CN116517360A

CN116517360A - Side-guide parking garage carrier guide system

Info

Publication number: CN116517360A
Application number: CN202211668785.0A
Authority: CN
Inventors: 喻锐; 熊捷; 杨文华; 董海英; 时吕; 齐宏伟; 向晓知
Original assignee: Yunnan Ksec Intelligent Equipment Co ltd
Current assignee: Yunnan Ksec Intelligent Equipment Co ltd
Priority date: 2022-12-24
Filing date: 2022-12-24
Publication date: 2023-08-01

Abstract

The invention discloses a side-guided parking garage carrier guidance system, comprising: the running guide rail and the corresponding guide assembly are arranged on the plane of the parking garage, and the running guide rail comprises a transverse guide rail, a longitudinal guide rail and a reversing guide rail, and is smaller than the ground clearance of the carrier chassis; the guide assembly is arranged on the carrier, the guide assembly is contacted with the side face of the longitudinal guide rail/the transverse guide rail/the reversing guide rail, the carrier is guided to move along the longitudinal guide rail/the transverse guide rail/the reversing guide rail, and a gap for the guide assembly, the carrier wheels and the driving assembly to pass through is formed at the intersection of the longitudinal guide rail and the transverse guide rail. The system adopts the mode that the carrier moves along the longitudinal guide rail or the transverse guide rail or the reversing guide rail, so that the carrier is not limited to enter and exit the vehicle bottom from the length direction (longitudinal direction) of the vehicle when in no-load, a parking space is conveniently and flexibly planned, the carrying driving route is conveniently planned, the driving route is shortened, the problem of path blockage caused by simultaneous operation of a plurality of carriers can be greatly relieved, and the carrying efficiency and the parking garage field utilization rate are improved.

Description

Side-guide parking garage carrier guide system

Technical Field

The invention relates to the technical field of automatic parking, in particular to a side-guide parking garage carrier guide system.

Background

At present, a four-way walking parking carrier for a stereo garage needs to be erected with a special track to bear the four-way walking parking carrier and guide the four-way walking parking carrier, and the four-way walking parking carrier is matched with the special track by being provided with a complex limiting wheel reversing device and other devices besides a wheel reversing device, so that four-way walking can be realized, the carrier is high in cost and cannot be light in size. And because of the limitation of the four-way walking principle, the steering traveling such as inclined traveling, translation, turning, spin and the like cannot be realized by means of the power of the vehicle, the layout of a parking space and a traveling route is single, the vehicle parking space is required to be avoided from traveling from a specific path to a target position during traveling, the path is easy to be blocked when the number of the carriers is large, and the number of the carriers can be simultaneously operated in the system is limited. The operation mode can only realize sequential carrying and storage, and has the defects of inflexibility and low operation efficiency. The special track and the parking garage system thereof also need to be provided with other special equipment such as reversing, transferring and the like, so that the occupied space is large, the utilization rate of the garage field is low, and the storage density of vehicles is low.

Disclosure of Invention

Aiming at the problems, the inventor provides a side-guiding parking garage carrier guiding system, a special track is not required to be arranged, the carrier directly runs on the plane of the parking garage, four-way and reversing running of the carrier between parking areas can be realized, parking spaces and carrying running routes are conveniently and flexibly planned, the running distance is shortened, and the carrying efficiency is improved.

In the present invention, for ease of understanding, the vehicle or carrier degree direction is defined as the longitudinal direction, the width direction is defined as the lateral direction, and the definition of the longitudinal rail and the lateral rail varies with the direction of the vehicle or carrier. In practical engineering application, the global coordinate system can be defined first and then the longitudinal direction and the transverse direction can be defined. The running guide rails can guide the carrier to shuttle. The plane refers to a plane capable of carrying the operation of the multidirectional vehicle carrier, and the height of the plane is not limited to a ground plane, and can be a terrace, a floor and the like with structures such as a platform, a floor and the like.

According to a first aspect, a side-guided parking garage carrier guidance system comprises:

the operation guide rail is arranged on the plane of the parking garage and comprises: the transverse guide rail, the longitudinal guide rail and the reversing guide rail are independently or crosswise arranged;

the height of the running guide rail is smaller than the ground clearance of the carrier chassis;

the guide assembly is arranged on the carrier, is contacted with the side surface of the longitudinal guide rail/the transverse guide rail/the reversing guide rail, guides the carrier to move along the longitudinal guide rail or the transverse guide rail or the reversing guide rail, and is provided with a communicating gap at the intersection of the running guide rails for the guide assembly of the carrier, the wheels and the driving assembly to pass through;

the guide piece is in contact with the side face of the running guide rail at a low position for guiding, is retracted at a high position and is separated from contact with one running guide rail, and is put down to be in contact with the side face of the other running guide rail at a low position or is in contact with the side face of the other running guide rail through gap conversion at the intersection of the running guide rails for guiding direction conversion.

