CN210685528U - Mechanism for driving frame before and after parking equipment - Google Patents

Abstract

The utility model relates to a mechanism of a front and back driving frame of parking equipment, which comprises an upper bedplate unit, a frame, a straight-moving guiding unit, a rotary guiding unit, a back driving unit, a front driving unit, a position detecting unit and a control system; thoroughly solve original technique and have the moment of overturning, need to install defects such as bearing guide rail, the direct and ground contact of drive wheel, adopt preceding, the removal rotation of platen is realized to the rotatory mode of platen unit removal in the back drive frame drive, back drive unit can do rectilinear displacement drive and rotary displacement drive, preceding drive unit can switch between these two kinds of states of rectilinear displacement drive and rotary displacement follow-up, the rectilinear displacement of frame and rotary displacement diversion are smooth freely, obviously differ from other current technical scheme on key structure, no special requirement to the equipment foundation, moreover, the steam generator is simple in structure, reliability, the preparation, installation combined cost is low, and is practical, durable, and it is convenient to maintain.

Description

Mechanism for driving frame before and after parking equipment

Technical Field

The utility model relates to a mechanical type parking equipment field, in particular to go up rotatory two-layer parking equipment of platen antedisplacement, more specifically relates to realize going up the platen with a preceding, back drive frame and remove rotatory mechanism.

Background

In order to solve the problem of insufficient parking space, domestic mechanical parking equipment is widely applied. The first technical scheme is that a single-side bearing guide rail and a single upright post are adopted to support an upper layer bedplate so as to move and rotate to avoid the vehicles parked under the original lower part, and then the position conversion of the upper layer bedplate between the upper layer and the ground layer is realized by lifting operation, so that the purposes of parking and taking the vehicles under the upper layer bedplate are achieved. Obviously, the main structure of the 'single-side bearing guide rail and single upright post supporting the upper bedplate' in the technical scheme always has larger overturning moment, which brings many adverse effects on the stability of the structure, the stability of the mechanism displacement and the durability of the equipment; meanwhile, the ground foundation required by the installation and operation of the equipment has severe requirements and must be specially reinforced.

Because the two-layer parking equipment with the forward moving and rotating upper bedplate has a unique and convenient point compared with other two-layer parking equipment, related improvement schemes are continuously proposed in the industry for more than ten years after the appearance of the non-avoidance type upper parking platform, and the following brief description is provided (although the scheme with the name of 'no avoidance', the fundamental structure and the operation mechanism have fundamental differences is not discussed).

The main structure of most of related improved schemes based on the original technical scheme that the upper bedplate is supported by the single-side bearing guide rail and the single upright post is only changed for a lifting driving mode (for example, the lifting driving mode is changed into hydraulic driving mode and mechanical driving mode including spiral driving, rack driving, chain driving and steel cable driving mode), or the power source is improved (for example, the lifting motor and the rotating motor are respectively arranged and changed into the mode that one motor is used for time-sharing operation), or related applications are popularized to more than two layers. These changes do not fundamentally improve the constant disadvantages of "single-sided load-bearing rails, single columns supporting the upper deck". Similar improvements also include the addition of a fixed support bent on the opposite side of the load bearing rail to provide an opportunity for the upper deck to be supported by the fixed support bent when it is resting above the parking space. However, the disadvantage of large overturning moment is not fundamentally solved because the upper bedplate is still supported by the single-column cantilever when rotating and running in the lane area.

The main structure of the single-side bearing guide rail and the single-side driving mode in the original technical scheme are reserved in a partial improved scheme, and a hanging rail is additionally arranged at the top to improve the cantilever support of the upper bedplate; or, a single-side driving mode is reserved, but a single-side double-upright-column structure is adopted, a lifting track is arranged between the two upright columns, and the upper bedplate can move and rotate on the track. Compared with the original technical scheme, the improvement increases the structural stability and the stability of straight-moving displacement, but still has the defects of cantilever support, and increases the support structure and stressed parts, thereby increasing the complexity of the integral structure of the garage and the manufacturing cost.

There is also a new way of improving the two-side guide rails to support the two longitudinal beams and to drive the longitudinal beams to move forwards and rotate at the rear ends of the longitudinal beams. The representative examples include the bulletin No. CN110094085A, the name "a three-column, two-side independently driven upper bedplate forward moving rotating device", the bulletin No. CN110118021A, the name "a two-side rigidly driven forward moving rotating mechanical transmission device". The technical scheme disclosed by the two patent applications has the common characteristic that the problem of overturning moment of the upper-layer bedplate supported by the single-column cantilever in the prior technical scheme is thoroughly solved in a simple mode, no special requirement is required for equipment foundation, but the defect is that two bearing (guiding) guide rails need to be arranged, and part of the guide rails need to be arranged at the positions of lanes, so that the use convenience is influenced. In addition, because the longitudinal size of the longitudinal beam is large, the longitudinal beam is only driven to move forwards and rotate at the rear end of the longitudinal beam, the problems of slightly poor driving force and driving stability obviously exist, and a large defect is that direction-changing impact exists between straight-moving displacement and rotary displacement and the direction-changing impact is not smooth.

For various reasons, the overall structure of the parking equipment of the type is basically maintained in the original design scheme, only the driving mode is improved, and other substantial improvements are not obvious. Therefore, it is an urgent need to solve the above-mentioned problems by those skilled in the art to provide a simple, safe, reliable and efficient driving mechanism for the upper platen forward-moving and rotating parking device.

Disclosure of Invention

In view of the above, the present invention provides a mechanism of front and rear driving frames of a parking device, which aims to overcome the deficiencies of the prior art, on the basis of thoroughly solving the overturning moment existing in the single-upright cantilever supporting upper-layer bedplate of the prior art, without installing a bearing guide rail and without any guide rail in the lane area, the driving wheel directly contacts with the ground, the upper bedplate is moved and rotated by adopting the way that the front and rear driving frames drive the upper bedplate unit, the rear driving unit can perform straight-going displacement driving and rotational displacement driving, the front driving unit can switch between the two states of straight-going displacement driving and rotational displacement following, the straight-going displacement and rotational displacement of the frame can be changed smoothly and freely, the mechanism is obviously different from the prior other technical schemes in key structure, has no special requirements on the equipment foundation, and has simple and reliable structure, the manufacturing and installation comprehensive cost is low, and the device is practical, durable and convenient to maintain.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a mechanism for driving a frame before and after parking equipment comprises an upper bedplate unit, and is characterized in that: the device also comprises a frame, a straight-going guiding unit, a rotary guiding unit, a rear driving unit, a front driving unit, a position detecting unit and a control system; the parking equipment is two-layer parking equipment with an upper bedplate moving forwards and rotating; the frame front and back driving means that the frame is driven by arranging driving units at the front end and the back end of the frame, so that the straight movement and the rotary movement of the upper bedplate are realized.

