CN114263382A - Combined telescopic fork structure and roadway stacking type three-dimensional parking system and method - Google Patents
Combined telescopic fork structure and roadway stacking type three-dimensional parking system and method Download PDFInfo
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Abstract
The invention discloses a combined telescopic fork structure and a roadway stacking type three-dimensional parking system and a method, wherein two groups of telescopic forks are mainly used for realizing the fork taking of a vehicle by mutual exchange, and the automatic access of the vehicle in three directions of X (transverse), Y (longitudinal) and Z (vertical) is realized by combining a comb-tooth-shaped shelf type or steel structure parking garage, so that the parking of the vehicle is completed under the condition that the roadway stacking type mechanical three-dimensional parking garage is free from a tray, the access problem of the vehicle in the Y direction of the roadway stacking type mechanical three-dimensional parking equipment in a three-dimensional space is solved, the characteristics of high efficiency, safety, high reliability and the like of the roadway stacking type mechanical parking equipment are realized, and the investment cost of the mechanical three-dimensional parking garage can be reduced without adopting a vehicle carrying plate.
Description
Technical Field
The invention relates to the technical field of mechanical three-dimensional parking, in particular to a roadway stacking mechanical three-dimensional parking garage, and specifically relates to a combined telescopic fork structure, a roadway stacking three-dimensional parking system and a roadway stacking three-dimensional parking method.
Background
Among nine major types of mechanical parking equipment in China, the market share of roadway stacking mechanical parking equipment is low, and the two main reasons are as follows: firstly because tunnel stack mechanical type sky parking equipment in the market generally combines the carrier to carry out the access of vehicle, its functioning speed is slow, and is inefficient, does not embody advantages such as swift, safety and degree of automation, the reliability height of tunnel stack crane equipment, so its intelligent product characteristics and advantage can not embody. And secondly, a 'vehicle carrying plate + pallet fork' mode is adopted, and at least one vehicle carrying plate needs to be configured for each parking space, so that the investment cost requirement of the garage is higher. For the reasons, the roadway stacking mechanical parking equipment does not achieve the corresponding market position.
Disclosure of Invention
Based on the defects and shortcomings of the prior art, the invention aims at solving the problem of storing and taking vehicles of the current roadway stacking mechanical parking equipment in the Y direction of a three-dimensional space, the inventor invents a novel roadway stacking mechanical three-dimensional parking system combining a forking device capable of realizing Y-direction movement of the vehicles in the three-dimensional space and a matched comb-tooth-shaped goods shelf by replacing the conventional vehicle carrier or vehicle carrying board mode through research and design, and can detect the vehicles with different axle distances by preferably adopting self-adaptive detection photoelectric switches and simultaneously meet the requirement of forking the vehicles with different axle distances by adopting the technology capable of automatically changing the fork distance, so that the whole roadway stacking mechanical three-dimensional parking system has wider structural applicability and more flexible structure. Specifically, the invention is realized by the following steps:
a combination telescopic fork structure comprising: the cargo carrying platform can move among the parking spaces in the roadway of the garage; two groups of upper fork bodies which are arranged in parallel in the front and the back of the upper part of the cargo carrying platform; the embedded lifting platform is arranged on the cargo carrying platform and can vertically lift in the cargo carrying platform; two groups of lower fork bodies which are arranged side by side from front to back are arranged on the embedded lifting platform; the two groups of upper fork bodies and lower fork bodies can extend and retract along the left side or the right side of the cargo carrying platform in the same side direction; wherein the end part of the lower fork body is provided with a lower fork body forking device which can penetrate through the comb structure and can bear a vehicle; the end part of the upper fork body is provided with an upper fork body forking device which can enter the corresponding lower fork body forking device through extending from the longitudinal direction and can carry the vehicle.
