CN115977442A - Carry on primary and secondary parking robot sky parking system of multidirectional transport of traveling - Google Patents

Abstract

The invention discloses a master-slave parking robot three-dimensional parking system carrying a multidirectional running carrier, which comprises a master vehicle, a multidirectional carrier sub-vehicle and a plurality of parking layers, wherein a plurality of parking spaces are arranged on each parking layer; the system adopts a mode that a mother vehicle carries the carrier and the son vehicle which move in multiple directions, can carry out vehicle storage and taking from multiple directions of the parking garage in a three-dimensional way, and realizes high-efficiency intensive storage of the three-dimensional parking garage.

Description

Carry on primary and secondary parking robot sky parking system of multidirectional transport of traveling

Technical Field

The invention relates to the technical field of automatic parking, in particular to a master-slave parking robot three-dimensional parking system carrying multidirectional running carriers.

Background

At present, a parking robot in the form of a primary-secondary vehicle transplants a mechanical parking garage longitudinal vehicle carrier as a secondary vehicle into the field of parking robots, and because the longitudinal vehicle carrier can only realize two-way carrying, the first-in first-out or last-in first-out and queue-type sequential or reverse-order vehicle taking can be realized when the vehicle is stored and taken, the carrying efficiency is low or even the vehicle can not be carried when the target vehicle is in the middle of a queue, and the dense storage of the vehicle on a parking layer is difficult to realize; and because the parking robot can only adopt the mode of longitudinally storing and taking the automobile, the space with at least the length of the automobile must be reserved between each storage and taking platform or goods shelves to meet the requirements of the parking robot on running and loading and unloading the automobile, and the occupied area is large. The parking space is small, the goods shelves are arranged with difficulty greatly, the space utilization is not high, the parking space is few, the problem of low storing and taking efficiency is ubiquitous in the existing primary and secondary parking robot system, and the parking space is not suitable for exerting the intensive storage advantage of the three-dimensional parking garage.

Disclosure of Invention

Aiming at the problems, the inventor provides a primary and secondary parking robot three-dimensional parking system carrying multidirectional traveling carriers, a secondary vehicle adopts a simple and reliable guide rail type guide design, the multidirectional traveling carriers can travel along multiple directions of a preset guide rail, the vehicle or the mechanical structure on a traveling route can quickly shuttle when no load exists, the traffic jam problem when multiple carriers operate is avoided, and the parking efficiency can be effectively improved. The mother vehicle adopts a rail-mounted shuttle vehicle with a lifting device or an Automatic Guided Vehicle (AGV) or A Mobile Robot (AMR), arranges a rail or plans a path, can butt joint the parking garage from multiple directions, is matched with the design of the parking garage, can carry out vehicle access from multiple directions of the parking garage, and realizes the efficient and intensive storage of the three-dimensional parking garage.

In the present invention, for the sake of understanding, the longitudinal direction of the vehicle or the multidirectional carrier sub-vehicle is defined as the longitudinal direction, the width direction is defined as the transverse direction, and the definitions of the longitudinal groove rail and the transverse groove rail are changed according to the direction of the vehicle or the multidirectional carrier sub-vehicle. In practical engineering applications, the global coordinate system may be defined first, and then the longitudinal and transverse directions may be defined. The plane refers to a plane capable of bearing the operation of the multidirectional carrier sub-vehicle, the height of the plane is not limited to the ground plane, and the plane can be a terrace, a floor and the like with structures such as a platform, a floor and the like.

The invention provides a master-slave parking robot three-dimensional parking system carrying a multidirectional driving carrier, which comprises a master-slave parking robot and a plurality of layers of parking garages, wherein a plurality of parking spaces are arranged on each layer of parking layer; the master-slave parking robot comprises a master vehicle and a plurality of multi-direction carrier sub-vehicles, wherein after entering the master vehicle, the multi-direction carrier sub-vehicles are carried to the position below a target parking layer by the master vehicle, and then the multi-direction carrier sub-vehicles are lifted by the master vehicle, so that the multi-direction carrier sub-vehicles enter the parking layers of different layers to load and unload the vehicles;

an operation guide rail is embedded in the plane of each parking layer and comprises a longitudinal groove guide rail, a transverse groove guide rail and a reversing groove guide rail which are independently or crossly arranged;

the multi-directional carrier sub-vehicle is provided with a guide assembly consisting of a plurality of guide pieces, and the guide assembly is matched with the running guide rail to guide the multi-directional carrier sub-vehicle to move along the running guide rail;

the lifting platform of the mother vehicle is a side opening platform or a full platform without shielding all around, the side opening platform is provided with a plurality of openings for the multi-direction carrier sub-vehicle to enter and exit, the butt joint positions of the lifting platform and the parking layer are provided with butt joint guide mechanisms, and the butt joint guide mechanisms are used for butt joint operation guide rails to guide the multi-direction carrier sub-vehicle to enter and exit the lifting platform.

The vehicle body of the multi-direction carrier sub-vehicle is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body.

The height of the body of the multi-direction carrier sub-vehicle is smaller than the ground clearance of the vehicle on the driving route or the ground clearance of the mechanical structure on the driving route, and the multi-direction driving carrier sub-vehicle can shuttle in four directions or in multiple directions under the vehicle or the mechanical structure on the driving route.

Furthermore, the longitudinal groove guide rail and the transverse groove guide rail are crossed in a cross shape to form a guide rail base element, one guide piece in the guide assembly is a guide base element, the guide rail base element and the guide base element form a longitudinal and transverse reversing unit, and when the guide piece is positioned in a gap at the crossed part of the longitudinal groove guide rail and the transverse groove guide rail, the original longitudinal groove guide rail is switched to enter the other transverse groove guide rail, or the original transverse groove guide rail is switched to enter the other longitudinal groove guide rail, so that the direction conversion is completed.

Further, the running guide rail can be formed into one or more of a "-shaped cross or a" Chinese character "shaped cross by using the longitudinal and transverse reversing units as a base, and the guide assembly comprises: the number and the positions of the intersection points of the longitudinal groove guide rail and the transverse groove guide rail of the longitudinal and transverse reversing unit are the same;

all the guide parts of the multi-directional carrier sub-vehicle are in low positions when running or reversing and are in contact with the running guide rail.

Furthermore, when the running guide rails are crossed in a cross shape or crossed in an X shape, or the cross shape and the X shape are combined into a cross shape in a rice shape and the strokes of the cross shape and the X shape are increased, decreased, combined and crossed,

the guide assembly includes: end point guiding pieces respectively positioned on each character-shaped stroke line section on the multidirectional carrier sub-vehicle;

when the multi-directional carrier sub-vehicle moves along the required direction, the guide piece in the required direction is at a low position and is in contact with the running guide rail, and other guide pieces are at a high position and are separated from the running guide rail.

Further, the commutation groove guide rail includes: a curved groove guide rail extending from one direction guide rail to the other direction guide rail;

when the multi-direction carrier sub-vehicle is reversed from one direction to the other direction, the two guide pieces at the end points of the line segments are at low positions, connecting lines between the two guide pieces at the end points of the line segments form chords of curves of the guide rails of the curve grooves, and the two guide pieces at the end points of the line segments move along with the multi-direction carrier sub-vehicle to enter so as to provide guidance for the multi-direction carrier sub-vehicle and achieve the curve steering of the multi-direction carrier sub-vehicle from one direction to the other direction.

Further, the commutation groove guide rail includes: the annular groove guide rail takes the intersection point of the running guide rails as the circle center and is used for guiding the multidirectional carrier sub-vehicle to perform in-situ self-rotating reversing around the circle center of the annular groove guide rail;

the two guiding parts are respectively positioned at the corresponding positions of two end points of a central circular diameter line section of the annular groove guide rail, when the multi-directional carrier sub-vehicle reverses from one direction to the other direction, the two guiding parts at the end points of the line section move along with the multi-directional carrier sub-vehicle to enter the annular groove guide rail so as to provide guidance for the multi-directional carrier sub-vehicle, when the multi-directional carrier sub-vehicle reaches the other required direction, the two guiding parts are matched with a gap at the intersection of the running guide rails in the other direction, and the two guiding parts enter the guide rail in the other direction through the gap between the running guide rails so as to complete in-situ spinning reversing. In practical application, if 360-degree reversing is not performed, one or more arc lengths of the annular groove guide rail can be selected according to the reversing angle to manufacture and install the guide rail.

Further, the commutation groove guide rail includes: the circle center of the central circle of the annular groove guide rail is the outer center of the inscribed polygon, a plurality of running guide rails are intersected with the annular groove guide rail, and connecting lines between the intersection points form the inscribed polygon, or one running guide rail is intersected with the annular groove guide rail, and a cutting line of the central circle of the annular groove guide rail between two intersection points is taken as a bottom edge and then is connected with one or more points on the central circle of the annular groove guide rail to form the inscribed polygon;

the position that the summit of annular groove guide rail central circle inscription polygon corresponds is equipped with the guide, when multidirectional carrier sub-car commutates by one direction to another direction, the guide gets into the annular groove guide rail along with the removal of multidirectional carrier sub-car, provides the direction for multidirectional carrier sub-car, when arriving required another direction, the guide coincide with the space of another direction operation guide rail cross section, the guide gets into another direction guide rail through the space between the operation guide rail, accomplishes the switching-over. In practical application, if 360-degree reversing is not performed, one or more arc lengths of the annular groove guide rail can be selected according to the reversing angle to manufacture and install the guide rail.