The upper bedplate unit comprises an upper bedplate and a lifting driving device; the upper bedplate is a horizontally arranged steel structure rectangular component, is used for bearing upper layer vehicles, is restrained by the frame and can perform vertical lifting displacement; the lifting driving device is arranged on the frame, is connected with the upper bedplate and can drive the upper bedplate to vertically ascend or descend.

The frame is positioned on a parking space and can move to a lane in a straight line manner, and then the frame rotates in a lane area by taking the intersection point position of a vehicle length direction sideline and the lane sideline on one side of the parking space as a rotation center; the parking space is close to the lane and is a front part, the parking space is far from the lane and is a rear part, the parking space is divided into a left side and a right side according to the central line in the vehicle length direction, the rotary guide unit is arranged on the left side or the right side according to actual needs, one side close to the rotary guide unit is called a rotary side, and the other side is called a straight side; the rear drive unit and the front drive unit are respectively arranged at the rear and the front of the frame; the rear driving unit is a main driving device for the frame to perform linear displacement and rotary displacement; the front driving unit is an auxiliary driving device for the frame to perform linear displacement and rotary displacement and can be switched between two states of linear displacement driving and rotary displacement following; the straight-moving guide unit is positioned on one side of the length direction of the frame and plays a role in restraining and guiding the straight-moving displacement of the frame; the rotary guide unit is positioned at one end of the straight guide unit close to the lane, and plays a role in restraining and guiding the rotary displacement of the frame; the position detection unit detects the displacement state of the upper bedplate and sends position information to the control system; the position detection unit, the rear driving unit and the front driving unit are respectively electrically connected with the control system; the control system is a single chip microcomputer device, a PLC device or an industrial personal computer.

Preferably, in the mechanism for driving the frame in the front and rear directions of the parking facility, the frame is used for mounting and restraining the upper platen, and comprises a rotating side longitudinal beam, a rotating side upright post, a straight side longitudinal beam, a straight side upright post and a groove-shaped frame; the rotating side longitudinal beam is one, is arranged on the rotating side of the parking space and is parallel to the central line of the parking space in the length direction; at least one rotating side upright post is vertically and fixedly arranged above the rotating side longitudinal beam; the straight side longitudinal beam is arranged on the straight side of the parking space and is parallel to the rotating side longitudinal beam; at least one straight side upright post is vertically and tightly arranged above the straight side longitudinal beam; the rotary side upright post and the straight side upright post are arranged at the same height, and the clearance height is higher than the height required by parking the vehicle in the parking space; the groove-shaped frame is horizontally arranged on the upper layer, is an incomplete rectangular frame with a gap on one side, and is fixedly arranged above the rotating side upright post and the straight side upright post, and the gap faces the lane direction; the parking space area below the frame formed after the frame is installed can accommodate ground-level vehicles for parking, and the space area above the frame can accommodate upper-level vehicles for parking; the frame is installed to form a three-dimensional structural member, the upper layer is a groove-shaped frame, the ground layer is two longitudinal beams, a plurality of upright posts are fixedly installed between the groove-shaped frame and the two longitudinal beams, and the purpose of driving the whole frame to move is achieved by driving the two longitudinal beams to move.

The frame can be driven forwards and backwards to perform forward or backward straight movement between the parking space area and the lane area under the guiding constraint of the straight movement guiding unit through forward and backward driving, and can perform horizontal clockwise or counterclockwise rotation movement in the lane area around the rotation axis of the rotation guiding unit under the guiding constraint of the rotation guiding unit. The upper bedplate can be driven to synchronously and equidirectionally displace by the straight displacement or the rotary displacement of the frame; the frame is rotated through an angle of typically 90 deg., but may be any other angle as desired.

Preferably, in the above mechanism for driving the frame forward and backward of the parking apparatus, the straight guide unit has one of the following two types:

in a first form, the straight guide unit includes a straight guide rail and a guide roller; the straight guide rail is divided into two symmetrical long strip-shaped parts which are separately arranged, the two long strip-shaped parts are tightly installed on the side line of the rotating side of the parking space, two inner side surfaces of a middle section formed between the two long strip-shaped parts are used as guide working surfaces, and the rollers of the rear driving wheel at the rotating side of the rear driving unit, the rollers of the front driving wheel at the rotating side of the front driving unit and the rotating rollers of the rotating side follow-up device can be accommodated.

The guide rollers are at least provided with at least two sets of rollers which are fixedly arranged at the rear end position of the rotating side longitudinal beam of the frame and span the rotating side rear driving wheel of the rear driving unit from front to back; the rolling axis of the roller of the guide roller is vertical to the ground, and the outer edge of the roller is in rolling contact with the guide working surface of the straight guide rail, so that the guide working surface of the straight guide rail can restrict the straight displacement track of the frame by restricting all the guide rollers arranged on the rotating side longitudinal beam.

In a second form, the straight guide unit comprises a straight guide rail and a guide roller; the straight guide rail is a long-strip-shaped component with a convex cross section, is tightly installed on a sideline of the rotating side of the ground parking space, and two outer side surfaces of the convex cross section are used as guide working surfaces.

The guide rollers are at least provided with at least two sets of rollers which are fixedly arranged at the rear end position of the rotating side longitudinal beam of the frame and span the rotating side rear driving wheel of the rear driving unit from front to back; the rolling axis of the roller of the guide roller is parallel to the ground, and the outer edge of the roller is in rolling contact with the guide working surface of the straight guide rail, so that the guide working surface of the straight guide rail can restrict the straight displacement track of the frame by restricting all the guide rollers arranged on the rotating side longitudinal beam.

Preferably, in the mechanism for driving the frame in the front and rear directions of the parking facility, the rotary guide unit is fixedly installed in a ground area at an intersection point of a vehicle length direction sideline and a lane sideline on a rotary side of the parking space, and includes a fixed seat, a rotary table, and a short guide rail; the fixed seat is vertically and fixedly arranged below the ground; the turntable is arranged on the fixed seat, the upper plane of the turntable is flush with the ground, and the turntable can horizontally rotate around the fixed seat; the rotary axis of the horizontal rotation of the turntable is the rotary axis of the rotary guide unit and is simultaneously used as the rotary axis of the frame during rotary displacement.

The short guide rail is tightly installed on the rotary disc, and the structure mode is one of the following two types:

the first method is as follows: the linear guide unit is a straight guide rail, and is characterized in that the linear guide unit corresponds to a first structural form and is composed of two symmetrical strip-shaped components which are separately arranged, two inner side surfaces of a middle section formed between the two strip-shaped components are used as guide working surfaces, and the width dimension of the section of each guide working surface is the same as that of the section of each guide working surface of the linear guide rail; the space formed by the guide working surface of the short guide rail can at least accommodate all guide rollers arranged on the rotating side longitudinal beam; when the frame is in standing at the parking space, the central line of the guide working surface of the straight guide rail and the central line of the guide working surface of the short guide rail are on the same straight line; when the frame is located in the lane area and all the guide rollers are located at the space position formed by the guide working surface in the short guide rail, the frame can rotate and displace around the rotation axis of the rotary guide unit under the constraint of the short guide rail.