Further, the running guide rail is strip-shaped and is mounted along the length direction of the running guide rail in a manner of being attached to the ground, the cross section of the running guide rail is in a geometric shape matched with the guide piece, and the included angle between the running guide rail and the ground and the included angle between the guide piece and the ground are matched. For example: the longitudinal guide rail and the transverse guide rail are strip flat plates and form an acute angle with the ground, the guide piece of the carrier is a guide wheel, the axial direction of the guide piece and the included angle of the bottom plane of the carrier form an obtuse angle, the two included angles are complementary, the axis of the guide wheel is parallel to the section line of the guide rail, and the outer side of the rim of the guide wheel is radially and vertically contacted with the inner side surface of the guide rail. Or the guide piece of the carrier is a spherical guide wheel, and the section of the guide piece is approximately round; the longitudinal guide rail and the transverse guide rail are long strips, and the section of each longitudinal guide rail and the section of each transverse guide rail are polygons with arcs; the radian of the section circle of the guide wheel is equal to or similar to the radian of the section arc section of the guide rail; the outer side of the spherical guide wheel is contacted with the inner side surface (cambered surface) of the guide rail. The two matching forms of the guide wheels and the guide rail have the function of preventing the guide wheels from jumping out of the guide rail carrier to lose guide when the carrier jolts greatly during running.

Further, the inner side of the guide assembly is in contact with the side of the longitudinal rail/transverse rail, or the outer side of the guide assembly is in contact with the side of the longitudinal rail/transverse rail;

one side of the guide component facing the center line of the vehicle body is the inner side of the guide component, and one side of the guide component facing away from the center line of the vehicle body is the outer side of the guide component.

Further, the cooperation structure of the running rail and the guide assembly includes:

(1) The outer side surface of the running guide rail is contacted with the inner side of the guide assembly; or alternatively

(2) The inner side surface of the running guide rail is contacted with the outer side of the guide assembly; or alternatively

(3) A channel is formed between the two running guide rails, and the outer side of the guide assembly contacts the inner side surface of one guide rail or the inner side of the guide assembly contacts the outer side surface of the other guide rail;

the three structures can be arranged in the same system, and different structures can be smoothly switched;

the longitudinal guide rail and the transverse guide rail can be combined by adopting different structures, and the same running direction can also be set into different structures;

one side surface of the running guide rail facing the central line of the vehicle body is the inner side surface of the running guide rail, and one side surface of the running guide rail facing away from the central line of the vehicle body is the outer side surface of the running guide rail.

Further, the two longitudinal guide rails and the two transverse guide rails are crossed in a 'well' -shaped manner, and an intercommunicating gap is formed at the crossing part and is a basic element; the guide assembly includes: four corner guides, one base element, located at or near the corners of the carrier and corresponding to the void locations at the intersection; the two basic elements form a main crossbar reversing unit;

the four corner guides are in contact with the longitudinal rail when the carrier is moved in the longitudinal direction;

when the carrier moves transversely, the four corner guides contact the transverse guide rail;

when the carrier is longitudinally/transversely reversed, the four corner guides are converted from the contact longitudinal rail to the contact transverse rail through the gaps at the intersections of the rails, or the four corner guides are converted from the contact transverse rail to the contact longitudinal rail through the gaps at the intersections of the rails, thereby completing the conversion of the traveling direction.

Further, the device also comprises a longitudinal guide rail and a transverse guide rail which are crossed in a 'lambdoidal' shape, and an intercommunicating gap is arranged at the crossing part to form a basic element; the guide assembly includes: two guide pieces which are respectively positioned on the carrier and correspond to the gaps at the intersection are a basic element; the two basic elements form a secondary crossbar unit;

when the carrier moves longitudinally, the two guide members are in contact with the longitudinal rail;

when the carrier moves in the transverse direction, the two guide pieces are in contact with the transverse guide rail;

when the carrier is longitudinally/transversely reversed, the two guide members are converted from the contact longitudinal guide rail to the contact transverse guide rail through the gap at the intersection of the guide rails, or the two guide members are converted from the contact transverse guide rail to the contact longitudinal guide rail through the gap at the intersection of the guide rails, so that the conversion of the running direction is completed.

Further, the parking garage carrier guide system can be provided with a main reversing unit or a sub reversing unit or a combination of a plurality of main reversing units and a plurality of sub reversing units according to the requirement or the arrangement of the guide components during longitudinal/transverse reversing.

Further, the guide member is fixedly mounted on the vehicle body; or alternatively

The guide piece is arranged on the retraction device to form a retractable guide piece, and the retractable guide piece is placed in a low position to be contacted with the side surface of the running guide rail or is placed in a high position to be separated from contact with the running guide rail.

