CN219081164U - Master-slave parking robot carrying multidirectional traveling carrier - Google Patents

Abstract

The utility model discloses a primary and secondary parking robot carrying a multidirectional running carrier, which comprises: mother car and many multidirectional carrier sub-cars, mother car include: the lifting mechanism is arranged on the chassis of the mother car and used for lifting the lifting platform; the lifting platform is arranged on the lifting mechanism and used for parking the multi-direction carrier sub-vehicle; the lifting platform is a side opening platform or a full platform with no shielding around, wherein the side opening platform is provided with a plurality of openings for the entrance and exit of the multi-directional carrier sub-vehicle, and the lifting platform and the parking layer are provided with a butt joint guiding mechanism which is used for guiding the multi-directional carrier sub-vehicle to enter and exit the lifting platform; the primary-secondary parking robot adopts a mode that a primary vehicle carries a carrier sub-vehicle which moves in multiple directions, and can store and fetch vehicles in multiple directions of a parking layer, so that the high-efficiency dense storage of the three-dimensional parking garage is realized.

Description

Master-slave parking robot carrying multidirectional traveling carrier

Technical Field

The utility model relates to the technical field of automatic parking, in particular to a primary-secondary parking robot carrying a multidirectional traveling carrier.

Background

At present, a mechanical parking garage longitudinal automobile carrier is transplanted to the field of parking robots as a sub-automobile in the form of a sub-automobile, and as the longitudinal automobile carrier can only realize two-way carrying, the longitudinal automobile carrier can only realize first-in first-out or last-in first-out when the automobile is accessed, the automobile is fetched in a queue order or reverse order, the carrying efficiency is low and even the automobile cannot be carried when the target automobile is positioned in a queue middle position, and the dense storage of the automobile is difficult to realize on a goods shelf.

In chinese patent application CN111140058A, a primary-secondary vehicle is disclosed, and the primary-secondary vehicle can only adopt a mode of longitudinally storing and taking out vehicles, so that a space with at least the length of vehicles must be reserved between each storage platform or goods shelf to meet the requirements of running and loading and unloading vehicles of the parking robot, and the occupied area is large. The problems of small effective parking area, large goods shelf layout difficulty, low space utilization rate, few parking spaces, low access efficiency and the like are commonly existing in the existing primary-secondary parking robot system, and the dense storage advantage of the three-dimensional parking garage is not suitable to be exerted.

Disclosure of Invention

In order to solve the problems, the inventor provides a primary-secondary parking robot carrying a multi-directional traveling carrier, wherein the primary-secondary parking robot adopts a simple and reliable guide rail type guide design, so that the multi-directional carrier can travel along a plurality of directions of a preset guide rail, and can rapidly shuttle below a vehicle when no load exists, thereby not only avoiding the traffic jam problem when a plurality of carriers travel, but also effectively improving the parking efficiency. The bus adopts a track type four-way shuttle car with a lifting device or an Automatic Guided Vehicle (AGV) or a mobile robot, a layout track or a planning path can be abutted to the parking garage from multiple directions, and the bus can be stored and taken from multiple directions of the parking garage by matching with the design of the parking garage, so that the high-efficiency dense storage of the three-dimensional parking garage is realized.

In the present utility model, for ease of understanding, the longitudinal direction of the vehicle or the multi-directional carrier sub-vehicle is defined as the longitudinal direction, the width direction is defined as the lateral direction, and the definition of the longitudinal groove rail and the lateral groove rail varies with the direction of the vehicle or the multi-directional carrier sub-vehicle. 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 plane refers to a plane capable of bearing the running of the multi-directional carrier sub-vehicle, and the height of the plane is not limited to the ground plane, and can be a terrace, a floor and the like with structures such as a platform, a floor and the like.

The utility model provides a primary-secondary parking robot carrying a multidirectional running carrier, which comprises: after entering the mother car, the multi-directional carrier sub-car is carried below a target parking layer by the mother car, and then the multi-directional carrier sub-car is lifted by the mother car, so that the multi-directional carrier sub-car enters parking layers of different layers to load and unload vehicles; the parent vehicle includes:

a chassis;

the traveling device is arranged on the chassis and used for driving the bus to travel;

the lifting mechanism is arranged on the chassis, arranged on the travelling device and used for lifting the multidirectional carrier sub-vehicle;

the lifting platform is arranged on the lifting mechanism and used for parking the multi-direction carrier sub-vehicle; the lifting platform is a side opening platform or a full platform with no shielding around, wherein the side opening platform is provided with a plurality of openings for the entrance and exit of the multi-directional carrier sub-vehicle, the lifting platform and the parking layer are provided with a docking guide mechanism, and the docking guide mechanism is used for guiding the multi-directional carrier sub-vehicle to enter and exit the lifting platform;

The multi-directional carrier sub-vehicle is provided with a guide assembly formed by a plurality of guide pieces, and the guide pieces are used for being matched with groove running guide rails embedded in the plane of the parking garage to guide the multi-directional carrier sub-vehicle to move along the groove running guide rails.