The straight guide rail of the straight guide unit and the short guide rail of the rotary guide unit need to be matched with the guide working surface. When the straight line direction unit adopts structural style one, corresponding rotatory direction unit adopts structural style one, and relevant characteristics are: the guide working surfaces of the straight guide rail in the straight guide unit and the short guide rail in the rotary guide unit are two inner side surfaces of a middle position formed between the two strip-shaped components.

The second method comprises the following steps: the two structural forms of the straight guide units correspond to the two structural forms of the straight guide units and are long-strip-shaped components with convex cross sections, and two outer side surfaces of the convex cross sections are used as guide working surfaces; the width dimension of the section of the guide working surface is the same as that of the section of the guide working surface of the straight guide rail; the length of the short guide rail is at least capable of accommodating all guide rollers arranged on the rotating side longitudinal beam; when the frame is in standing at the parking space, the central line of the guide working surface of the straight guide rail and the central line of the guide working surface of the short guide rail are on the same straight line; when the frame is located in the lane area and all the guide rollers are located above the short guide rail, the frame can rotate around the rotation axis of the rotary guide unit under the constraint of the short guide rail.

When the straight line direction unit adopts structural style two, corresponding rotatory direction unit adopts structural style two, and relevant characteristics are: the guide working surfaces of the straight guide rail in the straight guide unit and the short guide rail of the rotary guide unit are two outer side surfaces of the convex section of the long strip-shaped component.

Preferably, in the above mechanism for driving the frame forward and backward of the parking apparatus, the backward driving unit includes a straight backward driving wheel and a rotation backward driving wheel; the straight-going side rear driving wheel comprises a motor and a roller; the motor is fixedly arranged at the rear end of the straight side longitudinal beam, the roller is driven by the motor to rotate, and the rotation axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction; the rotating side rear driving wheel comprises a motor and a roller; the motor is fixedly arranged at the rear end of the rotating side longitudinal beam, the roller is driven by the motor to rotate, and the rotating axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction; the rotation axis of the roller of the straight-traveling side rear driving wheel and the rotation axis of the roller of the rotating side rear driving wheel are located on the same straight line.

Preferably, in the mechanism for driving the frame forward and backward in the parking facility, the forward drive unit includes a forward drive wheel on a straight traveling side, a follow-up device on a straight traveling side, a forward drive wheel on a rotating side, and a follow-up device on a rotating side.

The straight-moving side front driving wheel comprises a motor and a roller; the motor is fixedly arranged at the front end of the straight side longitudinal beam, the roller is driven by the motor to rotate, the rotation axis of the roller is parallel to the ground and is vertical to the center of the longitudinal direction of the frame vehicle, and the straight side follow-up device comprises a jacking mechanism and a rotating roller; the jacking mechanism comprises a fixed part and a movable part; the fixed component is tightly installed at the front end of the straight side longitudinal beam; the movable part is arranged on the fixed part, is restrained by the fixed part and can vertically reciprocate relative to the fixed part; the rotary roller is tightly installed at the lower position of the movable part and can freely roll, and the rolling direction is consistent with the rotation tangential direction of the frame; when the jacking mechanism drives the movable part to move upwards, the rotating roller can be driven to move upwards and be separated from the contact with the ground, and the roller of the front driving wheel on the straight-moving side is in contact with the ground; when the jacking mechanism drives the movable part to move downwards, the rotary roller is driven to move downwards, so that the rotary roller can be in contact with the ground, and the roller of the front driving wheel on the straight-moving side is separated from the ground.

The rotary side front driving wheel comprises a motor and a roller; the motor is fixedly installed at the front end of the rotating side longitudinal beam, the roller is driven by the motor to rotate, and the rotating axis is parallel to the ground and perpendicular to the central line of the frame vehicle in the length direction.

The rotating side follow-up device comprises a jacking mechanism and a rotating roller; the jacking mechanism comprises a fixed part and a movable part; the fixed component is tightly installed at the front end of the rotating side longitudinal beam; the movable part is arranged on the fixed part, is restrained by the fixed part and can vertically reciprocate relative to the fixed part; the rotary roller is tightly installed at the lower position of the movable part and can freely roll, and the rolling direction is consistent with the rotation tangential direction of the frame; when the jacking mechanism drives the movable part to move upwards, the rotary roller can be driven to move upwards and be separated from the ground, and the roller of the front driving wheel on the rotary side is in contact with the ground; when the jacking mechanism drives the movable part to move downwards, the rotary roller is driven to move downwards, the rotary roller can be in contact with the ground, and the roller of the front driving wheel on the rotary side is separated from the ground.

The jacking mechanisms of the direct-moving side follow-up device and the rotating side follow-up device belong to conventional mechanical structures, and can adopt a traditional mode that a screw and a nut are driven by a motor reducer to lift or a hydraulic mechanism is used for driving the lifting; and a mode that a push rod/pull rod drives a cam or a link mechanism to drive the lifting can also be adopted.

Preferably, in the above mechanism for driving the frame forward and backward of the parking apparatus, the position detecting unit is configured to detect a displacement state of the frame, and includes at least a forward movement end point detecting element, a rotation end point detecting element, and a backward movement end point detecting element; the detection element of the forward moving terminal is used for detecting the position of the frame which moves forward from the parking space position to the lane direction and reaches the forward moving terminal; the detection element of the rotation end point is used for detecting the position of the frame which rotates from the position of the forward end point to the rotation end point; the rearward movement end point detection element is used for detecting the position of the frame which moves rearward from the lane position to the parking space direction and reaches the rearward movement end point.

The above is the simplest configuration of the position detecting unit, and when the frame is reversely rotated from the turning end position of the lane position, the above-mentioned detection element of the forward end serves as the end point detection of the reverse rotation at the same time. Obviously, the position detection is conventional, and the detection element used may be a conventional contact rocker switch or a non-contact position switch or a photoelectric switch; the rotation detection may also employ an encoder.

Preferably, in the mechanism for driving the frame of the parking equipment, the frame is additionally provided with a front tie beam; the front tie beam is perpendicular to the central line of the frame in the vehicle length direction and is horizontally arranged below the front ends of the rotating side longitudinal beams and the front ends of the straight side longitudinal beams and close to the ground; two ends of the front tie beam are respectively movably connected with the inner side of the front end of the rotating side longitudinal beam and the inner side of the front end of the straight side longitudinal beam, so that the front tie beam can tie the rotating side longitudinal beam and the straight side longitudinal beam, the size of the vertical distance between the rotating side longitudinal beam and the straight side longitudinal beam is kept unchanged, and the vertical up-and-down movement of the front tie beam under the restraint can be realized; the limit position of downward movement of the front tie beam is that the bottom plane touches the ground, and the limit position of upward movement is that the bottom plane is completely separated from the contact with the ground; and the limit position of the upward movement of the front tie beam is a normal reset state.