Further, the guide assembly further comprises: the retractable guide piece is positioned on the carrier, and two or more guide pieces are kept in contact with the running guide rail at any time, so that the carrier stably runs or changes direction. The fixedly mounted guide may also be replaced with a retractable guide at the desired location. The retractable guide piece is arranged at a position on the carrier corresponding to a gap at the intersection of the running guide rail and the running guide rail, such as the middle part, four sides/near four sides and the like, and is arranged according to the layout of the carrier and the total running guide rail.

Further, the guide assembly comprises a plurality of retractable guide elements, the retractable guide elements are arranged on a sliding block assembly, and the sliding block assembly is arranged on a driving mechanism or a guide rail which can reach the positions of the guide elements;

when the carrier is reversed from one direction to the other, the retracting guide piece is in the high position and is separated from the running guide rail, the sliding block assembly drives the retractable guide piece to move to the position corresponding to the running guide rail in the other direction respectively, the retracting guide piece is in the low position and is contacted with the side face of the running guide rail, the carrier is continuously guided, and the direction change of the carrier from one direction to the other direction is realized.

Further, the running guide rail further comprises a curved guide rail; the two curved guide rails are kept at equal intervals to form a curved strip-shaped channel, two retractable guide members positioned in the middle of the carrier are put down in a low position, a connecting line between circle centers of the two retractable guide members forms a chord of the central line of the curved strip-shaped channel, and the two retractable guide members move into the curved strip-shaped channel along with the carrier to provide guidance for the carrier so as to realize curved steering of the carrier from one direction to the other direction. The curved guide rail can be an arc-shaped or U-shaped, S-shaped or other curved guide rail.

Further, the running guide rail further comprises a diagonal guide rail; the two oblique guide rails are kept in parallel to form an oblique channel, and the two retractable guide members move into the oblique channel along with the carrier or reach the upper side of the oblique channel and then enter the oblique channel to contact with the oblique guide rails at a low position, so that the carrier is guided to realize translational running along the direction of the oblique channel.

Further, the running guide rail further comprises an annular guide rail; the carrier reaches the upper part of the annular guide rail under the guidance of the running guide rail, a plurality of retractable guide pieces corresponding to the positions of the annular guide rail are positioned at low positions, the inner sides of the retractable guide pieces are contacted with the outer side face of the annular guide rail, the outer circle of each retractable guide piece is tangent to the outer circle of the annular guide rail, and a polygon formed by connecting lines between two adjacent tangent points is an inscribed polygon of the outer circle of the annular guide rail, so that the carrier can spin-commutate in situ under the guidance of the annular guide rail.

Further, the running guide rail blocks the passing of the wheels or the driving assembly when the intersection of the running guide rails is larger or the running guide rail is reversed, then a section of the running guide rail or a section of the running guide rail is arranged to be vertical or horizontal by adopting an executing mechanism to form a movable guide rail, the movable guide rail is horizontal when the carrier is reversed, the wheels, the driving assembly and the guide piece can pass through, and the running guide rail is connected with the carrier after the carrier is reversed, so that the guiding of the carrier can be smoothly transited.

Compared with the prior art, the invention has the working principle and beneficial effects that:

(1) The side-guide parking garage carrier guide system provided by the invention adopts a side-guide rail guide mode, the carrier directly runs on the plane of the parking garage, and compared with the traditional special rail guide mode, the side-guide parking garage carrier guide system is simpler and more reliable, and compared with guide facilities such as special rails, carrier reversing mechanisms and the like, the maintenance difficulty and the cost can be obviously reduced, and the improvement difficulty is lower in the old garage improvement.

(2) The traveling paths of the carriers are diversified by various guide rail forms and driving modes, and in actual scheduling control, the number of optional paths is increased, so that the problems of congestion of other carriers or traveling paths can be effectively avoided, and the parking efficiency can be effectively improved.

(3) The parking garage has the advantages that various running guide rails and combination forms are diversified, various forms such as serial and parallel, matrix, circular ring and the like can be adopted in the layout of the parking space, single-layer or multi-layer or shelf arrangement can be realized, and the parking garage has various route conversion functions such as longitudinal and transverse direction conversion, oblique translation, curve steering, spin direction conversion and the like, can meet the requirements of various plane layout parking garages, efficiently utilizes parking areas, can be combined with other carrying equipment to use, and can construct a comprehensive intelligent three-dimensional parking system, so that the high-efficient dense storage of vehicles is realized.