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

Further, the height of the vehicle body of the multi-directional carrier sub-vehicle is smaller than the ground clearance of the vehicle on the driving route or the ground clearance of the mechanical structure on the driving route, and the multi-directional carrier sub-vehicle can run in a four-way or multi-way shuttle mode under the vehicle or the mechanical structure on the driving route.

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

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

the guiding sensor is used for guiding the multidirectional carrier sub-vehicle to enter and exit the lifting platform and enabling the guiding assembly to be accurately abutted with the groove running guide rail after the lifting platform is abutted with the navigation reference object at the abutting position of the parking layer.

Further, when the docking guide mechanism is a docking groove guide rail, the docking groove guide rail is any one of a cross-shaped cross, and a cross-shaped cross. When the carrier enters the lifting platform from one direction and needs to exit the lifting platform from the other direction, the guide piece is converted from the entering direction to the exiting direction at the intersection of the butt-joint groove guide rails.

Further, the guide member is fixedly installed on the multi-direction carrier sub-vehicle; or alternatively

The guide piece is arranged on the retraction device to form a retractable guide piece, and the retractable guide piece is put down in a groove guide rail of which the lower position extends into the operation guide rail or the retractable guide piece is positioned in a groove guide rail of which the higher displacement is out of the operation guide rail.

Further, a plurality of retractable guide members of the guide assembly are mounted on a slider assembly mounted on a drive mechanism or guide rail which can reach the positions of the respective guide members;

when the multi-directional carrier sub-vehicle is reversed from one direction, the retracting guide piece is positioned at a high displacement out of 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 retractable guide piece is put down to be positioned at a low position and extend into the running guide rail, the guidance is continuously provided for the multi-directional carrier sub-vehicle, and the reversing of the multi-directional carrier sub-vehicle from one direction to the other direction is realized.

Further, the lifting mechanism is: any one of a single mast lifting mechanism, a scissor type lifting mechanism and a fixed upright lifting mechanism; or a composite lifting mechanism formed by a scissor type lifting mechanism and a single mast lifting mechanism/fixed upright lifting mechanism.

Further, the single mast elevating mechanism comprises:

the single mast is positioned at four corners of the chassis of the mother vehicle;

the single mast is connected with the lifting platform; or alternatively

The single mast is connected with the lifting platform through pulleys and chains/slings; or alternatively

The single mast is configured into a telescopic arm, and the telescopic arm is connected with the lifting platform; or alternatively

The single mast is configured as a telescopic arm, and a winding device on the chassis is connected with the lifting platform through pulleys and chains/slings.

Compared with the prior art, the utility model has the beneficial effects that:

when the carrier sub-vehicle is used for storing and taking the vehicle, the longitudinal storage or the transverse storage or the multidirectional storage can be selected, and the operation has the advantages of rapidness and reliability of the guide rail carrier, flexibility and variability of the automatic guide vehicle and the like. The system can meet the functional requirements of single-station and double-station goods shelf type three-dimensional parking garages, can also meet the functional requirements of plane movable parking floors, can further jointly use with a mother car to enter from multiple positions and multiple directions of the parking floors, and can be used for storing and taking vehicles or reaching target parking spaces through planning guide rail channels, so that a comprehensive intelligent three-dimensional parking system is built, and high-efficiency dense storage of the vehicles is realized.

Drawings

Fig. 1 is a schematic diagram of a structure of a primary-secondary parking robot three-dimensional parking system equipped with a multi-directional travel carrier in embodiment 1;

fig. 2 is a schematic view showing a structure in which the multi-directional carrier sub-vehicle of embodiment 1 runs on the running rail;

FIG. 3 is a schematic view showing the crossing of the running rail and the diagonal direction change groove rail in embodiment 1;

fig. 4 is a perspective view of the telescopic vehicle body multi-direction carrier sub-vehicle in embodiment 1;

fig. 5 is a schematic view showing the bottom structure of the telescopic car body multi-direction carrier sub-car in embodiment 1;

fig. 6 is a schematic view showing a structure of the telescopic vehicle body multi-direction carrier sub-vehicle in embodiment 1 after being contracted;

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

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

FIG. 9 is a schematic view of the structure of a vertical movement wheel set in embodiment 1;

fig. 10 is a front view of the multi-directional carrier sub-cart of embodiment 1 when longitudinally moved;

fig. 11 is a front view of the multi-carrier sub-vehicle of embodiment 1 when it moves laterally;

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

FIG. 13 is a side sectional view of the multi-way carrier sub-cart of example 1;

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

FIG. 15 is a schematic diagram of movement of the multi-directional carrier sub-cart in example 1;

FIG. 16 is a schematic view showing the structure of a cross-shaped butt joint groove track in embodiment 1;

FIG. 17 is a schematic view of the structure of the "I" -shaped docking groove rail of embodiment 1;

FIG. 18 is a schematic view of the structure of the "well" shaped docking groove rail of example 1;

fig. 19 is a schematic plan view of the primary-secondary parking robot three-dimensional parking system in embodiment 2;

fig. 20 is a layout of a linear-drive index guide assembly in embodiment 3;

FIG. 21 is a layout of the index guide assembly in example 3;

FIG. 22 is a schematic view of a first parent vehicle according to embodiment 4;

FIG. 23 is a schematic view of a second parent vehicle according to embodiment 4;

fig. 24 is a schematic view of a third parent vehicle structure in embodiment 4;

fig. 25 is a schematic view of a fourth parent vehicle structure in embodiment 4;

fig. 26 is a schematic structural diagram of a composite lifting mechanism in embodiment 4.