The effect of adding the front tie beams is to increase the structural rigidity of the frame, particularly the two stringers below the frame. The front drawknot beam is restrained to vertically move up and down, the most simple method is realized by a structure of a linear guide groove and a spring reset, and hydraulic buffering can be added or a hinge mode is adopted to realize the aim. After the front tie beam is installed, when the frame is located at a parking space and stands, the front tie beam needs to be located at the outer side position of a wheel of a ground layer vehicle close to the lane direction; when the vehicle on the ground layer drives away from the parking space or drives in from the lane position, when the wheel touches the upper part of the front tie beam, the front tie beam moves downwards to be close to the ground, the wheel drives over the upper part of the front tie beam, and then the front tie beam moves upwards to reset. When the frame makes straight-line displacement or rotary displacement, the front tie beam is in a reset state, the bottom plane is completely separated from the contact with the ground, and no obstruction is generated on the displacement of the frame.

Preferably, in the above mechanism for driving the frame in front and rear of the parking apparatus, the frame is additionally provided with an upper front beam; the upper layer front cross beam is tightly installed at the notch of the groove-shaped frame of the upper layer of the frame, so that the groove-shaped frame is changed into a hollow closed rectangular frame.

The effect of the added upper front cross beam is to increase the rigidity of the frame, particularly the upper layer of the frame. The hollow position of the closed rectangular frame formed after the upper front beam is installed must be able to accommodate a vehicle parked on the upper deck.

The technical solution of the present invention will be further explained below.

The straight-going guide unit is used for leading the frame to be restricted when the frame moves in a straight-going way; the rotary guide unit is used for leading the frame to be restricted when the frame performs rotary displacement; the rear driving unit is a main driving device for frame displacement; the front driving unit is an auxiliary driving device for frame displacement.

The straight-line displacement of the frame is realized by the co-driving of rollers of four mechanisms, namely a rotating side rear driving wheel, a straight-line side rear driving wheel, a rotating side front driving wheel and a straight-line side front driving wheel, in the same direction and at the same speed; the rotary displacement of the frame is realized by the roller of the rear driving wheel at the straight-moving side, the rotary roller of the rotary side follow-up device and the rotary roller of the straight-moving side follow-up device; at this time, the roller of the rear driving wheel on the rotating side does not rotate, and only rotates synchronously with the turntable of the rotary guide unit.

Because the upper bedplate is arranged in the inner area of the frame through the lifting driving device, the forward movement, the rotation and the reverse operation (backward movement and reverse rotation) of the upper bedplate are realized through the corresponding displacement of the frame.

The utility model discloses technical scheme's drive method has following characteristics:

1. a common motor may be used without necessarily requiring a variable speed motor. Of course, the same type of speed regulating motor can be selected, and the same speed regulating device is adopted for unified speed regulation. For example, all the motors are common three-phase motors or variable frequency motors, and a frequency conversion device with enough power is used for uniformly driving the motors without independently regulating the speed of each motor.

2. The rotating roller of the follow-up device has already set a horizontal steering angle and is fastened and installed without a horizontal steering device.

3. Regarding the front drive unit: when the frame moves in a straight line, the front driving wheel at the straight line side and the front driving wheel at the rotating side are driven by the corresponding motor to drive the roller; when the frame rotates and displaces, the motors of the front driving wheel at the straight-moving side and the front driving wheel at the rotating side do not rotate, and the rotation roller rolls along with the rotation of the front driving wheel to serve as an auxiliary.

4. With respect to the rear drive unit: when the frame moves in a straight line, the rear driving wheel at the straight line side and the rear driving wheel at the rotating side are driven by the roller driven by the motor; when the frame rotates and displaces, the motor of the rear driving wheel on the straight-moving side drives the roller to drive, and the motor of the rear driving wheel on the rotating side does not rotate.

5. The straight-going displacement of the frame is driven by the rear driving unit and the front driving unit simultaneously, so that the displacement speed is higher than that of the single driving in the prior art, and the displacement state is more stable (due to the fact that the straight-going displacement is longer in distance and usually exceeds 5 meters, the comprehensive operation efficiency is obviously improved by improving the straight-going displacement speed).

6. The rotary displacement of the frame is driven by the roller of the rear driving wheel on the straight-line side of the rear driving unit, and the reversing is smooth by the follow-up of the rotary roller in the fixed direction of which the horizontal deflection angle is adjusted by the front driving unit; completely avoids the reversing impact caused by the sharp change of the rotation direction of the universal wheel in the prior art.

The displacement of the frame is further described below.

The displacement of the frame comprises a straight displacement and a rotary displacement; the straight-going displacement comprises forward movement from the parking space position to the lane direction and backward movement from the lane position to the parking space direction; when the frame needs to make a straight movement, the parking equipment control system commands to control a jacking mechanism of the straight-moving side follow-up device to drive the movable part to move upwards, so that the rotating roller is separated from being in contact with the ground, and the roller of the straight-moving side front driving wheel is in contact with the ground; the jacking mechanism of the servo device at the rotating side is controlled by an instruction to drive the movable part to move upwards, so that the rotating roller is separated from the contact with the ground, and the roller of the front driving wheel at the rotating side is contacted with the ground; at the moment, rollers of the four mechanisms of the rotating side front driving wheel, the rotating side rear driving wheel, the straight-moving side front driving wheel and the straight-moving side rear driving wheel are in contact with the ground; then, the parking equipment control system commands and controls the motors of the four mechanisms of the rotating side front driving wheel, the rotating side rear driving wheel, the straight-moving side front driving wheel and the straight-moving side rear driving wheel to rotate in the same direction and at the same speed, and the frame bearing the upper bedplate is driven to move in a straight-moving mode.

The rotational displacement of the frame first needs to satisfy the following positional conditions: all guide rollers arranged on the rotating side longitudinal beam of the frame are moved into a constraint area formed by a guide working surface of the short guide rail, the rotating side rear driving wheel is positioned on a turntable of the rotating guide unit, and the axis projection of the roller of the straight side rear driving wheel is positioned on the rotation axis of the rotating guide unit.

When the position condition is met, the parking equipment control system commands a jacking mechanism of a straight-going side follow-up device to control a movable part to move downwards, so that a rotating roller is contacted with the ground, and the roller of a straight-going side front driving wheel is separated from being contacted with the ground; the jacking mechanism of the servo device at the rotating side is controlled by an instruction to drive the movable part to move downwards, so that the rotating roller is contacted with the ground, and the roller of the front driving wheel at the rotating side is separated from the ground; at the moment, the roller of the straight-moving side rear driving wheel is contacted with the ground, the roller of the rotating side rear driving wheel is displaced above the turntable of the rotating guide unit, and the rotating rollers of the rotating side follow-up device and the straight-moving side follow-up device are contacted with the ground; then, the parking equipment control system commands the motor of the rear driving wheel on the straight-moving side to rotate, and drives the frame bearing the upper bedplate to make rotary displacement.