Drawings

FIG. 1 is a schematic view of a portion of a parking system in embodiment 1;

fig. 2 is a schematic plan view of the parking system in embodiment 1;

fig. 3 is a conveying state diagram of the side guide conveyor in embodiment 1;

fig. 4 is a schematic structural view of a side guide carrier in embodiment 1;

FIG. 5 is a schematic bottom view of the side guide carrier of example 1;

FIG. 6 is an enlarged view of a portion at A in FIG. 2;

FIG. 7 is a schematic diagram showing the movement of the side guide carrier along the outer side of the guide rail in example 1;

FIG. 8 is a schematic view showing the movement of the side guide carrier along the inner side surface of the guide rail in example 1;

FIG. 9 is a schematic diagram of the side guide handler of embodiment 2 moving along the aisle guide;

FIG. 10 is a schematic diagram showing movement of the side guide carrier along the arcuate path in example 3;

FIG. 11 is a schematic view showing the movement of the side guide carrier along the inclined passage in example 4;

FIG. 12 is a schematic view showing the movement of the side guide carrier along the endless guide rail in embodiment 5;

fig. 13 is a schematic diagram showing the movement of the telescopic vehicle body side guide carrier in example 6;

fig. 14 is a schematic view of a flat parking system in embodiment 6.

Reference numerals:

11-longitudinal rails; 12-a transverse guide rail; 13-channel; 131-arc-shaped channel; 132-diagonal channels; 14-parking frame; 15-a movable guide rail; 16-an annular guide rail; 2-side guided handlers; 3-a carrying and executing device; 4-corner guide wheels; 41-retractable guide wheels; 42-auxiliary guide wheels.

Detailed Description

The invention will be described in further detail below with reference to the drawings by means of specific embodiments.

In the present invention, for ease of understanding, the longitudinal direction of the vehicle or carrier is defined as the longitudinal direction, the width direction is defined as the lateral direction, and the definition of the longitudinal rail and the lateral rail varies with the direction of the vehicle or carrier. In practical engineering application, the global coordinate system can be defined first and then the longitudinal direction and the transverse direction can be defined. The running guide rails can guide the carrier to shuttle.

Example 1

As shown in fig. 1, the present invention provides a parking system including: the parking frame 14, a plurality of side guide carriers 2, and longitudinal guide rails 11 and transverse guide rails 12 which are arranged in the garage and are crisscrossed vertically and horizontally, wherein the longitudinal guide rails 11 and the transverse guide rails 12 are arranged below the parking frame 14, the space between the overhead height below the parking frame 14 and the parking frame 14 can be used for the side guide carriers 2 to travel in four directions, the carriers can shuttle under all parking spaces when no load, and the comb rack can keep high position to pass in four directions in an empty space when load. The longitudinal guide rail 11 and the transverse guide rail 12 are laid in a single layer or multiple layers according to the parking garage layout, in this embodiment, as shown in fig. 2, the longitudinal guide rail 11 and the transverse guide rail 12 are crossed in a "well" shape, and a gap for passing through the guide assembly and the driving assembly is formed at the crossing position of the longitudinal guide rail 11 and the transverse guide rail 12. As shown in fig. 3 to 5, the side guide carrier 2 includes a vehicle body, a carrier actuator 3 provided on the vehicle body, and a traveling mechanism. The carrying and executing device 3 may be a common carrier mechanism such as a comb-tooth type mechanism, a clamping type mechanism, a vehicle lifting plate type mechanism, a maintenance point lifting type mechanism, etc., in this embodiment, a comb-tooth type mechanism is mainly used to drive the comb-tooth rack to lift, and the comb-tooth rack is matched with the comb-tooth rack on the parking space of the platform and the stereo garage to store and fetch the vehicle, specifically, a scissor type mechanism or other lifting mechanisms may be used, and may be driven by a hydraulic cylinder or an electric push rod, etc., and since the comb-tooth type lifting mechanism is already a mature technology, the detailed overview is not performed in this embodiment. The travelling mechanism can adopt 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 single wheels are directly driven by a motor and a speed reducer or are driven by a main motor and the speed reducer through transfer cases, clutches and other mechanical devices in a transfer manner. The longitudinal wheels which need to be driven are driven when the unidirectional wheels longitudinally run, and the transverse wheels which need to be driven are driven when the unidirectional wheels transversely run, such as the structure in the Chinese patent application CN112761396A, and the longitudinal and transverse movement is realized by adopting a transverse and longitudinal switching mode. Steering wheel driving (steering wheel driving) mode, the driving wheel is steering wheel; the omni-directional wheel driving mode is that the driving wheel is an omni-directional wheel such as an omni wheel (omni wheel) or a Mecanum wheel (mecanum wheel); the other wheels are universal wheels or omni-directional wheels. Steering wheel and omni wheel, mecanum wheel and their corresponding control are realized by those skilled in the art based on the structure and the conventional steering wheel and omni wheel, mecanum wheel control mode, and will not be described herein. In the present embodiment, a mecanum wheel (mecanum wheel) is adopted, a transverse wheel is omitted, and a gear train switching device and a driving device can be simplified; the structure is an existing structure and will not be described in detail here.