Reference numerals:

11-longitudinal groove rails; 12-transverse groove guide rail; 13-oblique guide rails; 14-parking frame; 15-arc reversing groove guide rails; 16-an annular groove rail; 2-a multi-directional carrier sub-cart; 21-a front telescoping section; 22-a rear telescopic section; 23-a longitudinal movement wheel group; 24-traversing wheel sets; 25-lateral-longitudinal travel switching means; 31-connecting segments; 311-worm gear; 32-a first clamping device; 33-a second clamping device; 4-a transfer device; 5-corner guide wheels; 51-a longitudinally retractable guide wheel; 52-a transverse retractable guide wheel; 53-fixed guide wheels; 6, a guide wheel; 7-a mother car; 71-a walking device; 72-lifting mechanism; 721-single mast; 722-pulley; 723-chain; 724-a rail mechanism; 725-a hoist; 726-a cross beam; 73-lifting platform; 74-butt groove guide rail; 8-a slider assembly; 91-ball screw; 92-guide rail.

Detailed Description

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

In the present utility model, for ease of understanding, the longitudinal direction of the vehicle or carrier sub-vehicle is defined as the longitudinal direction, the width direction is defined as the lateral direction, and the definition of the longitudinal groove rail and the lateral groove rail varies with the direction of the vehicle or carrier sub-vehicle. In practical engineering application, the global coordinate system can be defined first and then the longitudinal direction and the transverse direction can be defined.

Example 1

As shown in fig. 1, the utility model provides a stereoscopic parking system based on a primary-secondary parking robot, which comprises a primary vehicle 7, a multi-directional carrier sub-vehicle 2 and a multi-layer parking garage, wherein a plurality of parking frames 14 are arranged on each layer of parking layer, a running guide rail formed by groove guide rails embedded on the ground is paved on the plane of each layer of parking layer, the vehicles are parked on the parking frames 14, and the space between the overhead height below the parking frames 14 and the space between the parking frames 14 can be used for the multi-directional carrier sub-vehicle 2 to run in four directions when no load exists. After the multi-directional carrier sub-vehicle 2 enters the mother vehicle 7, the multi-directional carrier sub-vehicle 2 is carried to the lower part of the target parking layer by the mother vehicle, and then the multi-directional carrier sub-vehicle 2 is lifted by the mother vehicle 7, so that the multi-directional carrier sub-vehicle 2 enters the parking layers of different layers. The mother vehicles 7 can carry the multi-direction carrier sub-vehicles 2 to move to different positions of the goods shelves for vehicle storage and pickup, single-channel paths can be arranged among the goods shelves, and when a plurality of mother vehicles 7 work simultaneously, the mother vehicles can respectively move to other positions of the goods shelves to butt the parking layer, so that traffic jam is avoided, site occupation is reduced, and storage density and work efficiency are improved.

The master car 7 of the master-slave parking robot adopts an all-directional driven laser navigation Automatic Guided Vehicle (AGV) or A Mobile Robot (AMR), and is driven by four steering wheels, so that all-directional movement such as straight running, transverse running, translation, spin and the like can be realized to be in butt joint with the parking garage from all directions according to a planned path. The lifting mechanism 72 of the lifting platform 73 may be of the prior art, for example: lifting the full-platform lifting platform with no blocking around by adopting a scissor type lifting mechanism; or a lifting platform with four groups of hydraulic or electric drive single mast telescopic mechanisms matched with chain wheels and hanging chains for lifting four side openings; or a scissor type lifting device is combined with a portal frame driven by a side hydraulic oil cylinder to lift a lifting platform with one side open. In this embodiment, the lift mechanism 72 is a fixed column lift mechanism. The multidirectional carrier sub-vehicle 2 adopts a telescopic vehicle body structure, and the total height of the telescopic vehicle body structure is smaller than the minimum ground clearance of the vehicle; the length of the vehicle body is longer than the vehicle wheelbase when the vehicle body is in an extending state; when the vehicle body is in a contracted state, the length of the vehicle body is smaller than the vehicle wheelbase, the total width of the vehicle body is smaller than the vehicle wheelbase, and the minimum ground clearance height of the vehicle and the space between the tires can be used for four-way running of the multi-way carrier sub-vehicle 2 when no load exists.