Furthermore, one of the two groups of upper fork bodies is a positioning upper fork body, the other group of upper fork bodies is a distance-variable upper fork body, one of the two groups of lower fork bodies is a positioning lower fork body, the other group of lower fork bodies is a distance-variable lower fork body, and the distance-variable fork bodies are arranged on the same side, and the distance variation is realized through transverse or longitudinal displacement on the cargo carrying platform or the embedded lifting platform.
Further, every group fork body all includes fixed fork, well fork, the last fork of stack installation in proper order, and well fork can stretch out and draw back on fixed fork, goes up the fork and then can stretch out and draw back on well fork, and the device is got to the fork then installs on last fork, realizes two sections flexible.
Furthermore, the embedded lifting platform comprises four-axis synchronous rack lifters and lifting linear guide rail pairs which are arranged on four corners, and the embedded lifting platform can synchronously move vertically relative to the cargo carrying platform; the variable-pitch lower fork body performs variable-pitch movement through the translation linear rail pair; the distance-variable upper fork body performs distance-variable movement through the linear guide rail pair
In another aspect of the present invention, a tunnel stacking type stereo parking system is provided, which comprises a comb-tooth shelf type or steel structured tunnel stacking type stereo parking garage, a plurality of comb-tooth parking spaces, and further comprises: the above-described modular retractable fork structure.
In another aspect of the present invention, a roadway stacking type stereo parking method is provided, in which a vehicle is stored and taken by the roadway stacking type stereo parking system through the following steps:
when the vehicle is stored:
step S1, the combined telescopic fork structure moves to the position of the entrance platform, the lower fork body is positioned to be aligned with the front wheel of the vehicle to be parked, and the lower fork body with variable distance is aligned with the center of the rear wheel of the vehicle to be parked after being detected by the wheelbase self-adaptive detection device;
step S2, the embedded lifting platform is in a low position, the variable-distance lower fork body is transversely adjusted in a reciprocating mode, the forking device is enabled to be staggered with the parking space supporting position, and the positioning lower fork body and the variable-distance lower fork body extend out to the position below a vehicle to be parked in the Y direction;
step S3, the embedded lifting platform drives the positioning lower fork body and the distance-variable lower fork body to lift and support the vehicle to be parked to a high position;
s4, positioning the upper fork body on the cargo carrying platform, extending the variable-pitch upper fork body to the position below the vehicle to be parked in the Y direction, and entering the positioning lower fork body and the forking device of the variable-pitch lower fork body;
step S5, the embedded lifting platform drives the parked vehicle, the positioning lower fork body and the variable-distance lower fork body to descend to a low position, and the vehicle to be parked is switched to the positioning upper fork body and the variable-distance upper fork body through the staggering of the upper fork body and the lower fork body;
s6, positioning an upper fork body on the cargo carrying platform, supporting the vehicle to be parked by the variable-distance upper fork body and withdrawing, and completing the cargo taking action by combining a telescopic fork structure;
step S7, the combined telescopic fork structure runs to a specified parking position according to an instruction, and the fork operates reversely according to a goods taking action, so that vehicles are alternately parked on the comb-tooth-shaped parking space, and the parking process is completed;
when getting the car:
and repeating the steps S7-S1 in reverse order.