The utility model discloses an useful part lies in: the upper bedplate can move and rotate in a front and rear driving frame mode, and the direction change between the straight-ahead displacement and the rotary displacement is smooth and free. The utility model discloses technical scheme obviously differs from current other technical scheme that two-layer parking equipment is relevant to the rotatory two-layer parking equipment of platen antedisplacement in key structure, also obviously differs from four wheel drive AGV's technical scheme, has following apparent advantage: the structure is simple and reliable, no overturning moment exists, no special requirement is required on the equipment foundation, the comprehensive cost of manufacture and installation is low, and the device is practical, durable and convenient to maintain. Therefore, the utility model discloses technical scheme will play powerful promoting effect to the popularization and application of the rotatory two-layer parking equipment of upper platen antedisplacement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 to fig. 11 are schematic views illustrating operation of one embodiment of the mechanism of the front and rear driving frames of the parking apparatus, showing the whole process that the frame and the upper platen are placed on the parking space to move forward to the lane, and then rotate forward by 90 degrees to avoid the position to be placed.

Fig. 1 is a schematic view of the middle frame of the present invention in a parking space resting state;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of portion B of FIG. 1;

fig. 4 is a schematic view of the middle frame of the present invention in a forward moving state in the parking space;

FIG. 5 is a schematic view of the frame in a state of stopping linear displacement according to the present invention;

FIG. 6 is a schematic view of the frame of the present invention in preparation for counterclockwise rotation;

FIG. 7 is a schematic view of the middle stage of the counterclockwise rotational displacement of the frame according to the present invention;

FIG. 8 is a schematic view of the frame of the present invention in a state of stopping rotational displacement and reaching the end position;

FIG. 9 is an enlarged view of portion C of FIG. 5;

FIG. 10 is an enlarged view of portion D of FIG. 7;

FIG. 11 is an enlarged view of section E of FIG. 8;

in the figure: 1 lane; 1-1 lane center line, 1-2 lane sideline; 2, parking spaces; 2-1, the central line of the parking space in the vehicle length direction; 3-1 straight-going side front driving wheel; 3-2 straight-going side rear driving wheel; 3-3 rotating the side rear driving wheel; 3-4 rotating the side front driving wheel; 3-5, moving the roller at the side; 3-6 rotating the side rotating roller; 4, putting the bedplate on the table; 5-1 straight side stringer; 5-2 rotating the side stringer; 6-1, guiding a first roller; 6-2, guiding a second roller; 7 straight guide rails; 8 short guide rails; 9, a turntable; 10-1, rotating in the first direction; 10-2, rotating in the second direction; 10-4, the rotation direction is four.

FIG. 12 is a cross-sectional view illustrating the structure and installation of a rotary guide unit and a rectilinear guide rail according to an embodiment;

FIG. 13 is a top view of the rotary guide unit and the linear guide of the embodiment of FIG. 12 illustrating the structure and installation thereof;

FIG. 14 is a sectional view showing a structure and an installation of a rotary guide unit and a rectilinear guide rail according to another embodiment;

FIG. 15 is a top view of the rotary guide unit and the linear guide of the embodiment of FIG. 14 illustrating the structure and installation thereof;

in the figure: 3 rotating the side driving wheel; 6, a guide roller and 7 a straight guide rail; 7-1 bolt; 8 short guide rails; 9, a turntable; 9-1 fixing seat; 9-2 bearings; 11, the ground.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and for the convenience of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "a", "an", "two", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

For ease of description, the relative orientations of fig. 1, 4, 5, 6, 7, and 8 are described as: the upper side of the figure is called the front end, the lower side of the figure is called the rear end, and the left and right sides of the figure are called the left and right sides, respectively.

For the sake of clarity, figures 1, 4, 5, 6, 7 and 8 show the guide rollers only schematically in a schematic manner, the rear driving unit only shows the rollers of the driving device (respectively, a rotating side rear driving wheel 3-3 and a straight side rear driving wheel 3-2 shown in the figure), the front driving unit only shows the rollers of the driving device (respectively, a rotating side front driving wheel 3-4 and a straight side front driving wheel 3-1 shown in the figure) and the rotating rollers of the follow-up device (respectively, a straight side rotating roller 3-5 and a rotating side rotating roller 3-6 shown in the figure), the frame only shows the straight side longitudinal beam 5-1 and the rotating side longitudinal beam 5-2, and the position detection unit and the control system are not shown at all. When fig. 1 is considered, reference can be made to fig. 2, an enlarged view of a part a and an enlarged view of a part B of fig. 3; when fig. 5 is considered, reference is made to an enlarged view of the portion C of fig. 9; when fig. 7 is considered, reference is made to an enlarged view of a portion D of fig. 10; when fig. 8 is considered, reference is made to an enlarged view of a portion E of fig. 11.

As shown in fig. 1: the frame carries an upper platen 4 resting above the parking space 2. A straight guide rail 7 is tightly installed on the left sideline of the parking space 2 (the structural form of the straight guide unit adopts the first form), a rotary guide unit (the structural form of the rotary guide unit adopts the first form correspondingly) is arranged on the junction position of the left sideline of the parking space 2 and the lane sideline 1-2, and a short guide rail 8 and a rotary disc 9 are shown in the figure. The rotary side longitudinal beam 5-2 is positioned at the left side line of the parking space 2, and a straight guide rail 7 is arranged below the rotary side longitudinal beam; the straight side longitudinal beam 5-1 is positioned at the right side line of the parking space 2. The rear ends of the rotating side longitudinal beam 5-2 and the straight side longitudinal beam 5-1 are respectively provided with a rotating side rear driving wheel 3-3 and a straight side rear driving wheel 3-2, the front end of the rotating side longitudinal beam 5-2 is provided with a rotating side front driving wheel 3-4 and a rotating side rotating roller 3-6, and the front end of the straight side longitudinal beam 5-1 is provided with a straight side front driving wheel 3-1 and a straight side rotating roller 3-5; the rear end of the rotating side longitudinal beam 5-2 is also fixedly provided with a first guide roller 6-1 and a second guide roller 6-2; as can be seen, the first guide roller 6-1 and the second guide roller 6-2 are respectively provided with two rollers which are in rolling contact with the guide working surface at the middle position of the straight guide rail 7, so that the frame is guided and restrained by the straight guide rail 7 through the guide rollers.

It is assumed that the maximum diameters of the rollers of the rotation side rear drive wheel 3-3, the straight side rear drive wheel 3-2, the rotation side front drive wheel 3-4, and the straight side front drive wheel 3-1 are the same.

In the state that the frame shown in fig. 1 bears the upper bedplate 4 and is in a static state in the parking space 2, when a parking equipment control system instructs motors of a rotating side rear driving wheel 3-3, a straight-going side rear driving wheel 3-2, a rotating side front driving wheel 3-4 and a straight-going side front driving wheel 3-1 to rotate forwards at the same speed, namely the frame is driven to bear the upper bedplate 4 to displace forwards; in the displacement process, the displacement track of the frame is restrained by the straight guide rail 7 through the first guide roller 6-1 and the second guide roller 6-2, and the straight running state is continuously kept.