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 the vehicle wheelbase, the short vehicle body is shorter than the vehicle wheelbase, the telescopic vehicle body can adjust the length of the vehicle body by using the telescopic device according to the working state, and the length of the telescopic vehicle body is in telescopic change between shorter than the vehicle wheelbase and the maximum length of the vehicle body. In the present embodiment, a long vehicle body is employed.

The guiding component can be a roller, a drum, a roller and the like and is used for being matched with and contacted with a running guide rail arranged on the ground in the running process and being restrained by the running guide rail, and guiding the side to guide the course of the carrier. Specifically, in the present embodiment, the guide assembly includes: four corner guide wheels 4 located at four corners of the side guide carrier 2, respectively. The running rail is in the form of a side rail, i.e. the outer side of the side rail is in contact with the inner side of the guide assembly or the inner side of the side rail is in contact with the outer side of the guide assembly. As shown in fig. 6 to 8, when the side guide carrier 2 moves in the longitudinal direction, the four corner guide wheels 4 come into contact with the inner side or outer side of the longitudinal rail 11. In order to improve the accuracy of the passage of the corner guide wheels 4 through the gaps, a plurality of retractable guide wheels 41 can be arranged between two corner guide wheels 4 distributed along the longitudinal/transverse direction, and the retractable guide wheels 41 are integrally configured into a retractable structure, namely, can be contacted with/separated from the guide rail in a rotating or retractable manner. As shown in fig. 8, four corner guide wheels 4 and a plurality of retractable guide wheels 41 may be mounted on the bottom of the vehicle body.

In the present embodiment, the retractable guide wheel 41 is lifted and lowered in a telescopic manner to achieve contact/separation with the guide rail.

The distance between the guide rails arranged in sections for the four-way drive shift is greater than the dimensions of the contour of the corner guide wheels 4 and the corresponding direction of the drive assembly. During longitudinal running, mecanum wheels (mecanum wheels) sequentially pass through gaps between transverse guide rails along the radial direction and the corner guide wheels 4; during transverse running, mecanum wheels (mecanum wheels) and accessory components thereof sequentially pass through gaps between the longitudinal guide rails along the axial direction and the corner guide wheels 4; the two voids are intercommunicated. Obviously, the clearance between the longitudinal rail segments at the rail intersections is larger than the clearance between the longitudinal rail segments in order to drive the assembly: mecanum wheels (mecanum wheels) and their accessory components pass axially.

Obviously, when the floating pressing mechanism is added for the guide wheels to keep the guide wheels in effective contact with the side guide rails, and the joint of the guide rails and the end heads are subjected to guiding treatment such as chamfering or rounding, the stability and smoothness of the side guide carrier 2 during running and direction conversion can be improved.

Example 2

As shown in fig. 9, in this embodiment, the running rail is in a form of forming a channel 13 between two parallel side rails for passing through the guide assembly, a gap for passing through the guide assembly and the carrier wheel is provided at the intersection of the longitudinal rail 11 and the transverse rail 12, and the carrier can be a carrier in chinese patent application CN112761396a, on the basis of which a corresponding guide member is added.

When running longitudinally, the retractable guide wheels 41 and the traversing wheel groups in the transverse direction are positioned at high positions and exit the channel 13; when the direction is switched, the vertical and horizontal wheel sets are switched, and simultaneously, the vertical retractable guide wheels 41 are lifted, and the vertical retractable guide wheels 41 are lowered and move along the horizontal channel 13.

Example 3

In the present embodiment, as shown in fig. 10, the running rail adopts an arc-shaped passage 131 for the guide assembly to pass through, which is formed between two arc-shaped rails, and connects two parking areas which are 90 ° with respect to each other with respect to the longitudinal direction of the carrier. The 9 guide wheels of the carrier 2 are retractable guide wheels 41, and enter the departure position under the guidance of the longitudinal guide rails 11 and the channels 13 at the two sides. When the six retractable guide wheels 41 contacted with the longitudinal guide rail 11 are retracted and three retractable guide wheels 41 arranged along the longitudinal center line start to enter the arc-shaped channel 131 through the channel 13, one retractable guide wheel is retracted to be positioned at a high position and separate from the channel 13, a connecting line between circle centers of the other two retractable guide wheels 41 positioned at a low position forms a chord of the center line (arc) of the arc-shaped channel 131, the carrier 2 adopts a unidirectional wheel driving mode, is driven by a differential mode of the longitudinal driving wheel set, is guided by the two retractable guide wheels 41 positioned at the low position along the arc-shaped channel 131, and is turned to reach another parking area arranged at 90 degrees. The movable guide rail 15 can be lifted and put flat under the drive of the executing mechanism, can be contacted with the guide wheels to provide guidance when lifted, can not block the wheels from passing when put flat, is arranged at the joint of the channel 13 and the arc-shaped channel 131, and is in a lifted state when a part of the arc-shaped guide rails on two sides of the arc-shaped channel 131 is in a horizontal state when the transverse guide rail 12 reaching the position corresponds to two sections of the transverse guide rail on the other side. After the carrier 2 arrives, the retractable guide wheels 41 which retract the longitudinal center line are positioned at the high position to be separated from the channel 13. Two sectional movable guide rails 15 corresponding to the transverse guide rails are erected, and the movable guide rails 15 on two sides of the arc-shaped channel 131 are leveled to allow the corner guide wheels 4, the transverse retractable guide wheels 41 and the transverse wheels to pass through; the carrier puts down the transverse wheels, the four corner guide wheels 4 and the transverse retractable guide wheels 41, and can transversely run by contacting the corresponding transverse guide rail 12 and the corresponding movable guide rail 15; when running longitudinally, the longitudinal wheels and the 6 retractable guide wheels 41 corresponding to the longitudinal guide rail 11 are put down, so that the vehicle can run longitudinally. Similarly, two parking areas which are 90 degrees relative to each other with respect to the transverse direction of the carrier can be connected through one arc-shaped channel 131 by adopting a similar guide rail layout; the carrier can realize steering in different directions through other curve channels and steering wheel driving modes or all-directional wheel driving modes.

