the transverse side line of the structural member of the carrier; the width dimension between two opposite rows of rollers arranged on the same transverse channel is the same as the inner width dimension of the structural part of the truck, and two transverse sidelines of the structural part of the truck which is positioned on the transverse channel and stands or moves can be restrained;

the vehicle exchange device is a comb-tooth type vehicle exchange device or a vehicle plate type vehicle exchange device or a tire clamping type vehicle exchange device.

2. The cart longitudinal and lateral displacement system of claim 1, wherein: the system is additionally provided with a passing detection unit; the passage detection unit is in signal connection with the main control unit, and at least one passage is arranged at each intersection position of the transverse channel and the longitudinal channel; when the truck moves through the intersection position of the transverse channel and the longitudinal channel, namely the truck is detected and found by the communication detection unit arranged at the intersection position, the related information is sent to the main control unit.

3. The cart longitudinal and lateral displacement system of claim 1, wherein: the passing detection unit is a position switch, and the position switch is triggered and sends a signal to the main control unit when the carrier moves through the setting position of the position switch.

4. The cart longitudinal and lateral displacement system of claim 3, wherein: the passing detection unit is an identification code scanning device, and when the carrier moves to pass through the setting position of the identification code scanning device, the identification code scanning device is triggered to carry out scanning operation and send a scanning result to the main control unit.

5. The cart longitudinal and lateral displacement system of claim 3, wherein: the passing detection unit is an image shooting device, and when the carrier moves to pass through the setting position of the image shooting device, the image shooting device is triggered to carry out shooting operation and send a shot image to the main control unit.

6. The cart longitudinal and lateral displacement system of claim 1, wherein: the inner angles of four outer angles of the rectangular outline of the structural part of the carrier are obtuse angles.

7. The cart longitudinal and lateral displacement system of claim 1, wherein: a first positioning element is arranged at the transverse sideline position of the rectangular outline of the structural member of the carrier, a second positioning element matched with the first positioning element is respectively arranged at the position, adjacent to the transverse sideline position of the transverse channel, of each parking space of the parking area and the position, adjacent to the transverse border position of the transverse channel, of each parking space of the access vehicle area, and the second positioning element is provided with a unique identification code matched with the corresponding parking space; the first positioning element arranged on any parking space and the second positioning element arranged on any carrier form a group of positioning components, so that the carrier can displace along the transverse channel, a corresponding parking space identification code can be obtained in real time when the carrier approaches any parking space, the real-time position of the carrier is obtained, and whether the displacement is continued or stopped when the carrier is over against the parking space is determined.

8. The cart longitudinal and lateral displacement system of claim 1, wherein: the system is additionally provided with a charging area; the charging area is provided at a position where the transportation vehicle can reach, and a device capable of charging an energy storage battery of the transportation vehicle is provided.

9. The cart longitudinal and lateral displacement system of claim 1, wherein: the system is additionally provided with a vehicle turntable device.