Fig. 4 shows the intermediate stage of the straight forward displacement of the frame carrying the upper platen 4.

When the frame bears the upper bedplate 4 and moves forwards to the forward movement end position of the lane 1, the detection element of the forward movement end sends a signal to trigger the parking equipment control system to instruct and control the motors of the rotating side rear driving wheel 3-3, the straight movement side rear driving wheel 3-2, the rotating side front driving wheel 3-4 and the straight movement side front driving wheel 3-1 to stop running, and the frame stops moving forwards. At this time, all rollers (the first guide roller 6-1 and the second guide roller 6-2 shown in the figure) of the guide roller completely enter the guide working face area at the middle position of the short guide rail 8 and are restrained by the guide working face of the short guide rail. At this time, the contact point of the roller of the rotation-side rear driving wheel 3-3 with the turn table 9 of the rotation guide unit is just displaced by the center position of the turn table 9.

Fig. 5 shows the frame in the stopped straight-ahead displacement state described above.

In the state shown in fig. 5, the parking equipment control system instructs a jacking mechanism of a straight-moving side follow-up device of the front driving unit to drive a movable part to move downwards, so as to drive a straight-moving side rotating roller 3-5 to move downwards, so that the straight-moving side front driving wheel 3-1 is separated from being in contact with the ground, the straight-moving side rotating roller 3-5 is in contact with the ground, and the follow-up rolling direction of the straight-moving side rotating roller 3-5 is a first rotating direction 10-1 and is consistent with the rotating tangential direction of the frame; the jacking mechanism of the rotating side follow-up device of the front driving unit is controlled by the instruction to drive the movable part to move downwards, so that the rotating side rotating rollers 3-6 are driven to move downwards, the rotating side front driving rollers 3-4 are separated from being in contact with the ground, the rotating side rotating rollers 3-6 are in contact with the ground, the follow-up rolling direction of the rotating side rotating rollers 3-6 is the rotating direction of four 10-4 and is consistent with the rotating tangential direction of the frame.

Fig. 6 shows the result of execution of command control by the parking apparatus control system.

In the state shown in fig. 6, the parking equipment control system instructs to control the rear driving wheel 3-2 on the straight-ahead side to rotate in the forward direction, the rotating and rolling direction is the second rotating direction 10-2 and is consistent with the rotating tangential direction of the frame, and the driving frame bears the upper bedplate 4 to rotate and displace in the counterclockwise direction shown in the figure; during the displacement: a) the displacement track of the frame is restrained by the short guide rail 8 through the first guide roller 6-1 and the second guide roller 6-2, and the running state of the frame rotating around the rotation center of the turntable 9 is continuously kept; b) the rotating side rear driving wheel 3-3, the straight side front driving wheel 3-1 and the rotating side front driving wheel 3-4 do not rotate; c) the straight side rotating roller 3-5 and the rotating side rotating roller 3-6 roll along with each other.

Fig. 7 shows the intermediate stage of the rotational displacement of the frame carrying the upper platen 4 in the counterclockwise direction as shown.

When the frame bears the upper bedplate 4 and rotates and displaces 90 degrees towards the anticlockwise direction from the state shown in figure 4, and reaches the rotation end position of the lane 1, the detection element of the rotation end sends a signal to trigger the parking equipment control system to instruct the motor of the rear driving wheel 3-2 at the straight-moving side to stop running, and the frame stops rotating and displacing.

Fig. 8 shows a state where the rotational displacement of the frame is stopped and the end position is reached. At this point, the upper deck 4 has advanced and rotated under the load of the frame to a final position above the roadway.

The above embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The related actions of the framework inverse operation can be derived by referring to the foregoing description, and are not described in detail herein.

As shown in fig. 12 and 13, the structure and installation of the rotary guiding unit and the straight guide rail according to one embodiment of the mechanism of the front and rear driving frames of the parking apparatus of the present invention are schematically illustrated. Fig. 12 is a front view (partially cut away from the rotation guide unit), and fig. 13 is a plan view. As can be seen from the foregoing, the structural form of the straight guiding unit of the present embodiment adopts the form one; correspondingly, the structural mode of the rotary guide unit adopts the first mode. Referring to fig. 12 and 13, the left side indicates that: a fixed seat 9-1 of the rotary guide unit is fixedly arranged below the ground 11, the turntable 9 is arranged on the fixed seat 9-1 through a bearing 9-2 and can horizontally rotate around the fixed seat 9-1, and the upper plane is flush with the ground 11; a short guide rail 8 is fixedly arranged above the rotary table 9; the short guide rail 8 is divided into two symmetrical strip-shaped parts, and the inner side surface of the middle position formed between the two strip-shaped parts is used as a guide working surface. As can be seen from the foregoing, the space formed by the guide running surface of the short guide rail 8 can accommodate at least all the guide rollers mounted on the side rotary member; when the turntable rotates, the short guide rails rotate synchronously. Looking at the right side from the front view and the plan view, it can be seen that: a straight guide rail 7 is fixedly arranged above the ground 11 through a bolt 7-1; the straight guide rail 7 is divided into two symmetrical long members, and the inner side surface of the intermediate position formed between the two long members serves as a guide work surface. As is apparent from the above description, the space formed by the guide surface of the straight rail 7 can accommodate the front drive wheels on the rotation side and the rear drive wheels on the rotation side, and can also accommodate the guide rollers attached to the side members on the rotation side. It is shown that the section of the guide running surface of the short guide rail 8 is the same as the section of the guide running surface of the straight guide rail 7; in the current state, the central line of the guide working surface of the straight guide rail 7 and the central line of the guide working surface of the short guide rail 8 are on the same straight line, and the corresponding frame stands at the parking space or the frame linearly displaces. The figure also shows that two guide rollers 6 of one set of guide rollers are constrained by the guide running surface of the short guide rail 8.