The arc-shaped channel 131 and other curved channels such as U-shaped, S-shaped and the like can provide various running routes and parking space combinations, so that the parking space layout is more reasonable, and the parking garage site is effectively utilized.

Example 4

As shown in fig. 11, in the present embodiment, the carrier 2 is moved from the start position as shown in fig. 11 (a) to the transition position as shown in fig. 11 (b) to complete the longitudinal-diagonal translational travel transition, and can be moved in a diagonal translational travel along the diagonal path 132. Legend: "+" indicates that the retractable guide wheel 41 is lowered in the low position; "-" indicates that the retractable guide wheel 41 is retracted in the high position. The longitudinal traveling wheel set of the carrier adopts a steering wheel driving mode, the transverse traveling wheel set adopts a unidirectional wheel driving mode, and the longitudinal or transverse wheel set is switched in the same way as described in the embodiment 1 when the traveling direction is switched. The nine guide wheels are retractable guide wheels 41. Before the carrier 2 enters the departure position, the three retractable guide wheels 41 of the longitudinal center line are retracted to be in a high position, and the inner sides of the six retractable guide wheels 41 on the corners and the side edges are contacted with the outer side surfaces of the longitudinal guide rails 11 to guide longitudinal running. When the carrier 2 starts to enter the departure position, the three retractable guide wheels 41 of the longitudinal center line pass over the transverse guide rail 12 and then are put down in sequence to enter the channel 13 at a low position. In the process of moving the carrier 2 from the start position to the transition position, the retractable guide wheels 41 which are about to interfere with the running guide rail are sequentially retracted, the retractable guide wheels 41 which are required to be contacted with the running guide rail are sequentially lowered, at least two retractable guide wheels 41 are kept in contact with the running guide rail under the relay engagement guidance of the channel 13 and the longitudinal guide rail 11, and the carrier moves to the transition position as shown in fig. 11 (b). Then, the steering wheel of the longitudinal wheel group rotates to an angle parallel to the inclined channel 132, three retractable guide wheels 41 on the diagonal line are put down to be in contact with the inclined channel 132, and other retractable guide wheels 41 are retracted to be in a high position to be separated from the running guide rail, so that the carrier 2 can move in an inclined translation mode along the inclined channel 132. Similarly, by arranging oblique channels with different inclination angles and matching retractable guide wheels at different positions on the carrier, the carrier can realize oblique translation running from longitudinal direction or transverse direction to different directions; the running rails with similar layout can be arranged at the arrival position to be connected with other layouts, so that the carrier can be converted into longitudinal, transverse and other directions to run.

Example 5

As shown in fig. 12, in the present embodiment, the carrier 2 is turned counterclockwise by 90 ° along the guide of the endless guide rail 16. Ten guide wheels on the carrier 2 are retractable guide wheels 41, the carrier 2 is guided to enter the conversion position by means of contact between eight retractable guide wheels 41 and the longitudinal guide rail 11, and two retractable guide wheels 41 on the longitudinal center line of the carrier are retracted to be in a high position before being contacted with the annular guide rail 16. After reaching the conversion position shown in fig. 12, the four retractable guide wheels 41 in the middle are retracted and are in contact with the corresponding longitudinal guide rail 11, the four retractable guide wheels 41 at the corners and the two retractable guide wheels 41 on the longitudinal central line are in contact with the annular guide rail 16, the hexagon formed by connecting lines between the contact points of the retractable guide wheels is inscribed with the outline-excircle of the outer ring of the annular guide rail 16, and the carrier 2 is switched to transversely run and is guided by the annular guide rail 16 and is driven to spin-steer for 90 degrees under the driving of the differential driving mode of putting down the transverse driving wheel at the low position to finish steering. Then, the carrier 2 is switched to travel longitudinally, the two retractable guide wheels 41 on the longitudinal center line are respectively retracted to be in the high position, the four retractable guide wheels 41 in the middle are put down, and the four retractable guide wheels 41 in the corners are in the low position to continuously contact with the corresponding longitudinal guide rail 11 to guide the carrier to travel out of the conversion position. The movable guide rail 15 is flattened when the carrier 2 rotates in a spinning way, so that the driving assembly and the retractable guide wheels 41 can pass through, and the movable guide rail 15 stands up to be connected with the longitudinal guide rail 11 after the completion of the spin-steering of the carrier 2, so that the guidance of the carrier 2 can be smoothly transited. Similarly, the carrier 2 can be rotated longitudinally or transversely along the endless track 16 into different angular directions by arranging the longitudinal track 11 or the transverse track 12 corresponding to the entry and exit of different steering angle arrangements.