Further, when the longitudinal groove guide rail and the transverse groove guide rail are crossed in a shape like a Chinese character 'jing', the reversing groove guide rail comprises: the annular groove guide rail takes the center of a rectangle in the cross of the shape of the Chinese character 'jing' as the center of a circle, the rectangle is inscribed with the center circle of the annular groove guide rail, and the annular groove guide rail is used for guiding the multi-directional carrier sub-vehicle to carry out in-situ spin reversing around the center of the annular groove guide rail;

the four guide pieces are respectively positioned at the corresponding positions of rectangular vertexes formed by intersection points in the cross of the shape like the Chinese character 'jing', when the multi-direction carrier sub-vehicle is reversed from one direction to the other direction, the four guide pieces on the rectangular vertexes move along with the multi-direction carrier sub-vehicle to enter the annular groove guide rail to provide guidance for the multi-direction carrier sub-vehicle, when the multi-direction carrier sub-vehicle reaches the other required direction, the four guide pieces are matched with gaps at the intersection of the running guide rails in the other direction, and the four guide pieces enter the guide rail in the other direction through the gaps between the running guide rails to finish the in-situ spinning reversing. When only three of the four guide pieces enter the annular groove guide rail, the guide pieces are respectively positioned at the vertex of a triangle formed by three intersection points in the cross shape of the Chinese character 'jing', the outer center of the triangle is superposed with the center circle center of the annular groove guide rail, and the triangle is internally connected with the center circle of the annular groove guide rail and can also provide guidance for the multi-directional carrier sub-vehicle to complete in-situ spinning and reversing. In practical application, if 360-degree reversing is not performed, one or more arc lengths of the annular groove guide rail can be selected according to the reversing angle to manufacture and install the guide rail.

Furthermore, the docking guide mechanism is a docking groove guide rail which is embedded in the lifting platform and is the same as the running guide rail, or a navigation reference object which is arranged at the docking position of the lifting platform and the parking layer;

after the butt joint groove guide rail is in butt joint with the operation guide rail, the guide assembly is matched with the butt joint groove guide rail/the operation guide rail to guide the multi-directional carrier sub-vehicle to enter and exit the lifting platform;

the multi-directional carrier sub-vehicle is provided with a guide sensor for detecting a navigation reference object, after the lifting platform is in butt joint with the navigation reference object on the parking layer butt joint position, the guide sensor measures the relative position of the multi-directional carrier sub-vehicle and the navigation reference object, transmits the relative position to the vehicle-mounted controller to correct and control the posture of the multi-directional carrier sub-vehicle to drive, guides the multi-directional carrier sub-vehicle to enter and exit the lifting platform, and enables the guide assembly to be accurately matched with the running guide rail.

Compared with the prior art, the invention has the following beneficial effects:

(1) The master-slave parking robot three-dimensional parking system carrying the multidirectional traveling carriers realizes multidirectional guiding of the carrier sub-vehicles, can construct multidirectional vehicle carrier sub-vehicles in various carrying forms, is embedded in the ground, directly and quickly travels on the ground under the guiding of the preset groove guide rails, and is simple in structure and control, low in failure rate and high in reliability. And the carrier sub-vehicle can shuttle along the operation guide rail at a parking space or below the vehicle when no load, can move to a designated position quickly, has flexible and quick moving route, can effectively avoid the occupied operation guide rail, effectively reduces congestion and can effectively improve parking efficiency.

(2) The longitudinal groove guide rails can be arranged into a serial type parking space layout, the transverse groove guide rails can be arranged into a parallel type parking space layout, or a longitudinal and transverse reversing combination is adopted to be arranged into a matrix type parking space layout, or a Chinese character 'mi' shape and annular groove guide rail combination is adopted to be arranged into an annular parking space layout, or various operation guide rail combination layouts can be adopted; running routes such as straight lines, circular arcs, curves, circles and the like can be arranged according to the parking layer by adopting the longitudinal groove guide rail, the transverse groove guide rail and the reversing groove guide rail; the multidirectional carrier sub-vehicle has the moving modes of straight movement, transverse movement, translation, turning, spinning, reversing and the like, the running route and the parking space can be flexibly arranged, and the parking field is efficiently utilized; when the carrier sub-vehicle is used for storing and taking vehicles, longitudinal storage and transverse storage or multidirectional storage can be selected, and the operation has the advantages of rapidness, reliability, flexibility, changeability and the like of the rail carrier. Both can satisfy the functional requirement of list, duplex position goods posture stereo garage, also can satisfy the functional requirement on plane removal parking layer, more can jointly use with the mother's car and get into from a plurality of positions, a plurality of directions on each parking layer, carry out vehicle access or reach the target parking stall through planning the guide rail passageway, construct comprehensive intelligent stereo parking system, realize the high-efficient intensive storage of vehicle.

Drawings

Fig. 1 is a schematic structural view of a master-slave parking robot multistory parking system carrying multidirectional traveling carriers in embodiment 1;

FIG. 2 is a schematic view showing a structure in which the multi-directional carrier sub-vehicle of embodiment 1 travels on the running rails;

FIG. 3 is a schematic view showing the intersection of a running guide rail and an inclined reversing groove guide rail in embodiment 1;

fig. 4 is a perspective view of a multi-directional carrier sub-vehicle with a telescopic vehicle body according to embodiment 1;

fig. 5 is a schematic bottom structure view of the multi-directional carrier sub-vehicle with retractable vehicle bodies in embodiment 1;

FIG. 6 is a schematic view showing a contracted structure of the multi-directional carrier sub-vehicle for a retractable vehicle body according to embodiment 1;

fig. 7 is an exploded view of the telescoping mechanism in embodiment 1;

fig. 8 is an internal schematic view of the telescopic mechanism in embodiment 1;

FIG. 9 is a schematic structural view of a longitudinal movement pulley set according to embodiment 1;

FIG. 10 is a front view of the multi-directional carrier sub-cart in embodiment 1 moving longitudinally;

FIG. 11 is a front view of the multi-directional carrier sub-cart in embodiment 1 when it is moved laterally;

FIG. 12 is an enlarged view of a portion of FIG. 2 at A;

FIG. 13 is a side sectional view of the multi-directional carrier sub-cart in embodiment 1;

FIG. 14 is an enlarged view of a portion of FIG. 13 at B;

FIG. 15 is a schematic view showing the movement of the multidirectional carrier sub-vehicle in embodiment 1;

FIG. 16 is a schematic structural view of a parent vehicle in embodiment 1

FIG. 17 is a schematic plan view of a multidirectional carrier sub-vehicle and a running rail in embodiment 2;

FIG. 18 is a schematic structural view of a parent car in embodiment 2;

FIG. 19 is a schematic plan view of the multi-directional carrier sub-cart and the running rails according to example 3;

fig. 20 is a schematic plan view of a parking system in embodiment 4;

FIG. 21 is an enlarged view of a portion of FIG. 20 at C;

FIG. 22 is a schematic plan view of a second arcuate guide rail according to embodiment 5;

FIG. 23 is a schematic view of the endless track of embodiment 6;

fig. 24 is a schematic view of a parking system in embodiment 7;

FIG. 25 is a schematic structural view of a parent vehicle according to embodiment 7;

fig. 26 is a schematic plan operation view of the master-slave parking robot sky parking system in embodiment 8;

FIG. 27 is a layout view of a linear drive index guide unit in accordance with embodiment 9;

FIG. 28 is a layout view of an index guide unit in accordance with example 9;

fig. 29 is a schematic plan view of the multi-directional carrier sub-vehicle and the running rails in embodiment 10.

Reference numerals are as follows:

11-longitudinal groove guide rails; 12-transverse groove guide rails; 13-an oblique guide rail; 14-a first arcuate guide rail; 15-a second arcuate guide rail; 16-an annular groove guide rail; 17-a parking frame; 2-multidirectional carrier sub-vehicle; 21-a front telescopic section; 22-a rear telescopic section; 23-a longitudinal shifting wheel group; 24-a transverse moving wheel group; 25-transverse and longitudinal travel switching device; 31-a connecting segment; 311-worm gear; 32-a first clamping device; 33-second clamping means; 4-a transfer device; 5-corner guide wheels; 51-a longitudinally retractable guide wheel; 52-transversely retractable guide wheels; 53-fixed guide wheels; 6-a guide wheel; 7-mother vehicle; 71-a running gear; 72-a lifting mechanism; 73-a lifting platform; 74-docking groove guide rails; 8-a slider assembly; 91-ball screw; 92-guide rail.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.

In the present invention, for convenience of understanding, the longitudinal direction of the vehicle or carrier sub-vehicle is defined as a longitudinal direction, the width direction is defined as a transverse direction, and the definitions of the longitudinal groove rail and the transverse groove rail vary with the direction of the vehicle or carrier sub-vehicle. In practical engineering applications, the global coordinate system may be defined first, and then the longitudinal and transverse directions may be defined.