Fig. 14 and 15 are schematic views illustrating the structure and installation of a rotary guide unit and a straight guide rail according to another embodiment of the mechanism of the front and rear driving frames of the parking apparatus of the present invention. Fig. 14 is a front view (partially cut away from the rotation guide unit), and fig. 15 is a plan view. As can be seen from the foregoing, the structural form of the straight guiding unit of the present embodiment adopts the second form; correspondingly, the structural mode of the rotary guide unit adopts the second mode. Referring to fig. 14 and 15, the left side indicates that: a fixed seat 9-1 of the rotary guide unit is fixedly arranged below the ground 11, the turntable 9 is arranged on the fixed seat 9-1 through a bearing 9-2 and can horizontally rotate around the fixed seat 9-1, and the upper plane is flush with the ground 11; a short guide rail 8 is fixedly arranged above the rotary table 9; the short guide rail 8 is a long strip-shaped component with a convex cross section, is tightly installed on a sideline of the rotation side of the ground parking space, and two outer side surfaces of the convex cross section are used as guide working surfaces. As can be seen from the foregoing, the space formed by the guide running surface of the short guide rail 8 can accommodate at least all the guide rollers mounted on the side rotary member; when the turntable rotates, the short guide rails rotate synchronously. Looking at the right side from the front view and the plan view, it can be seen that: a straight guide rail 7 is fixedly arranged above the ground 11 through a bolt 7-1; the straight guide rail 7 is a long member having a convex cross section, and two outer side surfaces of the convex cross section serve as guide working surfaces. It is shown that the section of the guide running surface of the short guide rail 8 is the same as the section of the guide running surface of the straight guide rail 7; in the current state, the central line of the guide working surface of the straight guide rail 7 and the central line of the guide working surface of the short guide rail 8 are on the same straight line, and the corresponding frame stands at the parking space or the frame linearly displaces. The figure also shows that two guide rollers 6 of one set of guide rollers form a grip on the short guide rail 8 by means of the guide faces of the short guide rail 8.

The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

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

Claims (9)

1. A mechanism for driving a frame before and after parking equipment comprises an upper bedplate unit, and is characterized in that: the device also comprises a frame, a straight-going guiding unit, a rotary guiding unit, a rear driving unit, a front driving unit, a position detecting unit and a control system; the parking equipment is two-layer parking equipment with an upper bedplate moving forwards and rotating; the frame front and back driving means that the frame is driven by arranging driving units at the front end and the back end of the frame to realize the straight displacement and the rotary displacement of the upper bedplate;

the upper bedplate unit comprises an upper bedplate and a lifting driving device; the upper bedplate is a horizontally arranged steel structure rectangular component, is used for bearing upper layer vehicles, is restrained by the frame and can perform vertical lifting displacement; the lifting driving device is arranged on the frame, is connected with the upper bedplate and can drive the upper bedplate to vertically ascend or descend;

the frame is positioned on a parking space and can move to a lane in a straight line manner, and then the frame rotates in a lane area by taking the intersection point position of a vehicle length direction sideline and the lane sideline on one side of the parking space as a rotation center; the parking space is close to the lane and is a front part, the parking space is far from the lane and is a rear part, the parking space is divided into a left side and a right side according to the central line in the vehicle length direction, the rotary guide unit is arranged on the left side or the right side according to actual needs, one side close to the rotary guide unit is called a rotary side, and the other side is called a straight side; the rear drive unit and the front drive unit are respectively arranged at the rear and the front of the frame; the rear driving unit is a main driving device for the frame to perform linear displacement and rotary displacement; the front driving unit is an auxiliary driving device for the frame to perform linear displacement and rotary displacement and can be switched between two states of linear displacement driving and rotary displacement following; the straight-moving guide unit is positioned on one side of the length direction of the frame and plays a role in restraining and guiding the straight-moving displacement of the frame; the rotary guide unit is positioned at one end of the straight guide unit close to the lane, and plays a role in restraining and guiding the rotary displacement of the frame; the position detection unit detects the displacement state of the upper bedplate and sends position information to the control system; the position detection unit, the rear driving unit and the front driving unit are respectively electrically connected with the control system; the control system is a single chip microcomputer device, a PLC device or an industrial personal computer.

2. The parking facility front and rear drive frame mechanism of claim 1, wherein said frame is used for mounting and restraining said upper deck, comprising a rotating side rail, a rotating side pillar, a straight side rail, a straight side pillar, a channel frame; the rotating side longitudinal beam is one, is arranged on the rotating side of the parking space and is parallel to the central line of the parking space in the length direction; at least one rotating side upright post is vertically and fixedly arranged above the rotating side longitudinal beam; the straight side longitudinal beam is arranged on the straight side of the parking space and is parallel to the rotating side longitudinal beam; at least one straight side upright post is vertically and tightly arranged above the straight side longitudinal beam; the rotary side upright post and the straight side upright post are arranged at the same height, and the clearance height is higher than the height required by parking the vehicle in the parking space; the groove-shaped frame is horizontally arranged on the upper layer, is an incomplete rectangular frame with a gap on one side, and is fixedly arranged above the rotating side upright post and the straight side upright post, and the gap faces the lane direction; the parking space area below the frame formed after the frame is installed can accommodate ground-level vehicles for parking, and the space area above the frame can accommodate upper-level vehicles for parking; the frame is installed to form a three-dimensional structural member, the upper layer is a groove-shaped frame, the ground layer is two longitudinal beams, a plurality of upright posts are fixedly installed between the groove-shaped frame and the two longitudinal beams, and the purpose of driving the whole frame to move is achieved by driving the two longitudinal beams to move.

3. The mechanism of a parking apparatus front and rear driving frame as claimed in claim 2, wherein the rectilinear guide unit is constructed in one of two types:

in a first form, the straight guide unit includes a straight guide rail and a guide roller; the straight guide rail is divided into two symmetrical long strip-shaped components which are separately arranged and are tightly installed on the sideline of the rotating side of the parking space, two inner side surfaces of a middle section formed between the two long strip-shaped components are used as guide working surfaces and can accommodate a roller of a rear driving wheel at the rotating side of the rear driving unit, a roller of a front driving wheel at the rotating side of the front driving unit and a rotating roller of the rotating side follow-up device;

the guide rollers are at least provided with at least two sets of rollers which are fixedly arranged at the rear end position of the rotating side longitudinal beam of the frame and span the rotating side rear driving wheel of the rear driving unit from front to back; the rolling axis of the roller of the guide roller is vertical to the ground, and the outer edge of the roller is in rolling contact with the guide working surface of the straight guide rail, so that the guide working surface of the straight guide rail can restrict the straight displacement track of the frame by restricting all the guide rollers arranged on the rotating side longitudinal beam;

in a second form, the straight guide unit comprises a straight guide rail and a guide roller; the straight guide rail is a long-strip-shaped component with a convex cross section, is tightly installed on a sideline of the rotating side of the ground parking space, and two outer side surfaces of the convex cross section are used as guide working surfaces;

the guide rollers are at least provided with at least two sets of rollers which are fixedly arranged at the rear end position of the rotating side longitudinal beam of the frame and span the rotating side rear driving wheel of the rear driving unit from front to back; the rolling axis of the roller of the guide roller is parallel to the ground, and the outer edge of the roller is in rolling contact with the guide working surface of the straight guide rail, so that the guide working surface of the straight guide rail can restrict the straight displacement track of the frame by restricting all the guide rollers arranged on the rotating side longitudinal beam.