Example 6

As shown in fig. 13, in the present embodiment, the carrier 2 employs a telescopic vehicle body, one parking space is arranged as a crossbar station, and is correspondingly composed of one main crossbar unit and two auxiliary crossbar units, and four corner guide wheels 4 and four auxiliary guide wheels 42 respectively mounted on two telescopic sections are mounted on the body of the carrier 2. The telescopic section of the carrier 2 can be retracted to run in a four-way shuttle mode under the vehicle when the carrier is in no-load state, the main transverse and transverse reversing unit plays a main guiding role, and the carrier is guided by means of four corner guide wheels 4 and four auxiliary guide wheels 42 in contact with the longitudinal guide rail 11 when running longitudinally; the four corner guide wheels 4 are contacted and guided with the transverse guide rail 12 during transverse running. The telescopic section stretches out when the carrier 2 is loaded, one main longitudinal and transverse reversing unit and two auxiliary longitudinal and transverse reversing units act together, and four corner guide wheels 4 and four auxiliary guide wheels 42 are respectively contacted and guided with the longitudinal guide rail 11 or the transverse guide rail 12 when the carrier runs longitudinally or transversely.

Example 7

As shown in fig. 14, this embodiment provides a flat parking system which combines the track layout and the row, column or matrix type parking space layout of embodiment 2, embodiment 3, embodiment 4 and embodiment 5, and connects parking space a zones (A1-A7), B zones (B1-B4), C zones (C1-C3) and D zones (D1-D6) by using the track layout of the above embodiment. The four side guide conveyers 2 are guided by the running guide rails when the inner sides of the guide wheels are contacted with the outer side surfaces of the running guide rails during longitudinal and transverse running, the main guide wheels of the No. 1 side guide conveyers 2 and the No. 2 side guide conveyers 2 are arranged on four sides of a vehicle body, and driving wheels are arranged on the four sides; the main guide wheels of the No. 3 and No. 4 side guide carrier 2 are arranged at the bottom of the vehicle body and close to four sides, and the driving wheels are arranged in front of the four corner guide wheels. The four side guide conveyors 2 may be configured by long or short vehicle bodies or telescopic vehicle bodies, and may be configured by a comb-tooth type, a vehicle lifting plate type, a tire clamping type, a maintenance point lifting type, or other conveyance execution devices, and may be configured to travel a conveyance vehicle in a parking space or a travel route where a travel guide rail is disposed.

Specifically, for example, if the vehicle needs to be transported to the parking space B2 in the B area by the side guide carrier 2 No. 1, the load carrier is driven into the parking space A1 along the longitudinal guide rail 11 and the channel 13, and three retractable guide wheels 41 corresponding to the position of the oblique channel 132 are put down to enter the oblique channel 132, and the other retractable guide wheels 41 are retracted; the four longitudinal wheels (steering wheels) turn to be parallel to the inclined channel, and the No. 1 side guide carrier 2 is driven to guide along the inclined channel 132 to reach B3; the corresponding wheel sets and the retractable guide wheels 41 are converted into longitudinal running, guided by the channel 13, to reach B1, then into transverse running to reach B2, and the vehicle is dismounted to complete the carrying task. After the side guide carrier 2 of the No. 1 reaches B1, two put-down retractable guide wheels 41 in the channel can be used for retracting one retractable guide wheel 41 and other retractable guide wheels 41 on the longitudinal center line, and four longitudinal wheels (steering wheels) are subjected to follow-up steering or differential steering and guided to reach a C2 parking space along the arc-shaped channel 131; the corresponding wheel set and the retractable guide wheel 41 which is retractable are converted, and then the vehicle runs transversely to reach the C1 or C3 parking space. If the No. 3 side guide carrier 2 is needed to carry the vehicle to the C3 parking space in the C area, the load carrier puts down six retractable guide wheels 41 corresponding to the annular guide rail 16 at the annular guide rail 16 of the D1 parking space, contacts with the annular guide rail 16, switches to transverse wheel differential steering, and rotates clockwise for 90 degrees under the guidance of the annular guide rail 16; the corresponding wheel sets and the retractable guide wheels 41 are converted into longitudinal running to reach the C2 parking space, then into transverse running to reach the C1 parking space, and the vehicle is dismounted to finish the carrying task. The No. 2 side guide carrier 2 is driven to other parking areas under the guidance of the longitudinal guide rail 11, and the No. 4 side guide carrier 2 completes the carrying task and is driven out of the parking garage along the transverse guide rail 12 from the parking space A7.