Example 1

As shown in fig. 1, the invention provides a three-dimensional parking system based on a master-slave parking robot, which comprises a master vehicle 7, a multi-directional carrier sub-vehicle 2 and a multi-layer parking garage, wherein a plurality of parking frames 17 are arranged on each parking layer, a running guide rail composed of groove guide rails embedded in the ground is paved on the plane of each parking layer, the vehicle is parked on the parking frames 17, and the overhead height below the parking frames 17 and the space between the parking frames 17 can be used for the multi-directional carrier sub-vehicle 2 to run in four directions when in no-load. After the multi-direction carrier sub-vehicle 2 enters the main vehicle 7, the multi-direction carrier sub-vehicle is carried to the position below a target parking layer by the main vehicle, and then the multi-direction carrier sub-vehicle 2 is lifted by the main vehicle 7, so that the multi-direction carrier sub-vehicle 2 enters the parking layers of different layers. Mother's car 7 can carry multidirectional carrier son car 2 and move and carry the vehicle access on the position that goods shelves are different, can arrange the single channel route between goods shelves, can move other position butt joint parking layers to goods shelves respectively during 7 simultaneous operation of many mother's cars to avoid the traffic jam, reduce the place and occupy, improve storage intensity and operating efficiency.

The master vehicle 7 of the master-slave parking robot adopts an omnidirectional-driven laser navigation Automatic Guided Vehicle (AGV) or A Mobile Robot (AMR) and is driven by four steering wheels, so that the all-round movements of straight movement, transverse movement, translation, spinning and the like can be butted with the parking garage from all directions according to a planned path. The lifting mechanism of the lifting platform can adopt the prior art, such as: a scissor-fork type lifting mechanism is adopted to lift the full-platform lifting platform without barriers around; or four groups of hydraulically or electrically driven single mast telescopic mechanisms are adopted to match with the lifting platform with the openings on the four lifting sides of the chain wheel and the hanging chain; or a scissor type lifting device is combined with a gantry driven by a hydraulic oil cylinder on one side to lift together, and a lifting platform with an opening on the side is arranged on one lifting side. The multidirectional carrier sub-vehicle 2 adopts a telescopic vehicle body structure, and the total height of the multidirectional carrier sub-vehicle is smaller than the minimum ground clearance of the vehicle; when the vehicle body is in the extending state, the length of the vehicle body is greater than the vehicle wheel base; when the vehicle body is in a contraction state, the length of the vehicle body is smaller than the wheel base of the vehicle, the total width of the vehicle body is smaller than the wheel base of the vehicle, and the minimum ground clearance height of the vehicle and the space between tires can be used for the multidirectional carrier sub-vehicle 2 to run in four directions when the vehicle is in no load.

The single parking spaces are arranged on the intersection points of the crossed longitudinal groove guide rails 11 and the crossed transverse groove guide rails 12, all the parking spaces are arranged in a matrix mode, and the crossed longitudinal groove guide rails 11 and the crossed transverse groove guide rails 12 matched with the parking spaces are arranged in a grid mode. The plurality of multidirectional carrier sub-vehicles 2 are arranged on the running guide rail, and the multidirectional carrier sub-vehicles 2 can move longitudinally and transversely along the running guide rail, so that when the multidirectional carrier sub-vehicles 2 are in no-load, the multidirectional carrier sub-vehicles 2 can shuttle below the vehicles, the running distance can be shortened, the running efficiency can be improved, and various dispatching modes can be realized. When the multi-directional carrier sub-vehicle 2 is loaded, the multi-directional carrier sub-vehicle moves along the peripheral running rail or along the running rail at the non-parking space. In this embodiment, the turning groove guide rail is an oblique turning guide rail 13, the oblique guide rail 13 passes through the intersection point of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, thereby forming a cross structure similar to a Chinese character 'mi', as shown in fig. 3, strokes of the Chinese character 'mi' shape can be increased and decreased according to needs to form different cross structures, the retractable guide members are respectively arranged at the end points of each stroke (line segment) on the carrier sub-vehicle, and the fixedly mounted guide members can be arranged at the position corresponding to the intersection point of the guide rails. The multi-directional carrier sub-vehicle 2 can be switched to the translational motion of the oblique reversing guide rail 13 from the motion direction along the longitudinal groove guide rail 11/the transverse groove guide rail 12, so that the multi-directional traveling function is realized.

Specifically, as shown in fig. 2 to 15, the multi-directional carrier sub-cart 2 includes: the single-direction wheel driving mode is divided into full wheel driving or partial wheel driving (partial wheel is unpowered), and a single wheel is directly driven by a motor and a speed reducer or is driven by a main motor and the speed reducer in a transfer way through mechanical devices such as a transfer case, a clutch and the like. The one-way wheel drives the longitudinal wheel to be driven when running longitudinally, and drives the transverse wheel to be driven when running transversely, for example, the structure in chinese patent application CN112761396A, and the longitudinal and transverse movement is realized by adopting a transverse-longitudinal switching manner.

In this embodiment, the traveling mechanism includes: a longitudinal moving wheel set 23, a transverse moving wheel set 24 and a transverse and longitudinal moving switching device 25. The vertical shifting wheel set 23, the horizontal shifting wheel set 24 and the horizontal and vertical traveling switching device 25 can all adopt the structure of the Chinese patent application CN 112761396A. Specifically, the vertical movement wheel group 23 is composed of a plurality of wheels arranged in the vertical direction, and the vertical movement wheel group 23 is positioned on the ground, and the movement thereof is driven by a vertical movement driving motor, so that the multi-directional carrier sub-vehicle 2 travels on the ground. The traverse wheel group 24 is composed of a plurality of laterally arranged wheels, the movement of which is driven by a traverse driving motor. The transverse and longitudinal switching of the multi-directional carrier sub-vehicle 2 is realized by a transverse and longitudinal traveling switching device 25, in the embodiment, a wheel lifting mode is adopted, that is, when the multi-directional carrier sub-vehicle moves longitudinally, the transverse moving wheel set 24 is in a lifting state and is not in contact with the ground; when the transverse movement is switched, the longitudinal moving wheel set 23 is lifted and is not contacted with the ground, and the transverse moving wheel set 24 is descended and is contacted with the ground.

The transfer device 4 can adopt one or more of the common mechanisms of a vehicle lifting plate type, a comb tooth type lifting, a clamping and clasping type, a tire clamping type, a maintenance point jacking type and the like to be combined, and under the control of the control module, the vehicle position on the multi-directional carrier sub-vehicle or the parking space is changed through the actions of lifting, clamping and clasping, forking and the like, so that the loading and unloading of the vehicle are completed, and the multi-directional carrier sub-vehicle can complete the vehicle carrying task. In this embodiment, a tire clamping type is adopted, and according to the tire position detected by the sensor when the telescopic part extends out, the clamping device moving mechanism is controlled to move the clamping device to the corresponding position, so that the vehicle tire positions with different wheel bases are adapted. The clamping device is used for controlling the fork arms to extend out or rotate to clamp the tires of the vehicle, and lifting the fork arms after the clamping action is finished so as to lift the vehicle to be carried. The structure is the existing structure and will not be described herein.

Further, the vehicle body is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body, wherein the long vehicle body is longer than a vehicle wheel base, and the short vehicle body is shorter than the vehicle wheel base. In this embodiment, adopt flexible automobile body, have better suitability.

Further, the connecting section 31 is provided with a guiding assembly, which is used for cooperating with the longitudinal groove guide rail 11, the transverse groove guide rail 12 and the oblique direction-changing guide rail 13, so that the multi-directional carrier sub-vehicle 2 can move along the guide rails. The guide piece can be a roller, a rolling shaft, a roller, a columnar body, a hemispherical end and other structures, is matched and contacted with a groove guide rail arranged under the ground in the driving process, is restrained by the groove guide rail and guides the course of the multidirectional carrier sub-vehicle. Specifically, in the present embodiment, the guide assembly includes: two longitudinal retractable guide wheels 51 and two transverse retractable guide wheels 52 are respectively positioned on two central lines of the multidirectional carrier sub-vehicle 2, the longitudinal retractable guide wheels 51 are matched with the longitudinal groove guide rail 11, and the transverse retractable guide wheels 52 are matched with the transverse groove guide rail 12. The longitudinal retractable guide wheel 51 and the transverse retractable guide wheel 52 are configured to lift in the vertical direction or rotate in the horizontal axial direction, and in this embodiment, the motor is used to drive the guide wheels to rotate so as to realize the movement of the guide wheels in and out. Namely, when the multi-directional carrier sub-vehicle 2 moves along the longitudinal direction, the longitudinal retractable guide wheels 51 are in a low position and are in contact with the longitudinal groove guide rails 11, and the transverse retractable guide wheels 52 are in a high position and are separated from the transverse groove guide rails 12; when the multi-directional carrier sub-vehicle 2 moves in the lateral direction, the lateral retractable guide wheels 52 are in a low position and are in contact with the lateral groove guide rails 12, and the longitudinal retractable guide wheels 51 are in a high position and are disengaged from the longitudinal groove guide rails 11.

Furthermore, a fixed guide wheel 53 is arranged at the center of the multi-directional carrier sub-vehicle 2, when the carrier sub-vehicle passes through the intersection of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, two guide wheels can be always positioned in the guide rails, the situation that the guide wheels collide with the intersection when entering the guide rails is avoided, and the running stability and reliability of the carrier sub-vehicle are improved. The front telescopic section 32 and the rear telescopic section 33 are respectively provided with a longitudinal retractable guide wheel 51 which is matched with the longitudinal groove guide rail 11, thereby playing a role in guiding in the process of vehicle body extension and retraction and playing a role in stabilizing course when a load runs longitudinally in an extension state. When the vehicle is in an idle contraction state or in transverse driving, the longitudinal retractable guide wheel 51 is retracted to be in a high position and separated from the longitudinal groove guide rail 11.