The single parking spaces are arranged above the intersections of the cross-shaped crossed longitudinal groove guide rails 11 and the transverse groove guide rails 12, all the parking spaces are arranged in a matrix mode, and the cross-shaped crossed longitudinal groove guide rails 11 and the transverse groove guide rails 12 matched with the parking spaces are arranged in a grid mode. The running guide rail is provided with a plurality of multi-directional carrier sub-carts 2, and the multi-directional carrier sub-carts 2 can longitudinally and transversely move along the running guide rail, so that when the multi-directional carrier sub-carts 2 are empty, the multi-directional carrier sub-carts 2 can shuttle below a vehicle, the running distance can be shortened, the running efficiency can be improved, and various scheduling modes can be realized. When the multi-directional carrier sub-vehicle 2 is loaded, the multi-directional carrier sub-vehicle moves along the peripheral running rail or along the running rail at the non-parking space. In this embodiment, the reversing groove guide rail is an oblique reversing guide rail 13, the oblique guide rail 13 passes through the intersection point of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, so as to form a cross structure similar to a "meter" shape, as shown in fig. 3, the "meter" shape strokes can be increased or decreased and combined as required to form different cross structures, retractable guide members are respectively arranged at the end points of each font stroke (line segment) on the carrier sub-vehicle, and fixedly installed guide members can be arranged at the positions corresponding to the intersection points of the guide rails. The multi-directional carrier sub-vehicle 2 can switch from the movement direction along the longitudinal groove guide rail 11/the transverse groove guide rail 12 to the translational movement of the oblique reversing guide rail 13, so as to realize the multi-directional walking function.

Specifically, as shown in fig. 2 to 15, the multi-directional carrier sub-vehicle 2 includes: the vehicle body, a transfer device 4 and a travelling mechanism which are arranged on the vehicle body, wherein the travelling mechanism can adopt a unidirectional wheel driving mode or a steering wheel driving mode or an omni-directional wheel driving mode, the unidirectional wheel driving mode is divided into all wheel driving mode or partial wheel driving mode (partial wheel is 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.

In this embodiment, the traveling mechanism includes: a vertical shift wheel set 23, a lateral shift wheel set 24 and a lateral and vertical travel switching device 25. The vertical movement wheel set 23, the lateral movement wheel set 24 and the lateral and vertical movement switching device 25 can all adopt the structure in the Chinese patent application CN 112761396A. Specifically, the vertical movement wheel group 23 is constituted by a plurality of wheels arranged longitudinally, the vertical movement wheel group 23 is on the ground, and the movement thereof is driven by a vertical movement driving motor to cause the multi-directional carrier sub-vehicle 2 to walk on the ground. The traverse wheel group 24 is constituted by a plurality of laterally arranged wheels, and its movement is driven by a traverse drive motor. The transverse and longitudinal switching of the multi-directional carrier sub-vehicle 2 is realized by a transverse and longitudinal travel switching device 25, and in the embodiment, a wheel lifting mode is adopted, namely, when the multi-directional carrier sub-vehicle moves longitudinally, the transverse moving wheel set 24 is in a lifting state and is not contacted with the ground; when the transverse movement is switched, the longitudinal movement wheel set 23 is lifted and does not contact the ground, and the transverse movement wheel set 24 is lowered and contacts the ground.

The transfer device 4 can adopt one or a plurality of common mechanisms of a vehicle lifting plate type, a comb tooth type lifting mechanism, a clamping type mechanism, a tire clamping type mechanism, a maintenance point lifting mechanism and the like to change the vehicle position on the multi-direction carrier sub-vehicle or a parking space through actions of lifting, clamping, forking and the like under the control of the control module, so as to finish the loading and unloading of the vehicle, thereby enabling the multi-direction carrier sub-vehicle to finish the vehicle carrying task. In the embodiment, a tire clamping type is adopted, and according to the tire position detected by the sensor when the telescopic part stretches out, the clamping device moving mechanism is controlled to move the clamping device to the corresponding position, so that the adaptation of the tire positions of vehicles with different wheelbases is realized. The clamping device is used for controlling the extension or rotation of the fork arm to clamp the vehicle tyre, and lifting the fork arm after the clamping action is completed to lift the vehicle to be carried. The structure is an existing structure and will not be described in detail here.

Further, the vehicle body is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body, wherein the long vehicle body is longer than the vehicle wheelbase, and the short vehicle body is shorter than the vehicle wheelbase. In the embodiment, the telescopic vehicle body is adopted, so that the telescopic vehicle body has better applicability.

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

Further, a fixed guide wheel 53 is arranged at the center of the multidirectional carrier sub-vehicle 2, and when the carrier sub-vehicle passes through the intersection of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, two guide wheels can be always positioned in the guide rail, so that the situation of collision intersection when the guide wheels enter the guide rail is avoided, and the running stability and reliability of the carrier sub-vehicle are improved. A longitudinal retractable guide wheel 51 is arranged on each of the front telescopic section 32 and the rear telescopic section 33 and is matched with the longitudinal groove guide rail 11, so that the longitudinal retractable guide wheel plays a role in guiding in the telescopic process of the vehicle body and plays a role in stabilizing heading when the vehicle runs longitudinally under the load in an extended state. The longitudinal retractable guide wheel 51 is retracted in a high position to disengage the longitudinal groove rail 11 during idle retraction or lateral travel.