4. The mechanism of front and rear driving frames for parking equipment as claimed in claim 3, wherein said rotary guiding unit is fixedly installed on the ground area of the intersection point position of the vehicle length direction borderline and the lane borderline of the rotary side of said parking space, and comprises a fixed seat, a rotary table, a short guiding rail; the fixed seat is vertically and fixedly arranged below the ground; the turntable is arranged on the fixed seat, the upper plane of the turntable is flush with the ground, and the turntable can horizontally rotate around the fixed seat; the rotating axis of the horizontal rotation of the turntable is the rotating axis of the rotary guide unit and is also used as the rotating axis of the frame during rotary displacement;

the short guide rail is tightly installed on the rotary disc, and the structure mode is one of the following two types:

the first method is as follows: the linear guide unit is a straight guide rail, and is characterized in that the linear guide unit corresponds to a first structural form and is composed of two symmetrical strip-shaped components which are separately arranged, two inner side surfaces of a middle section formed between the two strip-shaped components are used as guide working surfaces, and the width dimension of the section of each guide working surface is the same as that of the section of each guide working surface of the linear guide rail; the space formed by the guide working surface of the short guide rail can at least accommodate all guide rollers arranged on the rotating side longitudinal beam; when the frame is in standing at the parking space, the central line of the guide working surface of the straight guide rail and the central line of the guide working surface of the short guide rail are on the same straight line; when the frame is positioned in a lane area and all the guide rollers are positioned in a space position formed by a guide working surface in the short guide rail, the frame can make rotary displacement around the rotary axis of the rotary guide unit under the constraint of the short guide rail;

the second method comprises the following steps: the two structural forms of the straight guide units correspond to the two structural forms of the straight guide units and are long-strip-shaped components with convex cross sections, and two outer side surfaces of the convex cross sections are used as guide working surfaces; the width dimension of the section of the guide working surface is the same as that of the section of the guide working surface of the straight guide rail; the length of the short guide rail is at least capable of accommodating all guide rollers arranged on the rotating side longitudinal beam; when the frame is in standing at the parking space, the central line of the guide working surface of the straight guide rail and the central line of the guide working surface of the short guide rail are on the same straight line; when the frame is located in the lane area and all the guide rollers are located above the short guide rail, the frame can rotate around the rotation axis of the rotary guide unit under the constraint of the short guide rail.

5. The mechanism of a parking apparatus front and rear drive frame as recited in claim 4, wherein said rear drive unit comprises a straight traveling side rear drive wheel, a rotating side rear drive wheel; the straight-going side rear driving wheel comprises a motor and a roller; the motor is fixedly arranged at the rear end of the straight side longitudinal beam, the roller is driven by the motor to rotate, and the rotation axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction; the rotating side rear driving wheel comprises a motor and a roller; the motor is fixedly arranged at the rear end of the rotating side longitudinal beam, the roller is driven by the motor to rotate, and the rotating axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction; the rotation axis of the roller of the straight-traveling side rear driving wheel and the rotation axis of the roller of the rotating side rear driving wheel are located on the same straight line.

6. The mechanism of a parking apparatus front and rear driving frame according to claim 5, wherein said front driving unit comprises a straight traveling side front driving wheel, a straight traveling side follower, a rotating side front driving wheel, a rotating side follower;

the straight-moving side front driving wheel comprises a motor and a roller; the motor is fixedly arranged at the front end of the straight side longitudinal beam, the roller is driven by the motor to rotate, and the rotation axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction;

the straight-moving side follow-up device comprises a jacking mechanism and a rotating roller; the jacking mechanism comprises a fixed part and a movable part; the fixed component is tightly installed at the front end of the straight side longitudinal beam; the movable part is arranged on the fixed part, is restrained by the fixed part and can vertically reciprocate relative to the fixed part; the rotary roller is tightly installed at the lower position of the movable part and can freely roll, and the rolling direction is consistent with the rotation tangential direction of the frame; when the jacking mechanism drives the movable part to move upwards, the rotating roller can be driven to move upwards and be separated from the contact with the ground, and the roller of the front driving wheel on the straight-moving side is in contact with the ground; when the jacking mechanism drives the movable part to move downwards, the rotating roller is driven to move downwards, so that the rotating roller can be in contact with the ground, and the roller of the front driving wheel on the straight-moving side is separated from the ground;

the rotary side front driving wheel comprises a motor and a roller; the motor is fixedly arranged at the front end of the rotating side longitudinal beam, the roller is driven by the motor to rotate, and the rotating axis is parallel to the ground and is vertical to the central line of the frame vehicle in the length direction;

the rotating side follow-up device comprises a jacking mechanism and a rotating roller; the jacking mechanism comprises a fixed part and a movable part; the fixed component is tightly installed at the front end of the rotating side longitudinal beam; the movable part is arranged on the fixed part, is restrained by the fixed part and can vertically reciprocate relative to the fixed part; the rotary roller is tightly installed at the lower position of the movable part and can freely roll, and the rolling direction is consistent with the rotation tangential direction of the frame; when the jacking mechanism drives the movable part to move upwards, the rotary roller can be driven to move upwards and be separated from the ground, and the roller of the front driving wheel on the rotary side is in contact with the ground; when the jacking mechanism drives the movable part to move downwards, the rotary roller is driven to move downwards, the rotary roller can be in contact with the ground, and the roller of the front driving wheel on the rotary side is separated from the ground.

7. The parking apparatus front and rear driving frame mechanism as claimed in claim 6, wherein said position detecting unit for detecting the displacement state of said frame comprises at least a forward end detecting element, a rotational end detecting element, a backward end detecting element; the detection element of the forward moving terminal is used for detecting the position of the frame which moves forward from the parking space position to the lane direction and reaches the forward moving terminal; the detection element of the rotation end point is used for detecting the position of the frame which rotates from the position of the forward end point to the rotation end point; the rearward movement end point detection element is used for detecting the position of the frame which moves rearward from the lane position to the parking space direction and reaches the rearward movement end point.

8. The mechanism for driving the frame of the parking apparatus in front and rear directions according to claim 2, wherein: the frame is additionally provided with a front drawknot beam; the front tie beam is perpendicular to the central line of the frame in the vehicle length direction and is horizontally arranged below the front ends of the rotating side longitudinal beams and the front ends of the straight side longitudinal beams and close to the ground; two ends of the front tie beam are respectively movably connected with the inner side of the front end of the rotating side longitudinal beam and the inner side of the front end of the straight side longitudinal beam, so that the front tie beam can tie the rotating side longitudinal beam and the straight side longitudinal beam, the size of the vertical distance between the rotating side longitudinal beam and the straight side longitudinal beam is kept unchanged, and the vertical up-and-down movement of the front tie beam under the restraint can be realized; the limit position of downward movement of the front tie beam is that the bottom plane touches the ground, and the limit position of upward movement is that the bottom plane is completely separated from the contact with the ground; and the limit position of the upward movement of the front tie beam is a normal reset state.

9. The mechanism for driving the frame of the parking apparatus in front and rear directions according to claim 1, wherein: an upper-layer front cross beam is additionally arranged on the frame; the upper layer front cross beam is tightly installed at the notch of the groove-shaped frame of the upper layer of the frame, so that the groove-shaped frame is changed into a hollow closed rectangular frame.

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