When the direction is obliquely reversed, the four guide wheels 6 which are diagonally arranged on the multidirectional carrier sub-vehicle 2 are relied on, and the guide wheels 6 adopt the same retractable structure as the longitudinal retractable guide wheels 51 and the transverse retractable guide wheels 52. If the multi-directional carrier sub-vehicle 2 moves longitudinally, when the multi-directional carrier sub-vehicle 2 reverses at the intersection point of the inclined guide rail 13 and the running guide rail, the longitudinal retractable guide wheel 51 is lifted to a high position to be withdrawn from the longitudinal groove guide rail 11, meanwhile, the guide wheel 6 is lowered to a low position to enter the inclined guide rail 13, and limited by the inclined guide rail 13, so that after the multi-directional carrier sub-vehicle 2 enters the inclined guide rail 13, the vehicle body keeps still motionless, the vehicle head pointing direction is still longitudinal, and then the multi-directional carrier sub-vehicle 2 advances, and a steering wheel driving (steering driving) mode or an omnidirectional wheel driving mode is adopted by a carrier sub-vehicle wheel set, so that the multi-directional carrier sub-vehicle 2 keeps parallel to the original longitudinal direction along the inclined guide rail 13 and moves forwards in an inclined translational mode. The steering wheel and the omni wheel, the mecanum wheel and the corresponding control thereof can be realized by those skilled in the art based on the structure and the conventional control mode of the steering wheel, the omni wheel and the mecanum wheel, and the details are not repeated herein.

Specifically, as shown in fig. 16, the main vehicle 7 is mainly composed of a traveling device 71, a lifting mechanism 72, a lifting platform 73, and the like, and the lifting platform 73 has an open structure on its four side surfaces so that the multi-directional carrier sub-vehicle 2 can be moved in and out of the lifting platform from four directions. When the multi-directional carrier sub-vehicle 2 on the main vehicle 7 needs to be butted with the running guide rail in the parking space area, the lifting platform is provided with a butting guide mechanism which is a butting groove guide rail 74 and is used for guiding the multi-directional carrier sub-vehicle 2 to enter the running guide rail. If the positioning accuracy of the main vehicle 7 is low, the butt joint accuracy of the guide rails is poor, and the problem that the multi-directional carrier sub-vehicle 2 is stuck in transition running and the like occurs. Therefore, the method of combining trackless guidance and tracked guidance of the automated guided vehicle technology can be adopted to realize the smooth transition driving of the multi-directional carrier sub-vehicle 2. For example: and a navigation reference object magnetic tape is laid on the parking layer exit and entry platform and the primary car lifting platform 73 to replace a section of running guide rail and a butt joint groove guide rail 74, and a magnetic navigation sensor detection magnetic tape is installed on the multi-directional carrier secondary car 2. When deviation occurs in the parking position of the master vehicle 7, namely deviation also occurs between the lifting platform 73 of the master vehicle 7 and the magnetic tape of the parking layer exit and entrance platform, the magnetic navigation sensor on the multi-direction carrier sub-vehicle 2 detects the deviation between the magnetic tape and the magnetic tape, the control module of the multi-direction carrier sub-vehicle 2 calculates control quantities such as the rotation angle, the moving distance, the speed and the like of the body of the multi-direction carrier sub-vehicle 2 required for correcting the deviation through a control algorithm, then motion control is performed, the control driving device enables the multi-direction carrier sub-vehicle 2 to correct the posture and drive along the magnetic tape of the exit and entrance platform, finally the parking position deviation of the master vehicle 7 is corrected, a guide component on the multi-direction carrier sub-vehicle 2 smoothly enters a running guide rail, the multi-direction carrier sub-vehicle 2 is guided to normally run along the running rail, and stable switching from trackless guide to rail guide is completed. On the contrary, when the multi-directional carrier sub-vehicle 2 returns to the master vehicle 7 from the parking space area, the magnetic navigation sensor detects the magnetic tape deviation after the guiding piece of the multi-directional carrier sub-vehicle 2 is separated from the running guide rail of the parking garage, the control module controls the driving device to enable the multi-directional carrier sub-vehicle 2 to correct the posture and drive into the lifting platform from the out-warehouse and in-warehouse platforms, and drive along the magnetic tape on the lifting platform during transition driving, finally the parking deviation of the master vehicle 7 is corrected, the multi-directional carrier sub-vehicle 2 can accurately park on the master vehicle 7, and the stable switching from rail guided guiding to trackless guiding is completed. Therefore, the fault tolerance, adaptability and accuracy of the butt joint of the master-slave parking robot and the parking garage are improved, and the reliable, safe and efficient operation of the master-slave parking robot three-dimensional parking system is further ensured. Similarly, no special navigation reference object is provided, and the multidirectional carrier sub-vehicle 2 is provided with a vision sensor or a laser radar sensor as a guidance sensor for detecting the navigation reference object: the characteristics of a mother vehicle lifting platform or an exit and entry platform and the like and the relative positions of the multidirectional carrier sub-vehicle 2 and a navigation reference object are used for guiding, other automatic guiding vehicle guiding technologies can also be adopted, and a driving device is controlled after calculation of a control module to enable the multidirectional carrier sub-vehicle 2 to correct the posture to enter and exit the lifting platform or enable a guiding component of the multidirectional carrier sub-vehicle 2 to enter an operation guide rail. The docking method can also be used for road sections where the running guide rails are inconvenient to arrange in the parking layer, such as fire partition doors and the like, and the multi-directional carrier sub-vehicle 2 is separated from the running guide rails for guiding, transits through trackless guiding of the navigation reference objects of the road sections and then enters the running guide rails for guiding to continue running. The attitude correction and the motion control of the multi-directional carrier sub-vehicle 2 are combined with the driving mode, the single-directional wheel driving mode can adopt a differential driving mode, the steering wheel and the omnidirectional wheel driving mode can adopt an omnidirectional driving mode, and the corresponding control technology of the automatic guided vehicle can be realized by the technical personnel in the field based on the structure and the conventional control mode, which is not described herein.

In this embodiment, the docking groove guide rail 74 adopts a cross-shaped layout of the longitudinal groove guide rail 11 and the transverse groove guide rail 12 which are the same as those of the parking space, and adopts a form of guiding the multi-directional carrier sub-vehicle 2 into the parking layer by adopting a guide rail docking guide rail manner, so as to improve the rapidity of the multi-directional carrier sub-vehicle 2 entering the parking layer from the lifting platform 73.

Example 2

As shown in fig. 17-18, in this embodiment, two of the crossbar units are used as a basis to form a "" -shaped cross of the running rails, which includes one longitudinal grooved rail 11 and two transverse grooved rails 12. Butt joint groove guide rail on lifting platform 73 of mother vehicle 7 74 also employs a "+ -" shaped butt groove guide. The guide assembly includes: the device comprises two fixed guide wheels 53 which are respectively fixedly arranged on the longitudinal central line of the multidirectional carrier sub-vehicle, and other fixed guide wheels which are contacted with an operation guide rail at any time to keep stable running, and four corner guide wheels 5 and a longitudinal retractable guide wheel 51 which are respectively positioned at four corners of the multidirectional carrier sub-vehicle 2, wherein the corner guide wheels 5 and the longitudinal retractable guide wheel 51 are both configured to lift along the vertical direction or rotate along the horizontal axial direction. A "+" shaped crossed running guide rail unit can be arranged with a parking space station or a longitudinal and transverse reversing station on a peripheral running route, a plurality of parking space stations can form a one-row or one-row parking space layout, and further, a plurality of rows and a plurality of columns are mutually connected to form a matrix type parking space layout.

When the carrier sub-vehicle 2 stops at a parking space station or a longitudinal and transverse reversing station on a peripheral driving route for reversing driving, the four corner guide wheels 5 and the longitudinal retractable guide wheel 51 are both in a high position, and the two fixed guide wheels 53 are positioned in a gap at the intersection of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, the original longitudinal groove guide rail 11 is switched to enter the other two transverse groove guide rails 12, or the original two transverse groove guide rails 12 are switched to enter the other longitudinal groove guide rail 11, so that the direction switching is completed. In order to keep two guide members in the running guide rail at any moment and keep stable running, when the multi-direction carrier sub-vehicle 2 moves along the longitudinal direction, the fixed guide wheels 53 are in contact with the longitudinal groove guide rail 11, the longitudinal retractable guide wheels 51 are in a low position and are in contact with the longitudinal groove guide rail 11, and the corner guide wheels 5 are in a high position and are separated from the transverse groove guide rail 12. When the multi-directional carrier sub-vehicle 2 moves in the lateral direction, the fixed guide wheels 53 are in contact with the lateral groove guide rails 12, the corner guide wheels 5 are in a low position and in contact with the lateral groove guide rails 12, and the retractable guide wheels 51 are in a high position and are disengaged from the longitudinal groove guide rails 11.

The multi-directional carrier sub-vehicle 2 adopts a unidirectional wheel driving mode or a steering wheel driving mode or an omnidirectional wheel driving mode, the unidirectional wheel driving mode is divided into full wheel driving or partial wheel driving (partial wheels are unpowered), and a single wheel is directly driven by a motor and a speed reducer or is driven by a main motor and the speed reducer in a transfer mode through mechanical devices such as a transfer case, a clutch and the like. The one-way wheel drives the longitudinal wheel to be driven when longitudinally driving and drives the transverse wheel to be driven when transversely driving, for example, the structure in the chinese patent application CN112761396A, and the longitudinal and transverse movement is realized by adopting a transverse and longitudinal switching mode.