The four guide wheels 6 diagonally arranged on the multi-direction carrier sub-vehicle 2 are used for oblique reversing, and the guide wheels 6 adopt the same retractable structure as the longitudinal retractable guide wheels 51 and the transverse retractable guide wheels 52. If the multi-directional carrier sub-vehicle 2 moves longitudinally, when the multi-directional carrier sub-vehicle 2 reverses at the intersection point of the oblique guide rail 13 and the running guide rail, the longitudinal retractable guide wheel 51 is lifted to a high position, so that the multi-directional carrier sub-vehicle exits the longitudinal groove guide rail 11, meanwhile, the guide wheel 6 is put down to a low position and enters the oblique guide rail 13, the multi-directional carrier sub-vehicle is limited by the oblique guide rail 13, after entering the oblique guide rail 13, the vehicle body keeps still, the vehicle head direction is still longitudinal, then the multi-directional carrier sub-vehicle 2 moves forward, and the multi-directional carrier sub-vehicle 2 keeps parallel to the original longitudinal direction along the oblique guide rail 13 by adopting a steering wheel driving mode or an all-directional wheel driving mode. 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.

Specifically, as shown in fig. 16, the mother car 7 is mainly composed of a traveling device 71, a lifting mechanism 72, a lifting platform 73, and the like, and four side surfaces of the lifting platform 73 are opened in an open structure, so that the multi-directional carrier sub-car 2 can enter and exit the lifting platform from four directions. Wherein the lifting mechanism 72 may be a fixed column lifting mechanism, such as: (1) The fixed upright hoist lifting mechanism, namely, the top end of the upright is a fixed pulley, is connected with the carrying platform through a pulley chain or sling, and is provided with a motor chain wheel driving chain or a hoist winding sling lifting platform 73 at the bottom.

(2) The ball screw pair lifting mechanism is characterized in that a guide rail and a screw rod are arranged on a stand column, a nut and a guide wheel are connected with a carrying platform, and a motor is arranged on the lower portion to drive the screw rod to rotate so as to drive the nut and the lifting platform 73 to lift along the guide rail.

(3) The guide rail and the rack are arranged on the upright post, the gear, the guide wheel and the motor are arranged on the lifting platform 73, the motor drives the gear to rotate, the gear is meshed with the rack, and the guide wheel guides in the guide rail to drive the lifting platform 73 to lift.

When the multi-directional carrier sub-vehicle 2 on the main vehicle 7 and the running guide rail in the parking space area need to be in butt joint, a butt joint guiding mechanism for guiding the multi-directional carrier sub-vehicle 2 to enter the running guide rail is arranged on the lifting platform and is a butt joint groove guide rail 74. If the positioning accuracy of the parent carriage 7 is low, the rail docking accuracy is poor, which causes a problem in the transitional running of the multi-directional carrier sub-carriage 2. Therefore, the smooth transition running of the multi-directional carrier sub-vehicle 2 can be realized by adopting a method of combining the trackless guidance and the tracked guidance of the automatic guided vehicle technology. For example: the magnetic tape is laid on the parking layer delivering and warehousing platform and the mother car lifting platform 73 to replace a section of running guide rail and the butt joint groove guide rail 74, and the magnetic navigation sensor is arranged on the multi-directional carrier sub-car 2 to detect the magnetic tape. When the parking position of the mother car 7 deviates, namely, the deviation between the lifting platform 73 of the mother car 7 and the magnetic tapes of the parking layer delivering and warehousing stations also appears, the magnetic navigation sensor on the multi-directional carrier sub-car 2 detects the deviation between the magnetic navigation sensor and the magnetic tapes, the control module of the multi-directional carrier sub-car 2 calculates the control quantity such as the rotation angle, the moving distance, the speed and the like of the body of the multi-directional carrier sub-car 2 required for correcting the deviation through a control algorithm, then the motion control is carried out, the driving device is controlled to enable the multi-directional carrier sub-car 2 to correct the posture to drive along the magnetic tapes of the delivering and warehousing stations, finally, the parking position deviation of the mother car 7 is corrected, the guide assembly on the multi-directional carrier sub-car 2 smoothly enters the running guide rail, the multi-directional carrier sub-car 2 is guided to normally run along the running track, and the stable switching of the trackless guiding to the track guiding is completed. On the contrary, when the multi-directional carrier sub-vehicle 2 returns to the mother vehicle 7 from the parking space area, the magnetic navigation sensor detects the magnetic tape deviation after the guide piece of the multi-directional carrier sub-vehicle 2 is separated from the operation guide rail of the parking garage, the control module controls the driving device to enable the multi-directional carrier sub-vehicle 2 to correct the posture, drive into the lifting platform from the out-in-storage platform, drive along the magnetic tape on the lifting platform during transitional driving, finally the parking deviation of the mother vehicle 7 is corrected, the multi-directional carrier sub-vehicle 2 can be accurately parked on the mother vehicle 7, and the stable switching from the rail guiding to the trackless guiding is completed. Therefore, the fault tolerance, adaptability and accuracy of the docking of the primary and secondary parking robots and the parking garage are improved, and the reliable, safe and efficient operation of the primary and secondary parking robot three-dimensional parking system is further ensured. Similarly, the multi-directional carrier sub-vehicle 2 is configured with a vision sensor or a sensor such as a laser radar as a guiding sensor for detecting itself and a target: the deviation of the lifting platform or the out-in platform of the mother car can also adopt other automatic guided vehicle guiding technologies, and the control module controls the driving device to enable the multidirectional carrier sub-car 2 to correct the gesture to enter and exit the lifting platform or enable the guiding component of the multidirectional carrier sub-car 2 to enter the running guide rail. The posture correction and motion control of the multi-directional carrier sub-vehicle 2 can be combined with the driving mode, the unidirectional wheel driving mode can adopt a differential driving mode, the steering wheel and the omnidirectional wheel driving mode can adopt an omnidirectional driving mode, and the corresponding automatic guided vehicle control technology can be realized by a person skilled in the art based on the structure and the conventional control mode, and is not described in detail herein.