The working principle of the invention is introduced: the invention can realize parking and storing and taking of vehicles in a three-dimensional space under the condition of no vehicle carrying plate, and the main structure of the invention comprises a combined telescopic fork with a variable fork pitch, an embedded lifting platform, a wheel base self-adaptive detection device, a cargo carrying platform, a stand column structure, an underframe device, a comb tooth type parking space and an entrance and exit platform to form a garage system. The combined telescopic fork structure with variable fork distance is a main body mechanism of the invention, which consists of a positioning upper fork body, a variable distance upper fork body, a positioning lower fork body and a variable distance lower fork body, wherein the positioning lower fork body and the variable-pitch lower fork body are arranged on the embedded lifting platform, a linear guide rail pair is arranged on the embedded lifting platform, the variable-pitch lower fork body is arranged on the linear guide rail pair, vehicles with different wheel bases are taken by the fork through transversely reciprocating the variable-pitch lower fork body, the positioning upper fork body and the variable-pitch upper fork body are arranged on the cargo carrying platform, the linear guide rail pair is arranged on the cargo carrying platform, the variable-pitch upper fork body is arranged on the linear guide rail pair, the truck fork can be used for forking vehicles with different wheelbases by transversely reciprocating the variable-pitch upper fork body, the upper fork body and the lower fork body with variable distances can synchronously move and also can independently move mutually, and the embedded lifting platform has a lifting function and can drive the lower fork body with variable distances to lift up and down simultaneously. The positioning lower fork body and the positioning upper fork body are respectively arranged on the embedded lifting platform and the goods carrying platform and positioned at the front wheel of the forking vehicle, when the vehicle is stored and taken, the centers of the two fork bodies need to be consistent up and down, the positioning lower fork body and the positioning upper fork body are preferably fixed in the X direction of the embedded lifting platform and the goods carrying platform, and the front wheel of the stored and taken vehicle is directly positioned when the positioning lower fork body and the positioning upper fork body run along with the main body of the roadway stacker. The positioning lower fork body and the positioning upper fork body are arranged on a linear guide rail pair on the embedded lifting platform and the cargo carrying platform and can transversely reciprocate in the X direction, when a vehicle is stored and taken, the roadway stacker is firstly positioned on a central line (or a reference line) of a parking space in the X direction, and the positioning upper fork body and the positioning lower fork body transversely reciprocate in the X direction and are positioned on front wheels of the vehicle. The method comprises the steps that a lower fork body lifts a vehicle to be parked from an entrance platform, an upper fork body enters between the lower fork bodies, the lower fork bodies descend, the vehicle is switched to the upper fork bodies, the upper fork bodies are higher than the entrance platform at the moment and then retract along the Y direction, and accordingly the vehicle is forked.
The invention has the beneficial effects that: a combined telescopic fork structure has the functions of ingenious exchange and connection, is scientific and reasonable in structural design, and well realizes the transfer of vehicles on comb tooth parking spaces; thereby avoiding using the vehicle carrying board; a roadway stacking mechanical three-dimensional parking system is characterized in that innovative research and design are carried out on the problems encountered by the conventional roadway stacking mechanical three-dimensional parking, a mode of step-by-step implementation, centralized optimization and innovation is adopted, a fork taking device capable of realizing Y-direction movement of a vehicle in a three-dimensional space and a roadway stacker parking mode are provided, compared with the prior art, the roadway stacking mechanical three-dimensional parking system adopts a set of combined and variable fork distance combined telescopic fork to realize Y-direction movement of the vehicle in the three-dimensional space, and a matched comb-tooth-shaped goods shelf and access platform combination, so that the investment of a vehicle carrying plate is eliminated, the problems of low efficiency, complex structure, low reliability and the like of the conventional roadway stacking mechanical three-dimensional parking garage are improved, meanwhile, the parking experience of a user is improved, the integral operation efficiency of the garage is improved, the investment cost of the three-dimensional garage is effectively reduced, and the whole structure is compact, Beautiful appearance, low consumption and green development of the project.