Example 3

As shown in fig. 19, in this embodiment, three longitudinal and transverse reversing units are used as a basis to form a running guide rail in a "thirty" shape, which includes one longitudinal groove guide rail 11 and three transverse groove guide rails 12. The guide assembly includes: three fixed guide wheels 53 fixedly arranged on the longitudinal central line of the multidirectional carrier sub-vehicle respectively, and two guide wheels are arranged at any time to be contacted with the running guide rail to keep running stability, and two transverse retractable guide wheels 52 are also arranged, wherein the transverse retractable guide wheels 52 are all configured to be lifted along the vertical direction or rotate along the horizontal axial direction. One 'thirty' character-shaped crossed operation guide rail unit can be used for arranging one parking space station or one longitudinal and transverse reversing station on a peripheral driving route, a plurality of parking space stations can form one-row or one-row parking space layout, and further, a plurality of rows and a plurality of columns are mutually connected to form a matrix type parking space layout.

When the carrier sub-vehicle 2 stops at a parking space station or at a longitudinal and transverse reversing station on a peripheral driving route for reversing driving, the two transverse retractable guide wheels 52 are both in a high position, and the three fixed guide wheels 53 are positioned in gaps at the intersections of the longitudinal groove guide rails 11 and the transverse groove guide rails 12, the original one longitudinal groove guide rail 11 is switched to enter the other three transverse groove guide rails 12, or the original three transverse groove guide rails 12 are switched to enter the other longitudinal groove guide rail 11, so that the direction conversion is completed. In order to keep two guide members in the running guide rail at any moment and keep running stably, when the multi-direction carrier sub-vehicle 2 moves along the longitudinal direction, the fixed guide wheels 53 are in contact with the longitudinal groove guide rail 11, and the two transverse retractable guide wheels 52 are in a high position and are separated from the transverse groove guide rail 12. When the multi-directional carrier sub-cart 2 is moved in the lateral direction, the two lateral retractable guide wheels 52 are in the lowered position and the three fixed guide wheels 53 are in contact with the lateral groove rail 12.

Example 4

As shown in fig. 20 to 21, on the basis of embodiment 1, the reversing groove guide rail further includes: and a first arc-shaped reversing groove guide rail 14 taking the intersection point of the running guide rail and the inclined guide rail 13 as the center of circle, wherein the first arc-shaped reversing groove guide rail 14 extends from the longitudinal groove guide rail 11 to the inclined guide rail 13. When the multi-direction carrier sub-vehicle 2 is reversed, the longitudinal retractable guide wheels 51 enter the first arc-shaped reversing groove guide rail 14, and the multi-direction carrier sub-vehicle 2 moves along the first arc-shaped reversing groove guide rail 14, so that the multi-direction carrier sub-vehicle 2 is switched from the longitudinal direction to the inclined direction. Compared with the embodiment 1, the reversing mode does not need the guide wheels 6, and mainly depends on the steering capacity of the multi-directional carrier sub-vehicle 2. The steering of the multi-directional carrier sub-vehicle 2 is realized by steering in a steering wheel driving mode, or steering in an omnidirectional wheel driving mode can be adopted, the vehicle body of the multi-directional carrier sub-vehicle 2 rotates, the direction of the vehicle head changes accordingly, the steering modes are all conventional modes, and details are not repeated herein.

Example 5

As shown in fig. 22, on the basis of embodiment 2, the reversing groove guide rail comprises a second arc-shaped reversing groove guide rail 15 extending from the longitudinal groove guide rail 11 to the transverse groove guide rail 12, when the multi-directional carrier sub-vehicle 2 is steered from the longitudinal direction, one longitudinal retractable guide wheel 51 and four corner retractable guide wheels 5 are in a high position, and two fixed guide wheels 53 move with the multi-directional carrier sub-vehicle 2 into the second arc-shaped reversing groove guide rail 15 to provide guidance for the multi-directional carrier sub-vehicle 2 so as to realize the steering of the multi-directional carrier sub-vehicle from the longitudinal direction to the transverse direction; on the basis of embodiment 3, the fixed guide wheel 53 at the central point is replaced by a longitudinal retractable guide wheel 51 and is retracted with two transverse retractable guide wheels 52 to be in a high position, and the two fixed guide wheels 53 move along with the multi-direction carrier sub-vehicle 2 and enter the second arc-shaped reversing groove guide rail 15 to provide guidance for the multi-direction carrier sub-vehicle 2 so as to realize the reversing of the multi-direction carrier sub-vehicle from the longitudinal direction to the transverse direction. The steering mode adopts a mode that the vehicle body synchronously rotates, namely, when the head direction of the multi-direction carrier sub-vehicle 2 is switched from the longitudinal direction to the transverse direction. Similarly, on the basis of embodiment 3, the three fixed guide wheels 53 are replaced by the longitudinal retractable guide wheels 51 and retracted to be in the high position, and when the multi-direction carrier sub-vehicle 2 is steered from the transverse direction, the transverse retractable guide wheels 52 are in the low position and move along with the multi-direction carrier sub-vehicle 2 to enter the second arc-shaped guide rails 15 to provide guidance for the multi-direction carrier sub-vehicle 2, so that the multi-direction carrier sub-vehicle 2 is steered from the transverse direction to the longitudinal direction. After the curve steering of the multidirectional carrier sub-vehicle 2 is finished, the guide piece corresponding to the longitudinal or transverse running direction enters the longitudinal or transverse groove guide rail, other retractable guide pieces are retracted to be positioned at a high position to be separated from the running guide rail, and the multidirectional carrier sub-vehicle 2 continues to run along a new direction. The second arc-shaped reversing groove guide rail 15 in the embodiment can be applied to the position of the parking space perpendicular to the moving direction of the multidirectional carrier sub-vehicle 2, and the structure of the embodiment provides a material basis for diversified design of the parking space.

Example 6

As shown in fig. 23, in this embodiment, the longitudinal grooved rails 11 and the transverse grooved rails 12 are crossed in a cross shape, the reversing grooved rails include annular grooved rails 16 using the transverse and longitudinal cross points of the longitudinal grooved rails 11 and the transverse grooved rails 12 as the centers of circles, when the multi-directional carrier sub-vehicle 2 needs to rotate in place or turn around, under the self-steering action of the multi-directional carrier sub-vehicle 2, both the two longitudinal retractable guide wheels 51 or the fixed guide wheels 53 enter the annular grooved rails 16, and under the limiting guide action of the annular grooved rails 16 and the rotation of the multi-directional carrier sub-vehicle 2, on the basis of embodiment 4, the multi-directional carrier sub-vehicle 2 can be reversed by 0 ° to 360 ° in accordance with the angle of the inclined reversing grooved rails 13.

Example 7

As shown in fig. 24-25, in the present embodiment, two longitudinal groove rails 11 and two transverse groove rails 12 intersect to form a "well" shape, the reversing groove rail is an annular groove rail 16 with the center of the rectangle in the "well" shape intersection as the center, the rectangle is inscribed in the center circle of the annular groove rail 16, and the annular groove rail 16 is used for guiding the carrier sub-vehicle 2 to perform in-situ spin reversing around the center of the annular groove rail 16.

The butt joint groove guide rail 74 on the mother vehicle 7 also adopts a 'groined' butt joint groove guide rail. The guide assembly includes: the four corner guide wheels 5 are respectively positioned at the corresponding positions of the rectangular vertexes in the 'groined' shaped intersection, when the carrier sub-vehicle is reversed from one direction to the other direction, the four corner guide wheels 5 at the rectangular vertexes move along with the carrier sub-vehicle to enter the annular groove guide rail to provide guidance for the carrier sub-vehicle 2, when the carrier sub-vehicle reaches the required other direction, the four corner guide wheels 5 are matched with gaps at the intersection of the running guide rails in the other direction, and the four corner guide wheels 5 enter the guide rail in the other direction through the gaps at the intersection of the running guide rails to complete the reversing from the in-situ spinning of 0-360 degrees.

Furthermore, a plurality of retractable guide wheels can be additionally arranged at required positions so as to ensure that two guide elements are arranged in the same running guide rail at any time in the guide assembly when the guide assembly moves longitudinally or transversely.

Example 8

As shown in fig. 26, this embodiment provides a schematic plan view of a multi-directional vehicle-carrying stereo parking system of a master-slave parking robot, wherein the parking layer of the stereo parking garage combines the guide rail layout and the row, column or matrix type parking space layout of embodiments 1, 5 and 6, and the guide rail layout of the above embodiments is used to connect the parking spaces a (A1-A5), B (B1-A3), C (C1-C3) and D (D1-D4). The peripheral parking spaces of the parking layers are provided with running guide rails or navigation reference objects in an extending mode, and the running guide rails or the navigation reference objects can be in butt joint with the butt joint groove guide rails 74 or the navigation reference objects on the lifting platform 73 of the primary and secondary parking robots in the longitudinal direction, the transverse direction, the longitudinal and transverse directions or a plurality of directions, so that a plurality of docking positions and channels of the primary and secondary parking robots can be provided for rapidly receiving and releasing the multi-directional carrier sub-vehicles 2 to complete carrying tasks.