The docking groove guide 74 may be any of a cross or a cross, and in this embodiment, the docking groove guide 74 adopts the same layout of the cross of the longitudinal groove guide 11 and the transverse groove guide 12 as the parking space, and guides the multi-directional carrier sub-vehicle 2 into the parking layer by adopting a guide docking guide manner, so as to improve the rapidity of the multi-directional carrier sub-vehicle 2 entering the parking layer from the lifting platform 73.

Example 2

As shown in fig. 19, the present embodiment provides a primary-secondary parking robot three-dimensional parking system equipped with a multi-directional travel carrier, which connects parking space sections a (A1-A5), B (B1-A3), C (C1-C3) and D (D1-D4) by using the layout of the guide rails.

Specifically, for example, if a vehicle is to be carried to the parking space of zone A1, the load carrier sub-vehicle is driven into the parking area along the longitudinal groove rail 11 with its three longitudinal retractable guide wheels 51 in the low position. The carrier sub-vehicle 1 is in the position of reaching the annular groove guide rail 16, the longitudinal retractable guide wheels 51 and 2 transverse retractable guide wheels 52 at the 1 center are in low positions, the other two longitudinal retractable guide wheels 51 are in high positions, the longitudinal and transverse reversing is changed into a transverse moving mode, and the carrier sub-vehicle transversely runs to reach the A1 parking space. The carrier sub-vehicle 1 can also rotate 90 degrees at the position of the annular groove guide rail 16 shown in fig. 12, then turn to transversely travel to the parking space B1, turn from the curve of the arc-shaped reversing groove guide rail 15 corresponding to the parking space B1, and then longitudinally travel to the parking space A1. And unloading the vehicle to finish the carrying task.

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

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

If the vehicle in the D2 parking space needs to be taken out, if A5 is empty, the empty carrier sub-vehicle firstly moves to B3, and is switched to move obliquely at the position of B3 to enter D2 along the oblique reversing groove guide rail 13, the vehicle is lifted and then is conveyed to the B3 parking space along the oblique reversing groove guide rail 13, then is reversed to longitudinally travel to the B1 parking space, then is reversed to transversely travel to the annular groove guide rail 16, and is reversed to longitudinally travel to the parent vehicle waiting for connection after rotating anticlockwise for 45 degrees in the posture shown as the vehicle No. 1.

It should be understood that the operation of the multi-way carrier sub-vehicle 2 on a flat surface is not limited to one way, and that point-to-point movement may be accomplished in a variety of combinations, with the particular manner being considered depending on factors such as the number of actual stops, vehicle storage locations, etc.