Drawings
FIG. 1 is a schematic view of the structure of an entrance platform according to the present invention;
FIG. 2 is a schematic structural view of a guiding device for entrance and exit platforms according to the present invention;
FIG. 3 is a schematic top view of the entrance and exit platform comb parking frame of the present invention;
FIG. 4 is a schematic three-dimensional view of the embedded lift platform with a forking device of the present invention;
FIG. 5 is a schematic view of a comb-shaped parking space according to the present invention;
FIG. 6 is a schematic three-dimensional view of the pallet with a fork of the present invention;
FIG. 7 is a schematic view of a three-dimensional structure of the position assembly of the embedded lifting platform and the cargo carrying platform with the forking device of the present invention;
fig. 8 to 13 are motion sequence diagrams of the tunnel stacker forking a vehicle to the tunnel stacker from a comb-tooth parking space according to the present invention;
FIG. 14 is a schematic structural view of a roadway stacking mechanical three-dimensional parking system according to the present invention
Wherein:
1-entrance and exit platform parking comb rack, 101-front wheel positioning support, 102-rear wheel support,
2-entrance and exit platform guiding device, 201-wheel support, 202-wheel walking transition plate, 203-vehicle guiding device,
3-positioning lower fork body, 301-positioning lower fork body fixing fork, 302-positioning lower fork body middle fork, 303-positioning lower fork body upper fork, 304-positioning lower fork body forking device,
4-variable-pitch lower fork body, 401-variable-pitch lower fork body fixed fork, 402-variable-pitch lower fork body middle fork, 403-variable-pitch lower fork body upper fork, 404-variable-pitch lower fork body forking device,
5-an embedded lifting platform, 501-a four-axis synchronous rack lifter, 502-a translational linear rail pair, 503-a lifting linear guide rail pair,
6-comb-tooth type parking space, 601-front wheel positioning support, 602-rear wheel support,
7-cargo loading platform, 701-linear guide rail pair,
8-positioning upper fork body, 801-positioning upper fork body fixing fork, 802-positioning upper fork body middle fork, 803-positioning upper fork body upper fork, 804-positioning upper fork body forking device,
9-a variable-pitch upper fork body, 901-a variable-pitch upper fork body fixed fork, 902-a variable-pitch upper fork body middle fork, 903-a variable-pitch upper fork body upper fork, 904-a variable-pitch upper fork body forking device,
10-a self-adaptive detection device for wheel base,
11-a structure of a vertical column,
12-undercarriage arrangement.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
In the present embodiment:
the embedded lifting platform is provided with a lifting function, and the lifting function preferably adopts four shafts of rack lifters with a synchronizing function, and also can adopt four shafts of ball screws with a synchronizing function, or adopt two shafts of rack lifters with a synchronizing function, or adopt two shafts of ball screws with a synchronizing function.
The wheel base self-adaptive detection device is used for detecting the wheel position of a vehicle, is convenient for the variable-distance fork body to change the fork body distance, enables the center of the variable-distance fork body to be consistent with the center of a wheel of a forking vehicle, preferably selects an ultrasonic detector for detection, and can also use other detection devices for detection.
The goods carrying platform is used for carrying a goods fork, an embedded lifting platform, a vehicle and the like, the guide wheels are used for tracing the lifting guide rail edge under the action of a lifting steel wire rope or a lifting chain or a gear rack drive or a hydraulic lifting system, and the upright post moves up and down in the Z direction.
The upright column structure is a frame of the tunnel stacker, is provided with a lifting guide rail surface for supporting the vertical movement of the cargo carrying platform, preferably adopts a double-upright-column portal structure, and also can adopt a single-upright-column mast type structure or a four-column frame structure. The chassis device bears the whole roadway stacker and the loaded vehicle, the motor drives the chassis to run along the X direction on a track arranged in the roadway, the chassis is preferably provided with two walking wheels, one walking wheel is used for driving and runs under the driving of the motor, the other walking wheel is used as a follow-up wheel and runs along with the roadway stacker, the two walking wheels can be driven by the motor and are called as double-driving, and the chassis can be further arranged into a plurality of walking wheels.
The comb-tooth type parking space is specially used for parking vehicles, comb-tooth-shaped supports are arranged on the comb-tooth type parking space according to the wheel base of the vehicles, the supports are preferably arranged on the basis of the centers of front wheels of the vehicles, the front overhang size of the vehicles is reserved, 1 section of or 2 sections of supports are symmetrically arranged at the center of the basis, the supports are arranged at the positions meeting the requirement that the rear wheels can be parked according to the shortest and longest wheel bases of parked vehicles, and the supports can also be arranged according to all equal distances in the projection area of the parked vehicles.