Specifically, for example, if a vehicle is to be transported to a parking space in zone A1, the load carrier sub-vehicle is driven into the parking area along the longitudinal groove rail 11 with its three longitudinally retractable guide wheels 51 in a low position. When the carrier sub-vehicle No. 1 arrives at the position of the annular groove guide rail 16 shown in fig. 16, the longitudinal retractable guide wheels 51 and the 2 transverse retractable guide wheels 52 at the centers of the 1 longitudinal retractable guide wheels and the other two longitudinal retractable guide wheels 51 are at the low positions, and the transverse direction is changed into the transverse movement mode, so that the vehicle can transversely travel to the parking space A1. The carrier sub-vehicle No. 1 can also rotate 90 degrees at the position of the annular groove guide rail 16 shown in fig. 12, then the vehicle is turned to run transversely to the parking space B1, then the vehicle is turned curvedly from the second arc-shaped turning groove guide rail 15 corresponding to the parking space B1, and then the vehicle runs longitudinally to the parking space A1. And unloading the vehicle to finish the transportation task.

The No. 2 carrier sub-vehicle carries the vehicle to the C area C2 parking space, and the following steps are carried out, namely the vehicle is rotated by 90 degrees at the position of the annular groove guide rail 16 shown in the figure 16, then the vehicle is changed to transversely drive to the B1 parking space, then the vehicle is changed to longitudinally drive to the B2 parking space from the B1 parking space, finally the vehicle is changed to transversely drive to the C2 parking space from the B2 parking space, and the vehicle is unloaded to complete the carrying task.

If the No. 3 carrier sub-vehicle needs to transport the vehicle to the D4 parking space, the vehicle can be obliquely reversed in the B3 parking space, two guide wheels 6 which are diagonally arranged are put down, and the longitudinal retractable guide wheel 51 at the center is positioned at a low position to enter the oblique reversing groove guide rail 13, so that the No. 3 carrier sub-vehicle is guided to reach the D4 parking space, and the vehicle is unloaded to complete the transport task.

If the vehicle in the D2 parking space needs to be taken out, if A5 is empty, the empty carrier sub-vehicle firstly moves to B3, the position of B3 is switched to oblique movement, the empty carrier sub-vehicle enters D2 along the oblique reversing groove guide rail 13, the empty carrier sub-vehicle is lifted up and then carries the vehicle to the B3 parking space along the oblique reversing groove guide rail 13, then the empty carrier sub-vehicle is reversed to longitudinally drive to the B1 parking space, then the empty carrier sub-vehicle is reversed to transversely drive to the annular groove guide rail 16, the empty carrier sub-vehicle rotates 45 degrees anticlockwise, then the empty carrier sub-vehicle is in the posture shown by the vehicle No. 1, and then the empty carrier sub-vehicle is reversed to longitudinally drive to the mother vehicle waiting for connection.

It should be understood that the operation of the multi-directional carrier sub-vehicle 2 on a flat surface is not limited to one manner, and that point-to-point movement may be accomplished in a variety of combinations, depending on the number of actual stops, vehicle storage locations, and the like.

The above specifically describes the layer-inside dispatch transport stop that the multi-directional carrier sub-vehicle 2 can perform at the parking layer level based on its function. In the embodiment, three types of primary and secondary parking robots are also configured, the three types of traveling devices 71 are all configured to be driven by four steering wheels in an all-directional mode, and the primary vehicle 7 is a laser navigation all-directional mobile robot. The lifting mechanism 72 of the type I is provided with four sets of single mast hydraulic telescopic arms, chain wheels and lifting platforms 73 with openings on four lifting sides of chains, the lifting platforms 73 are provided with cross-shaped crossed butt joint groove guide rails 74, and the multi-directional carrier sub-vehicle 2 can enter and exit the lifting platforms 73 in four directions; the lifting mechanism 72 of the type II is provided with a rear double-oil-cylinder hydraulic lifting portal frame and a bottom scissor type lifting mechanism which are combined to lift a three-side lifting platform 73, the lifting portal frame is arranged on the rear side and can not enter and exit compared with the lifting of a full platform, the lifting platform 73 is provided with a cross-shaped butt joint groove guide rail 74, and the multi-directional carrier sub-vehicle 2 can enter and exit the lifting platform 73 in three directions; the lifting mechanism 72 of the type III is provided with a bottom scissor type lifting mechanism lifting full platform lifting platform 73, the lifting platform 73 is provided with crossed magnetic tapes, and the multi-directional carrier sub-vehicle 2 can enter and exit the lifting platform 73 in four directions. As shown in fig. 26, the I-type primary-secondary parking robot travels laterally to the side of the target C2 parking space, the lifting mechanism 72 raises the lifting platform 73 to be in butt joint with the C2 parking space, the butt joint groove guide rail 74 is aligned with the lateral groove guide rail 12 of the running guide rail, the No. 2 multidirectional carrier is empty or the vehicle enters the lifting platform 73 under the guidance of the guide assembly entering the butt joint groove guide rail 74 along the lateral groove guide rail 12, the lifting mechanism 72 lowers the lifting platform 73 and the multidirectional carrier sub-vehicle 2, and the main vehicle 7 carries the multidirectional carrier sub-vehicle 2 and the vehicle to the target platform for unloading. The II type primary and secondary parking robot longitudinally runs to reach the front of a target A3 parking space to finish the same action as the I type primary and secondary parking robot, the multidirectional carrier sub-vehicle 2 enters the longitudinal groove guide rail 11 along the butt joint groove guide rail 74 at the guide assembly and drives into the lifting platform 73 under the guidance of the longitudinal groove guide rail, the carried vehicle is conveyed, transferred and parked in the A3 parking space through the multidirectional carrier sub-vehicle 2, and then the multidirectional carrier sub-vehicle 2 is recovered or directly forwards carries other multidirectional carrier sub-vehicles to a next target point. The III type primary and secondary parking robot transversely runs to the side of a target D1 parking space, the lifting mechanism 72 lifts the lifting platform 73 to be in butt joint with the D1 parking space, the No. 4 multidirectional carrier sub-vehicle 2 runs out of the transverse groove guide rail 12 of the D1 parking space running guide rail, the vehicle-mounted magnetic tape sensor guides magnetic tapes arranged on the gateway and the lifting platform 73 to run into the lifting platform 73, the lifting mechanism 72 lowers the lifting platform 73 and the multidirectional carrier sub-vehicle 2, and the master vehicle 7 carries the No. 4 multidirectional carrier sub-vehicle 2 and the vehicle to move to the target platform for unloading. The No. 1 multi-directional carrier sub-vehicle 2 arrives at the annular groove guide rail 16, enters the inclined groove guide rail by rotating and reversing at an angle of 45 degrees and waits for the main vehicle 7 to carry. The annular groove guide rail 16 is combined with a cross-shaped longitudinal and transverse reversing unit, and can butt against two primary and secondary parking robots to enable the multi-directional carrier sub-vehicle 2 to drive in or out of the lifting platform 73 longitudinally or transversely, so that sequential transfer or receiving of the multi-directional carrier sub-vehicle 2 in two directions is realized. In busy hours, the three child and mother parking robots can be butted with parking layers along the longitudinal direction at an angle of 90 degrees, an angle of 135 degrees and an angle of 180 degrees, the multi-directional carrier sub-vehicles 2 can longitudinally drive in or out of the lifting platforms 73 of the three child and mother parking robots through the self-rotating reversing of the annular groove guide rails 16 at an angle of 90 degrees, an angle of 135 degrees and an angle of 180 degrees, and the sequential transfer or receiving of the multi-directional carrier sub-vehicles 2 in three directions is realized.

The system is further provided with an upper system for uniformly dispatching the primary and secondary parking robots, the primary vehicle 7 and the multi-directional carrier secondary vehicles 2, the upper system is composed of a central control computer and a communication module, and the upper system is communicated with the primary vehicle 7 of the primary and secondary parking robots and the multi-directional carrier secondary vehicles 2 through a wireless network. The stereo garage is composed of multiple layers of platforms distributed in various forms such as a matrix or a cylindrical tower, and the comb-tooth type parking frame stereo garage shown in figure 1 is adopted in the embodiment. The number of the mother vehicles 7 and the multi-direction carrier sub-vehicles 2 in the system can be 1. The system operates as follows:

1. the driver stops the vehicle to the warehousing platform and gets off the vehicle;

2. the upper system receives the safety and in-place signals of the vehicles at the station, and the central control computer sends a parking task instruction to the idle primary and secondary parking robots through the communication module;

3. the idle primary and secondary parking robots drive to the platform, the lifting platform is aligned to the platform, the upper system or the primary vehicle control system sends an instruction to the multidirectional carrier secondary vehicles 2, the multidirectional carrier secondary vehicles 2 longitudinally or transversely drive into the lower part of the comb-tooth type parking frame according to the type of the platform, the comb-tooth type parking frame is lifted to be meshed with the comb-tooth type parking frame to lift the vehicles, and the vehicles drive back to the lifting platform of the primary vehicle 7;

4. the multidirectional carrier sub-vehicle 2 lowers the comb-tooth frame to a low position, and when the lifting platform is parked, the gear train switching device enables all the wheels to be in the low position to be in contact with the lifting platform, so that the multidirectional carrier sub-vehicle 2 is prevented from sliding when the main vehicle 7 runs; and the multi-direction carrier sub-vehicle 2 reports the completion of the loading tasks of the upper system and the main vehicle control system.