The above specifically describes that the multi-directional carrier sub-vehicle 2 schedules the conveyance and parking in the parking floor plane based on the floor where the functions thereof are possible. In this embodiment, three types of primary and secondary parking robots are also configured, three types of running gear 71 are all configured to be driven by four steering wheels in all directions, and the primary car 7 is a laser navigation all-directional mobile robot. The lifting mechanism 72 of the model I is provided with four sets of lifting platforms 73 with single-mast hydraulic telescopic arms, chain wheels and chains and four side openings, the lifting platforms 73 are provided with docking groove guide rails 74 which are crossed in a cross shape, and the multi-direction carrier sub-vehicle 2 can enter and exit the lifting platforms 73 in four directions; the lifting mechanism 72 of the model II is provided with a rear side double-cylinder hydraulic lifting portal and a bottom scissor fork type lifting mechanism to jointly lift a three-side lifting platform 73, the lifting portal can not enter and exit at the rear side unlike the lifting of the whole platform, the lifting platform 73 is provided with a docking groove guide rail 74 which is crossed in a cross shape, and the multi-direction carrier sub-vehicle 2 can enter and exit the lifting platform 73 in a three-way manner; the lifting mechanism 72 of model III is configured with a bottom scissor lift mechanism to lift the full platform lift platform 73, the lift platform 73 is provided with a cross-shaped cross magnetic tape, and the multi-directional carrier sub-cart 2 can four-way in and out of the lift platform 73. As shown in fig. 19, the I-type primary-secondary parking robot travels laterally to the side of the target C2 parking space, the lifting mechanism 72 lifts the lifting platform 73 to dock with the C2 parking space, the docking groove guide rail 74 aligns with the lateral groove guide rail 12 of the running guide rail, the No. 2 multi-directional carrier is unloaded or the carrier is guided by the guiding assembly along the lateral groove guide rail 12 into the docking groove guide rail 74 to travel into the lifting platform 73, the lifting mechanism 72 lowers the lifting platform 73 and the multi-directional carrier sub-vehicle 2, and the mother vehicle 7 carries the multi-directional carrier sub-vehicle 2 and the vehicle is unloaded to the target platform. The type II primary-secondary parking robot longitudinally runs to the front of the target A3 parking space, the same action as that of the type I primary-secondary parking robot is completed, the guide assembly enters the longitudinal groove guide rail 11 along the butt-joint groove guide rail 74 to guide the vehicle to enter the lifting platform 73, the carried vehicle is conveyed and transferred to the A3 parking space through the multi-directional carrier sub-vehicle 2, and then the multi-directional carrier sub-vehicle 2 is recovered or directly goes to the next target point to carry other multi-directional carrier sub-vehicles. The III type primary-secondary parking robot transversely runs to the side of the target D1 parking space, the lifting mechanism 72 lifts the lifting platform 73 to be in butt joint with the D1 parking space, the No. 4 multi-directional carrier sub-vehicle 2 runs out of the transverse groove guide rail 12 of the D1 parking space running guide rail, the vehicle-mounted magnetic tape sensor runs into the lifting platform 73 along the tape guide arranged on the inlet and outlet and the lifting platform 73, the lifting mechanism 72 lowers the lifting platform 73 and the multi-directional carrier sub-vehicle 2, and the primary vehicle 7 carries the multi-directional carrier sub-vehicle 2 and the vehicle to go to the target platform for unloading. The embodiment is also provided with an upper system for uniformly dispatching the primary and secondary parking robots, the primary vehicle 7 and the multi-directional carrier sub-vehicle 2, wherein the upper system consists of a central control computer and a communication module, and the upper system is communicated with the primary vehicle 7 of the primary and secondary parking robots and the multi-directional carrier sub-vehicle 2 through a wireless network. The three-dimensional parking garage is composed of multiple layers of platforms distributed in a matrix or a cylindrical tower and the like, and the comb-tooth type parking frame three-dimensional parking garage shown in fig. 1 is adopted in the embodiment. The number of the mother vehicles 7 and the multi-directional carrier sub-vehicles 2 in the system can be 1:1 or a:b according to the operation environment, and the number of the mother vehicles 7 is more than that of the multi-directional carrier sub-vehicles 2 or less than that of the multi-directional carrier sub-vehicles 2. The system operation process is as follows:

1. The driver stops the vehicle to a warehouse-in platform and gets off the vehicle;

2. the upper system receives the safety and in-place signals of the vehicle at the platform, and the central control computer sends a vehicle storage task instruction to the idle master-slave parking robot through the communication module;

3. the idle primary-secondary parking robot drives to the platform position, the lifting platform is aligned to the platform, the upper system or the primary vehicle control system sends an instruction to the multi-directional carrier sub-vehicle 2, the multi-directional carrier sub-vehicle 2 longitudinally or transversely drives to the lower part of the comb-tooth type parking frame according to the type of the platform, the comb-tooth type parking frame is lifted to be meshed with the comb-tooth type parking frame, the vehicle is lifted, and the vehicle is driven back to the lifting platform of the primary vehicle 7;

4. the multi-directional carrier sub-vehicle 2 descends the comb rack to a low position, and when the lifting platform is parked, the wheel train switching device enables all wheels to be in contact with the lifting platform at the low position, so that the multi-directional carrier sub-vehicle 2 is prevented from sliding when the mother vehicle 7 runs; the multi-directional carrier sub-vehicle 2 reports completion of loading tasks of the upper system and the parent vehicle control system.

5. The upper system sends the target position to the primary-secondary parking robot, the primary-secondary parking robot runs to the target plane position, the lifting platform is lifted to be aligned with the platform, and the multi-direction carrier sub-vehicle 2 lifts the comb rack and switches the wheel system to the required running direction.

6. The multi-directional carrier sub-vehicle 2 runs to a target parking space in the guide track system, the comb rack is lowered, the vehicle is parked on the comb rack of the parking space, and the multi-directional carrier sub-vehicle 2 reports the completion of the unloading task to the upper system and the mother vehicle.