The entrance platform is a platform for users to deposit and take vehicles, and the entrance platform is a vehicle guiding device which combines a comb-tooth-shaped parking space and a lifting function, and aims to park the users on the vehicles at the entrance platform, so that the centers of the vehicles in the length direction are consistent with the center of the parking space.
Example 1:
a roadway stacking mechanical three-dimensional parking system is shown in a general assembly structure in figure 1, figure 7 and figure 14 and comprises an entrance platform parking comb tooth frame 1, an entrance platform guide device 2, a positioning lower fork body 3, a variable-distance lower fork body 4, an embedded lifting platform 5, a comb tooth type parking space 6, a cargo carrying platform 7, a positioning upper fork body 8, a variable-distance upper fork body 9, an axle distance self-adaptive detection device 10, an upright column structure 11 and an underframe device 12.
The entrance and exit platform is one of the embodiments of the present system, as shown in fig. 1, fig. 2, and fig. 3, the entrance and exit platform is provided with a parking comb-tooth frame 1 and a guiding device 2 with a lifting function, the parking comb-tooth frame 1 is composed of a front wheel positioning support 101 and a rear wheel support 102; the guiding device 2 is composed of a wheel support 201, a wheel walking transition plate 202 and a vehicle guiding device 203, when the vehicle is parked, the guiding device is lifted to a high position, the wheel support 201 and the wheel walking transition plate 202 on the guiding device are flush with the supporting upper plane on the parking comb-tooth rack 1, the vehicle guiding device 203 is higher than the supporting upper plane and has a guiding function, after the vehicle smoothly drives onto the parking comb-tooth rack, the guiding device guides the vehicle, when the roadway stacker forks the vehicle at the entrance and exit platform, the guiding device is lowered to a low position to make the fork body fork get the space of the vehicle, when the vehicle is discharged from the warehouse, the guiding device is in a low position, the guiding device can be lifted to the high position after the roadway stacker places the vehicle on the parking comb-tooth rack, so that the wheel support 201 and the wheel walking transition plate 202 on the guiding device are flush with the supporting upper plane on the parking comb-tooth rack 1, the vehicle can be driven out.
The telescopic combination type fork with variable fork distance is a main body of this embodiment, and as shown in fig. 4, 6 and 7, comprises a positioning lower fork body 3, a variable lower fork body 4, an embedded lifting platform 5, a cargo carrying platform 7, a positioning upper fork body 8, a variable upper fork body 9 and an axle distance adaptive detection device 10. Fork body 3 under the location and the variable pitch down fork body 4 and the location on fork body 8 and the variable pitch on fork body 9 by the longitudinal reciprocal flexible fork body of syllogic form to install different fork and get the device on corresponding fork body the top, get the function in order to realize different forks: the positioning lower fork body 3 consists of a positioning lower fork body fixing fork 301, a positioning lower fork body middle fork 302, a positioning lower fork body upper fork 303 and a positioning lower fork body forking device 304; the variable-pitch lower fork body 4 consists of a variable-pitch lower fork body fixing fork 401, a variable-pitch lower fork body middle fork 402, a variable-pitch lower fork body upper fork 403 and a variable-pitch lower fork body forking device 404; the positioning upper fork body 8 consists of a positioning upper fork body fixing fork 801, a positioning upper fork body middle fork 802, a positioning upper fork body upper fork 803 and a positioning upper fork body forking device 804; the variable-pitch upper fork body 9, the variable-pitch upper fork body fixing fork 901, the variable-pitch upper fork body middle fork 902, the variable-pitch upper fork body upper fork 903 and the variable-pitch upper fork body forking device 904. The positioning lower fork body 3 and the forking devices 304 and 404 arranged on the variable-distance lower fork body 4 are mainly used for assisting in lifting the vehicle, lifting the wheels to a certain height, separating the wheels from the supports (101 or 102 or 601 or 602) on the parking comb-tooth rack, enabling the forking device on the upper fork body to smoothly extend into the bottom of the vehicle, and the forking device on the lower fork body is not only mutually staggered with the forking device on the upper fork body in the lifting or descending process, but