5. The upper system sends the target position to the primary and secondary parking robots, the primary and secondary parking robots drive to the target plane position, the lifting platform is lifted to be aligned with the platform, and the multidirectional carrier sub-vehicle 2 lifts the comb-tooth frame and switches the wheel system to the required driving direction.

6. And the multidirectional carrier sub-vehicle 2 runs to a target parking space in the guide rail system, the comb-tooth-shaped rack is lowered, the vehicle is stopped on the comb-tooth-shaped parking rack of the parking space, and the multidirectional carrier sub-vehicle 2 reports the completion of unloading tasks to the upper system and the master vehicle.

7. And the multi-directional carrier sub-vehicle 2 drives back to the main vehicle, the main vehicle reports the completion of the parking task instruction to the upper system, and waits for the scheduling instruction of the upper system to return to a rest point or starts the next carrying task.

8. The vehicle taking task execution process is the same as the vehicle parking process.

Vehicles at parking spaces around the passage can be directly carried under the coordination of the four-way driving function of the lifting platform and the multi-way carrier sub-vehicle 2. Whether install broach frame, primary and secondary parking robot configuration proportion according to mother's car lift platform, when the target vehicle that gets is located middle zone parking stall, host system dispatch primary and secondary parking robot or dispatch mother's car 7 alone, multidirectional carrier child car 2 collaborative work can have multiple mode or multiple mode combination to accomplish and get the car:

1. and a parking space with a vehicle is arranged between the master parking robot and the secondary parking robot, and the master parking robot carries the obstacle vehicle to the idle parking space in the area or other areas. Then, the multi-directional carrier sub-vehicle 2 carries the target vehicle to the main vehicle 7 through a channel formed by empty parking places, and the primary and secondary parking robots carry the target vehicle to a platform to finish vehicle taking; or another primary and secondary parking robot carries the target vehicle to the platform to finish vehicle taking.

2. And a parking space with a vehicle is arranged between the robot and the channel at an interval, when no idle parking space exists, the two child and mother parking robots work in a cooperative manner, one child and mother parking robot carries the obstacle vehicle to the robot for temporary storage, the other child and mother parking robot takes out the target vehicle to a platform, and the previous child and mother parking robot carries the obstacle vehicle to the original target vehicle parking space to finish vehicle taking.

3. A plurality of parking spaces with cars are arranged between the robot and the passage, and one primary and secondary parking robot or a plurality of primary and secondary parking robots work cooperatively according to modes 1 and 2 or mode combination to finish car taking.

4. A plurality of parking spaces with cars are arranged between the platform and the channel, and the platform on the same layer has idle parking spaces. The plurality of the child-mother parking robots can place the respectively carried multidirectional carrier sub-vehicle 2 into the same-layer platform. According to the proportion of the car storing and taking tasks, when the car taking tasks are multiple or the number of the multi-direction carrier sub-cars 2 is larger than that of the main car 7, part of the multi-direction carrier sub-cars 2 can reside in the stereo garage. And the multi-directional carrier sub-vehicle 2 on the same platform sequentially carries the obstacle vehicles to the idle parking spaces under the scheduling of the upper system, opens a carrying channel for the target vehicle and finishes vehicle taking according to the mode 1. Meanwhile, the idle main vehicle 7 can complete other vehicle storing and taking tasks by matching with other resident multidirectional carrier sub-vehicles 2 under the scheduling of the upper system.

5. A plurality of parking spaces with cars are arranged between the platform and the channel, and no idle parking spaces exist on the same layer of platform. The multi-master parking robots can place the multi-directional carrier sub-vehicles 2 carried by the multi-master parking robots into a platform on the same layer to work with the resident multi-directional carrier sub-vehicles 2 in a cooperative mode, the master vehicle 7 is dispatched by the upper system to a required position, all the multi-directional carrier sub-vehicles 2 simultaneously move barrier vehicles on a whole row or a whole column of associated parking spaces according to the same beat under the dispatching of the upper system, meanwhile, modes 1 and 2 are applied, a carrying channel is opened for a target vehicle, and then the vehicle taking is completed according to the mode 1. Meanwhile, the idle main vehicle 7 can complete other vehicle storing and taking tasks by matching with other resident multidirectional carrier sub-vehicles 2 under the scheduling of the upper system.

Example 9

The present embodiment provides a guide assembly, which can replace the guide assemblies in embodiments 1, 4, 5, 6, and 8.

As shown in fig. 27, three longitudinal retractable guide wheels 51 and two transverse retractable guide wheels 52 are provided on the multi-directional carrier sub-cart 2, the two transverse retractable guide wheels 52 are respectively mounted on the two slide assemblies 8, and the lower slide assemblies 8 are driven by the two ball screws 91 of the driving mechanism to drive the transverse retractable guide wheels 52 to respectively move to the transverse position and the two inclined positions. When the multi-direction carrier sub-vehicle 2 runs longitudinally, the three longitudinal retractable guide wheels 51 enter the longitudinal groove guide rail at a low position; when the multi-directional carrier sub-vehicle 2 is in self-rotating reversing, one longitudinal retractable guide wheel 51 in the center is positioned at the intersection point of the running guide rails at a low position, and two longitudinal retractable guide wheels 51 at the ends enter the annular groove guide rail 16; the two laterally retractable guide wheels 52 are in the high position. When the direction is changed transversely and obliquely, one longitudinal retractable guide wheel 51 at the center is at a low position, and the other two longitudinal retractable guide wheels 51 are at a high position; when the direction is changed to the transverse direction, the two ball screws 91 respectively drive the slide block assemblies 8 to drive the two transverse retractable guide wheels 52 to move to the positions corresponding to the transverse groove guide rails 12, and then the two transverse retractable guide wheels 52 are put down to be at the low position and enter the transverse groove guide rails 12; when the direction is changed to be oblique, the two ball screws 91 respectively drive the slide block assemblies 8 to drive the two transverse retractable guide wheels 52 to move to the positions corresponding to the oblique direction changing groove guide rails 13, and then the two transverse retractable guide wheels 52 are put down to be at low positions and enter the oblique direction changing groove guide rails 13. When the curve turns, one longitudinal retractable guide wheel 51 at the center is retracted to be at a high position, and two longitudinal retractable guide wheels 51 at the end head enter the second arc-shaped reversing groove guide rail 15. The longitudinal retractable guide wheels 51 or the transverse retractable guide wheels 52 enter the corresponding groove guide rails to guide the multidirectional carrier sub-vehicle 2 to perform reversing or steering running under the driving of the driving device.

As shown in fig. 28, three longitudinal retractable guide wheels 51 are arranged on the multi-directional carrier sub-vehicle 2, one is arranged at the center of the vehicle body and is retracted or put down in coordination with running, reversing and steering requirements; two are respectively mounted on two slider assemblies 8. The two slide block assemblies 8 are arranged on a guide rail 92 connected with the corresponding longitudinal, transverse and oblique reversing groove guide rails, the two slide block assemblies 8 are provided with a driving device, the lower slide block assembly 8 driven by the driving device drives the longitudinal retractable guide wheel 51 at a high position to respectively move to the corresponding longitudinal groove guide rail 11, the transverse groove guide rail 12, the oblique reversing groove guide rail 13, the second arc-shaped reversing groove guide rail 15 and the annular reversing groove guide rail 16 along the guide rail 92, the retractable guide wheel 51 is put down at a low position to enter the corresponding groove guide rail to guide the multidirectional carrier sub-vehicle 2, and the multidirectional carrier sub-vehicle is driven by the driving device to carry out reversing or steering running.

Example 10

As shown in fig. 29, in this embodiment, one of the two longitudinal groove tracks 11 intersects with the annular groove track 16, the multi-directional carrier sub-vehicle 2 is provided with five longitudinal retractable guide wheels 51, the central longitudinal retractable guide wheel 51 is retracted to be in a high position, the other four longitudinal retractable guide wheels 51 are divided into two groups, the two longitudinal retractable guide wheels 51 outside the annular groove track 16 are retracted to guide the multi-directional carrier sub-vehicle 2 to longitudinally travel along the two longitudinal groove tracks 11 to reach the intersection with the annular groove track 16, the two longitudinal retractable guide wheels 51 outside the annular groove track 16 are disengaged from the longitudinal groove track 11, and the central longitudinal retractable guide wheels 51 are lowered to enter the annular groove track 16. The connecting line between the centers of the two longitudinal retractable guide wheels 51 at the intersection point of the longitudinal groove guide rail 11 and the annular groove guide rail 16 is a secant of the center circle of the annular groove guide rail 16, the secant is taken as the bottom edge, the center of the middle longitudinal retractable guide wheel 51 is taken as the peak, the formed triangle is an inscribed triangle of the center circle of the annular groove guide rail 16, and the outer center of the inscribed triangle is superposed with the center circle of the annular groove guide rail 16. Under the drive of the rotation of the multi-direction carrier sub-vehicle 2, two longitudinal retractable guide wheels 51 at the intersection point enter the annular groove guide rail 16 through a gap at the intersection of the longitudinal groove guide rail 11 and the annular groove guide rail 16, under the limiting guide effect of the annular groove guide rail 16 and the rotation of the multi-direction carrier sub-vehicle 2, the multi-direction carrier sub-vehicle 2 can turn 180 degrees to reach the other two longitudinal groove guide rails 11 parallel to the original guide rail, then the middle longitudinal retractable guide wheels 51 are retracted to be separated from the annular groove guide rail 16, the other two longitudinal retractable guide wheels 51 are put down to enter the longitudinal groove guide rails 11, and the multi-direction carrier sub-vehicle 2 can longitudinally run under the guidance of the other two longitudinal groove guide rails 11. The other two longitudinal groove guide rails 11 are arranged at an angle with the original two longitudinal groove guide rails 11 according to the same layout mode, and the multi-directional carrier sub-vehicle 2 can turn to the angle along the annular groove guide rails 16 and reversely run. Similarly, the multi-directional carrier sub-vehicle 2 can travel laterally to perform a reversing travel along the annular groove track 16.