The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.

Claims

1. A side-guided garage parking carrier guidance system, comprising:

2. The side-guided parking garage carrier guidance system of claim 1, wherein the running rail is elongated and fits along its length against the ground, and has a cross-section that is a geometry that fits the guide, and wherein the running rail is at an angle to the ground that fits the guide to the ground.

3. The side-guided parking garage carrier guidance system of claim 1, wherein the inside of the guidance assembly is in contact with the side of the longitudinal rail/cross rail/reversing rail or the outside of the guidance assembly is in contact with the side of the longitudinal rail/cross rail/reversing rail;

4. A side-guided parking garage carrier guidance system as set forth in claim 2 or 3, wherein said cooperating structure of said running rail and guide assembly comprises:

5. The side-guided parking garage carrier guidance system of claim 1, wherein the two longitudinal rails and the two transverse rails are crossed in a "well" shape, and an intercommunicating gap is provided at the intersection to form a rail base member; the guide assembly includes: four corner guide pieces which are respectively positioned at four corners of the carrier and correspond to the gap positions at the intersections are guide foundation elements; a guide rail base element and a guide base element form a main crossbar unit;

6. The side-guided parking garage carrier guidance system of claim 2, further comprising the longitudinal rail and the transverse rail intersecting in a "n" shape, with intercommunicating gaps at the intersection as a rail base member; the guide assembly includes: two guide pieces which are respectively positioned on the carrier and correspond to the gaps at the intersection are a guide basic element; a guide rail base element and a guide base element form a secondary crossbar unit;

7. A side-guided parking garage carrier guidance system as claimed in claim 5 or 6, wherein the parking garage carrier guidance system is provided with one main reversing unit, one auxiliary reversing unit, or a combination of a plurality of main reversing units and a plurality of auxiliary reversing units, as required or as a guiding assembly is provided, in the longitudinal/transverse reversing.

8. The side-guided parking garage carrier guidance system of claim 1, wherein the guide is fixedly mounted to the vehicle body; or alternatively

9. The side-guided parking garage carrier guidance system of claim 1, wherein the guidance assembly further comprises: the retractable guide piece is positioned on the carrier, and two or more guide pieces are kept in contact with the running guide rail at any time, so that the carrier stably runs or changes direction; the fixedly mounted guide may also be replaced with a retractable guide at the desired location.

10. The side-guided parking garage carrier guidance system of claim 1, wherein the guidance assembly includes a plurality of retractable guides mounted on a slider assembly mounted on a drive mechanism or rail accessible to the location of each guide;

11. The side-guided parking garage carrier guidance system of claim 1, wherein the reversing guide rail further comprises a curved guide rail; the two curved guide rails are kept at equal intervals to form a curved strip-shaped channel, two retractable guide members positioned in the middle of the carrier are put down in a low position, a connecting line between circle centers of the two retractable guide members forms a chord of the central line of the curved strip-shaped channel, and the two retractable guide members move into the curved strip-shaped channel along with the carrier to provide guidance for the carrier so as to realize curved steering of the carrier from one direction to the other direction.

12. The side-guided parking garage carrier guidance system of claim 1, wherein the reversing rail further comprises a diagonal rail; the two oblique guide rails are kept in parallel to form an oblique channel, and the retractable guide pieces move into the oblique channel along with the carrier or reach the upper side of the oblique channel and then enter the oblique channel to contact with the oblique guide rails at a low position, so that the carrier is guided to realize translational running along the direction of the oblique channel.

13. The side-guided parking garage carrier guidance system of claim 1, wherein the reversing rail further comprises an annular rail; the carrier reaches the upper part of the annular guide rail under the guidance of the running guide rail, a plurality of retractable guide pieces corresponding to the positions of the annular guide rail are positioned at low positions, the inner sides of the retractable guide pieces are contacted with the outer side face of the annular guide rail, the outer circle of each retractable guide piece is tangent to the outer circle of the annular guide rail, and a polygon formed by connecting lines between two adjacent tangent points is an inscribed polygon of the outer circle of the annular guide rail, so that the carrier can spin-commutate in situ under the guidance of the annular guide rail.

14. A side-guided parking garage carrier guidance system as claimed in claim 1, wherein the run rail or a portion of the run rail is controlled to be raised or lowered by an actuator to form a movable rail.