also mutually staggered with the supports on the parking comb-tooth rack, and is not interfered in the moving process; the positioning lower fork body 3 and the variable-pitch lower fork body 4 are installed on the embedded lifting platform 5 and vertically lift up and down together with the embedded lifting platform 5, the embedded lifting platform 5 is further provided with a four-axis synchronous rack lifter 501 and a lifting linear guide rail pair 503 to ensure that the lower fork body is lifted stably, meanwhile, the horizontal linear guide rail pair 502 and the axle distance self-adaptive detection device 10 are further arranged, the axle distance self-adaptive detection device 10 moves along with the variable-pitch lower fork body 4 to detect the position of a rear wheel of a vehicle, and the variable-pitch lower fork body 4 moves to a rear wheel forking position according to a detection result to perform forking; the cargo carrying platform 7 is a platform for carrying all lifting objects, and is provided with a positioning upper fork body 8, a variable-pitch upper fork body 9, a horizontal linear guide rail pair 701 and an axle distance self-adaptive detection device 10, wherein the horizontal linear guide rail pair 701 supports the variable-pitch upper fork body 9, and meanwhile, a four-axis synchronous rack lifter 501 and a lifting linear guide rail pair 503 on the embedded lifting platform 5 are installed on the cargo carrying platform 7, so that the embedded lifting platform 5 can vertically move up and down relative to the cargo carrying platform 7.
The parking comb-tooth frame 6 is one of the embodiments of the present system, and as shown in fig. 5, is composed of a front wheel positioning support 601 and a rear wheel support 602, the supports are used in cooperation with a fork lower forking device, and the lower forking device is staggered with the supports on the parking comb-tooth frame 6 during the ascending process;
in order to realize the access function of the vehicle in the three-dimensional space, the following embodiments are described with reference to fig. 8, 9, 10, 11, 12 and 13: as shown in fig. 8, a vehicle to be picked up is parked on a comb tooth parking space, a tunnel stacker runs to the position of the vehicle to be picked up according to instructions, the centers of the upper positioning fork body 8 and the lower positioning fork body 3 are aligned with the center of a front wheel positioning support 601 on a comb tooth rack 6 of the parking space, the embedded lifting platform 5 is positioned at the low position of the cargo carrying platform 7, and the cargo carrying platform 7 descends until the upper surfaces of the forking devices 304 and 404 on the lower positioning fork body 3 and the lower variable-distance fork body 4 are lower than the lower surface of a beam on the comb tooth rack 6; as shown in fig. 9, the wheel base adaptive detection device 10 detects the position of the rear wheel, the variable-distance lower fork body 4 and the variable-distance upper fork body 9 move to the rear wheel forking position according to the result of the detection device 10, and the positioning lower fork body 3 and the variable-distance lower fork body 4 simultaneously extend out towards the direction of the vehicle to be fetched; as shown in fig. 10, the embedded lifting platform 5 drives the positioning lower fork body 3 and the variable-distance lower fork body 4 to ascend, the forking devices 304 and 404 support the vehicle to be picked to ascend together, and the embedded lifting platform 5 is located at the high position of the cargo bed 7; as shown in fig. 11, the positioning upper fork body 8 and the variable-pitch upper fork body 9 on the cargo bed 7 are extended to the position of the vehicle to be taken; as shown in fig. 12, the embedded lifting platform 5 drives the positioning lower fork body 3 and the variable-distance lower fork body 4 to descend, the forking devices 804 and 904 on the positioning upper fork body 8 and the variable-distance upper fork body 9 support the vehicle to be fetched, and the embedded lifting platform 5 descends to the lower position of the cargo bed 7; as shown in fig. 13, the positioning lower fork body 3 and the variable-distance lower fork body 4 are retracted, the positioning upper fork body 8 and the variable-distance upper fork body 9 on the cargo carrying platform 7 support and retract the vehicle to be picked up, that is, the Y-direction forking movement of the vehicle in the three-dimensional space is completed, the tunnel stacker moves the vehicle to be picked up to the exit/entrance platform according to the instruction, and the vehicle can be picked up and picked up in the tunnel three-dimensional parking garage according to the above-mentioned flow.