The present invention has been described in terms of specific examples, which are provided to aid in understanding the invention and are not intended to be limiting. Numerous simple deductions, modifications or substitutions may also be made by those skilled in the art in light of the present teachings.

Claims (11)

1. A master-slave parking robot three-dimensional parking system carrying a multidirectional running carrier comprises a master-slave parking robot and a plurality of parking layers, wherein each parking layer is provided with a plurality of parking spaces; the primary and secondary parking robot comprises a primary vehicle and a plurality of multidirectional carrier secondary vehicles, wherein the multidirectional carrier secondary vehicles are carried to the lower part of a target parking layer by the primary vehicle after entering the primary vehicle, and then are lifted by the primary vehicle so as to enter the parking layer loading and unloading vehicles on different layers, and the primary and secondary parking robot is characterized in that:

an operation guide rail is embedded in the plane of each parking layer and comprises a longitudinal groove guide rail, a transverse groove guide rail and a reversing groove guide rail which are independently or crossly arranged;

the multi-directional carrier sub-vehicle is provided with a guide assembly consisting of a plurality of guide pieces, and the guide assembly is matched with the running guide rail to guide the multi-directional carrier sub-vehicle to move along the running guide rail;

the lifting platform of the primary vehicle is a side opening platform or a full platform without shielding on the periphery, wherein the side opening platform is provided with a plurality of openings for the secondary vehicles of the multidirectional carrier to enter and exit;

and the butt joint guide mechanism is used for butt joint of the running guide rail so as to guide the multi-direction carrier sub-vehicle to enter and exit the lifting platform.

2. The master-slave parking robot multistory parking system with multidirectional carriers of claim 1 wherein the body of the multidirectional carrier child vehicle is any one of a long body, a short body and a telescopic body.

3. The master-slave parking robot multistory parking system with multidirectional vehicles as set forth in claim 1, wherein the height of the body of the multidirectional vehicle subsystem is smaller than the ground clearance of the vehicle on the driving route or the ground clearance of the mechanical structure on the driving route, and the multidirectional vehicle subsystem can be driven in a four-way or multidirectional shuttle manner under the vehicle or the mechanical structure on the driving route.

4. The master-slave parking robot multistory parking system with multi-directional traveling carriers according to claim 1, wherein the longitudinal groove guide rails and the transverse groove guide rails are crossed in a cross shape to form a guide rail base member, one guide member in the guide assembly is a guide base member, and one guide rail base member and one guide base member constitute a longitudinal and transverse reversing unit, and when the guide member is located in a gap at the crossing of the longitudinal groove guide rails and the transverse groove guide rails, the original longitudinal groove guide rails are switched to enter the other transverse groove guide rails, or the original transverse groove guide rails are switched to enter the other longitudinal groove guide rails, thereby completing the direction change.

5. The parking robot system according to claim 4, wherein the operation guide rail is formed by one or more of "" - "shaped crossing, or" thirty "shaped crossing, or" well "shaped crossing, or" field "shaped crossing on the basis of the vertical and horizontal direction changing unit, and the guide assembly comprises: the number and the positions of the intersection points of the longitudinal groove guide rail and the transverse groove guide rail of the longitudinal and transverse reversing unit are the same;

all the guide parts of the multi-directional carrier sub-vehicle are in low positions when running or reversing and are in contact with the running guide rail.

6. The multi-directional vehicle-mounted parking robot stereo parking system according to claim 1, wherein when the running guide rails are crossed in a cross shape or an X shape, or the cross shape and the X shape are combined in a cross shape and their respective strokes are increased or decreased,

the guide assembly includes: end point guiding pieces respectively positioned on each character-shaped stroke line section on the multidirectional carrier sub-vehicle;

when the multi-directional carrier sub-vehicle moves along the required direction, the guide piece in the required direction is at a low position and is in contact with the running guide rail, and other guide pieces are at a high position and are separated from the running guide rail.

7. The multi-directional vehicle-carrying master-slave parking robot multistory parking system according to claim 1, wherein said reversing groove guide comprises: a curved groove rail extending from one direction rail to the other direction rail;

when the multi-direction carrier sub-vehicle is reversed from one direction to the other direction, the two guide pieces at the end points of the line segment are at low positions, a connecting line between the two guide pieces at the end points of the line segment forms a chord of a curve of the curve-shaped groove guide rail, and the two guide pieces at the end points of the line segment move along with the multi-direction carrier sub-vehicle to enter and provide guidance for the multi-direction carrier sub-vehicle so as to realize curve reversing of the multi-direction carrier sub-vehicle from one direction to the other direction.

8. The multi-directional vehicle-carrying master-slave parking robot multistory parking system according to claim 1, wherein said reversing groove guide comprises: the annular groove guide rail takes the intersection point of the running guide rails as the circle center and is used for guiding the multi-directional carrier sub-vehicle to perform in-situ spin reversing around the circle center of the annular groove guide rail;

the two guide pieces are respectively positioned at the corresponding positions of two end points of a central circular diameter line section of the annular groove guide rail, when the multi-direction carrier sub-vehicle is reversed from one direction to the other direction, the two guide pieces at the end points of the line section move along with the multi-direction carrier sub-vehicle to enter the annular groove guide rail so as to provide guidance for the multi-direction carrier sub-vehicle, when the multi-direction carrier sub-vehicle reaches the other required direction, the two guide pieces are matched with a gap at the intersection of the running guide rails in the other direction, and the two guide pieces enter the guide rail in the other direction through the gap between the running guide rails so as to finish in-situ spinning reversing.

9. The multi-directional vehicle-carrying master-slave parking robot multistory parking system according to claim 1, wherein said reversing groove guide comprises: the circle center of a central circle of the annular groove guide rail is the outer center of the inscribed polygon, a plurality of running guide rails are intersected with the annular groove guide rail, and connecting lines between intersection points form the inscribed polygon, or one running guide rail is intersected with the annular groove guide rail, a cutting line of the central circle of the annular groove guide rail between two intersection points is used as a bottom edge, and then the cutting line is connected with one point or a plurality of points on the central circle of the annular groove guide rail to form the inscribed polygon;

the position that the summit of annular groove guide rail central circle inscription polygon corresponds is equipped with the guide, when multidirectional carrier sub-car commutates by one direction to another direction, the guide gets into the annular groove guide rail along with the removal of multidirectional carrier sub-car, provides the direction for multidirectional carrier sub-car, when arriving required another direction, the guide coincide with the space of another direction operation guide rail cross section, the guide gets into another direction guide rail through the space between the operation guide rail, accomplishes the switching-over.

10. The multi-directional vehicle equipped parking robot stereo parking system according to claim 9, wherein when the longitudinal groove rail and the transverse groove rail cross each other in a zigzag shape, the reverse groove rail comprises: the annular groove guide rail takes the center of a rectangle in the cross of the shape of the Chinese character 'jing' as the center of a circle, the rectangle is inscribed with the center circle of the annular groove guide rail, and the annular groove guide rail is used for guiding the multi-directional carrier sub-vehicle to carry out in-situ spin reversing around the center of the annular groove guide rail;

the four guiding pieces are respectively located at the corresponding positions of rectangular vertexes formed by intersection points in the cross shape of the Chinese character 'jing', when the multi-directional carrier sub-vehicle is reversed from one direction to the other direction, at least three guiding pieces at the rectangular vertexes move along with the multi-directional carrier sub-vehicle to enter the annular groove guide rail so as to provide guidance for the multi-directional carrier sub-vehicle, when the multi-directional carrier sub-vehicle reaches the other required direction, the guiding pieces are matched with gaps at the intersection of the running guide rails in the other direction, and the guiding pieces enter the guide rails in the other direction through the gaps between the running guide rails so as to finish in-situ self-rotation reversing.

11. The multi-directional vehicle-mounted multi-parking-robot stereo parking system according to claim 1, wherein the docking guide mechanism is a docking groove guide rail embedded in the lifting platform and identical to the running guide rail, or a navigation reference object arranged at a docking position of the lifting platform and the parking layer;

after the butt joint groove guide rail is in butt joint with the operation guide rail, the guide assembly is matched with the butt joint groove guide rail/the operation guide rail to guide the multi-directional carrier sub-vehicle to enter and exit the lifting platform;

the multi-directional carrier sub-vehicle is provided with a guide sensor for detecting a navigation reference object, after the lifting platform is in butt joint with the navigation reference object on the parking layer butt joint position, the guide sensor measures the relative position of the multi-directional carrier sub-vehicle and the navigation reference object, transmits the relative position to the vehicle-mounted controller to correct and control the posture of the multi-directional carrier sub-vehicle to drive, guides the multi-directional carrier sub-vehicle to enter and exit the lifting platform, and enables the guide assembly to be accurately matched with the running guide rail.

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