Example 2: a mechanical stereo parking method for the stacking of lane features that when parking is performed, the parking platform is ready, the vehicles to be parked are driven to entrance and exit platforms, after the user has confirmed the parking order, the entrance and exit platforms guide the vehicles to be parked, after the vehicle is guided, the guide unit is lowered to low position to make the fork take space, the stacker is moved to entrance and exit platform, the fork is positioned in X direction and aligned with the front wheel of the vehicle to be parked, the back wheel is detected by adaptive axle distance detector, the distance-variable fork is automatically and transversely moved by the equipment to make the center of said fork align with the center of back wheel of the vehicle to be parked, under the control of program, the fork is transversely moved to slightly move to stagger the fork take device with the supporting position of parking space, the embedded lifting platform is at low position, the lower fork and the lower fork are positioned and extended to the position of vehicle to be parked in Y direction, the embedded lifting platform drives the positioning lower fork body and the variable-pitch lower fork body to lift and support a vehicle to be parked to a high position, the positioning upper fork body on the goods carrying platform extends out to the position of the vehicle to be parked in the Y direction, the embedded lifting platform drives the positioning lower fork body and the variable-pitch lower fork body to descend to a low position and retract, the vehicle to be parked is staggered through the upper fork body and the lower fork body and is switched to the positioning upper fork body and the variable-pitch upper fork body, the positioning upper fork body on the goods carrying platform supports the vehicle to be parked and retracts, the goods fork completes a goods taking action, the tunnel stacker operates to a specified parking position according to an instruction, the goods fork operates reversely according to the goods taking action to complete the whole parking process, and the goods taking process and the parking process operate reversely and consistently.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A combined telescopic fork structure is characterized by comprising: the cargo carrying platform can move among the parking spaces in the roadway of the garage; two groups of upper fork bodies which are arranged in parallel in the front and the back of the upper part of the cargo carrying platform; the embedded lifting platform is arranged on the cargo carrying platform and can vertically lift in the cargo carrying platform; two groups of lower fork bodies which are arranged side by side from front to back are arranged on the embedded lifting platform; the two groups of upper fork bodies and lower fork bodies can extend and retract along the left side or the right side of the cargo carrying platform in the same side direction;
wherein the end part of the lower fork body is provided with a lower fork body forking device which can penetrate through the comb structure and can bear a vehicle; the end part of the upper fork body is provided with an upper fork body forking device which can enter the corresponding lower fork body forking device through extending from the longitudinal direction and can carry the vehicle.
2. The modular retractable fork structure of claim 1, wherein one of the two sets of upper forks is a positioning upper fork and the other set is a variable-pitch upper fork, and one of the two sets of lower forks is a positioning lower fork and the other set is a variable-pitch lower fork, and the variable-pitch forks are all on the same side, and are variable-pitch by lateral displacement on a cargo platform or a drop-in platform.
3. The combined telescopic pallet fork structure according to claim 1 or 2, wherein each group of fork bodies comprises a fixed fork, a middle fork and an upper fork which are sequentially stacked, the middle fork can be telescopic on the fixed fork, the upper fork can be telescopic on the middle fork, and the forking device is mounted on the upper fork to realize two-section telescopic.
4. The combined telescopic fork structure of claim 2, wherein the embedded lifting platform comprises four-axis synchronous rack lifters and lifting linear guide rail pairs which are arranged on four corners, and the embedded lifting platform can be synchronously vertically moved up and down relative to the cargo carrying platform; the variable-pitch lower fork body performs variable-pitch movement through the translation linear rail pair; the variable-pitch upper fork body performs variable-pitch movement through the linear guide rail pair.
5. A tunnel stacking type three-dimensional parking system comprises a comb-tooth-shaped shelf type or steel-structured tunnel stacking type three-dimensional parking garage and a plurality of comb-tooth-shaped parking spaces, and is characterized by further comprising a combined telescopic fork structure which can move among the parking spaces in a tunnel of the garage and is according to any one of claims 2 to 4.
6. The roadway stacking type stereo parking system according to claim 1, wherein the comb-tooth type parking space comprises: the front wheel positioning support and the rear wheel support are both comb-tooth-shaped structures.
7. The roadway stacking type stereo parking system according to claim 5, wherein the variable-pitch upper fork body and the variable-pitch lower fork body are respectively provided with an axle distance self-adaptive detection device for detecting rear wheels of a vehicle to be parked, and adjusting the distance between the upper fork body and the lower fork body relative to the positioning to adapt to the axle distance of the vehicle.
8. The roadway stacking type three-dimensional parking system according to claim 5, further comprising a parking comb-tooth frame and a lifting guiding device for the entrance and exit platform, wherein the parking comb-tooth frame comprises a front wheel positioning support and a rear wheel support; the guide device comprises a wheel support, a wheel walking transition plate and a vehicle guide device.
9. A tunnel stacking type three-dimensional parking method based on the tunnel stacking type three-dimensional parking system as claimed in any one of claims 5 to 8, characterized by comprising the following steps:
when the vehicle is stored:
step S1, the combined telescopic fork structure moves to the position of the entrance platform, the lower fork body is positioned to be aligned with the front wheel of the vehicle to be parked, and the lower fork body with variable distance is aligned with the center of the rear wheel of the vehicle to be parked after being detected by the wheelbase self-adaptive detection device;
step S2, the embedded lifting platform is in a low position, the variable-distance lower fork body is transversely adjusted in a reciprocating mode, the forking device is enabled to be staggered with the parking space supporting position, and the positioning lower fork body and the variable-distance lower fork body extend out to the position below a vehicle to be parked in the Y direction;
step S3, the embedded lifting platform drives the positioning lower fork body and the distance-variable lower fork body to lift and support the vehicle to be parked to a high position;
s4, positioning the upper fork body on the cargo carrying platform, extending the variable-pitch upper fork body to the position below the vehicle to be parked in the Y direction, and entering the positioning lower fork body and the forking device of the variable-pitch lower fork body;
step S5, the embedded lifting platform drives the parked vehicle, the positioning lower fork body and the variable-distance lower fork body to descend to a low position, and the vehicle to be parked is switched to the positioning upper fork body and the variable-distance upper fork body through the staggering of the upper fork body and the lower fork body;
s6, positioning an upper fork body on the cargo carrying platform, supporting the vehicle to be parked by the variable-distance upper fork body and withdrawing, and completing the cargo taking action by combining a telescopic fork structure;
step S7, the combined telescopic fork structure runs to a specified parking position according to an instruction, and the fork operates reversely according to a goods taking action, so that vehicles are alternately parked on the comb-tooth-shaped parking space, and the parking process is completed;
when getting the car:
and repeating the steps S7-S1 in reverse order.
10. The method of claim 9, wherein the forking devices on the lower fork body are not only interlaced with the forking devices on the upper fork body during ascending or descending, but also interlaced with the supports on the parking comb-tooth rack;
the upper fork body and the lower fork body keep consistent in position in the transverse direction at any time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111412861.7A CN114263382A (en) | 2021-11-25 | 2021-11-25 | Combined telescopic fork structure and roadway stacking type three-dimensional parking system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111412861.7A CN114263382A (en) | 2021-11-25 | 2021-11-25 | Combined telescopic fork structure and roadway stacking type three-dimensional parking system and method |
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| CN114263382A true CN114263382A (en) | 2022-04-01 |
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