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

8. The execution process of the vehicle taking task is the same as that of vehicle storage.

The vehicles in parking spaces around the passage can be directly carried under the coordination of the four-way driving functions of the lifting platform and the multi-way carrier sub-vehicle 2. According to whether the comb rack and the primary-secondary parking robot configuration proportion are installed on the primary-secondary car lifting platform, when the taken target car is located in a parking space in the middle area, the upper system schedules the primary-secondary parking robot or independently schedules the primary car 7 and the multi-directional carrier sub car 2 to cooperatively work, and the car taking can be completed in multiple modes or multiple mode combinations:

1. a parking space with a car is arranged between the two channels, and the primary and secondary parking robots firstly transport the obstacle vehicles to the idle parking spaces in the area or other areas. Then, the multi-directional carrier sub-vehicle 2 carries the target vehicle to the master vehicle 7 through a channel formed by the empty parking spaces, and the master-slave parking robot carries the target vehicle to the platform to finish vehicle taking; or the target vehicle is transported to the platform by another primary-secondary parking robot, and the vehicle taking is completed.

2. And when no free parking space exists between the two parking robots, the two primary and secondary parking robots work cooperatively, one primary and secondary parking robot conveys the obstacle vehicle to the primary parking space for temporary storage, the other primary and secondary parking robot takes the target vehicle out and sends the target vehicle to the platform, and the former primary and secondary parking robot conveys the obstacle vehicle to the original target vehicle parking space, so that the vehicle taking is completed.

3. And a plurality of parking spaces with vehicles are arranged between the channels, and one primary-secondary parking robot or a plurality of primary-secondary parking robots work cooperatively according to modes 1 and 2 or mode combination to finish vehicle taking.

4. A plurality of car parking spaces are arranged between the same-layer platform and the channel, and the same-layer platform has idle parking spaces. The multi-sub-master parking robots can put the multi-directional carrier sub-cars 2 carried by the sub-master parking robots into the same-layer platform. According to the ratio of the vehicle taking and taking tasks, when the vehicle taking tasks are multiple or the number of the multi-directional carrier sub-vehicles 2 is larger than that of the master vehicle 7, part of the multi-directional carrier sub-vehicles 2 can reside in the stereo garage. And under the dispatching of an upper system, the multi-directional carrier sub-vehicle 2 on the same platform sequentially carries the obstacle vehicles to an idle parking space, opens a carrying channel for the target vehicle, and then finishes vehicle taking according to the mode 1. Meanwhile, the idle master car 7 can be matched with other resident multidirectional carrier sub-cars 2 to finish other car storing and taking tasks under the dispatching of an upper system.

5. A plurality of car parking spaces are arranged between the same-layer platform and the channel, and no idle parking space exists on the same-layer platform. The multi-station master-slave parking robot can put the multi-directional carrier sub-vehicles 2 carried by the multi-station master-slave parking robot into the same-layer platform to work together with the resident multi-directional carrier sub-vehicles 2, the master vehicle 7 is scheduled by the upper system to reach a required position, all the multi-directional carrier sub-vehicles 2 simultaneously move obstacle vehicles on the whole row or whole column of associated parking spaces according to the same beat under the scheduling of the upper system, simultaneously, the carrying channels are opened for target vehicles by using modes 1 and 2, and then the vehicle taking is completed according to the mode 1. Meanwhile, the idle master car 7 can be matched with other resident multidirectional carrier sub-cars 2 to finish other car storing and taking tasks under the dispatching of an upper system.

Example 3

The present embodiment provides a setting of a guide assembly, as shown in fig. 20, on the multi-directional carrier sub-vehicle 2, three longitudinally retractable guide wheels 51 and two transversely retractable guide wheels 52 are provided, the two transversely retractable guide wheels 52 are respectively mounted on the two slide block assemblies 8, and the slide block assemblies 8 drive the transversely retractable guide wheels 52 to respectively move to the transverse and two oblique positions under the driving of the two ball screws 91 of the driving mechanism. When the multi-directional carrier sub-vehicle 2 runs longitudinally, three longitudinal retractable guide wheels 51 are positioned at a low position and enter the longitudinal groove guide rail; when the multi-direction carrier sub-vehicle 2 spin-commutates, one longitudinal retractable guide wheel 51 at the center is positioned at the lower position and positioned at the intersection point of the running guide rails, and two longitudinal retractable guide wheels 51 at the end head enter the annular groove guide rail 16; the two laterally retractable guide wheels 52 are in a raised position. When the horizontal and oblique direction changes, one longitudinal retractable guide wheel 51 at the center is positioned at a low position, and the other two longitudinal retractable guide wheels 51 are positioned at a high position; when the reversing is transverse, the driving slide block assemblies 8 of the two ball screws 91 drive the two transverse retractable guide wheels 52 to move to the positions corresponding to the transverse groove guide rails 12, and then the two transverse retractable guide wheels 52 are put down to be in a low position and enter the transverse groove guide rails 12; when the reversing is oblique, the driving slide block assemblies 8 of the two ball screws 91 drive the two transverse retractable guide wheels 52 to move to the corresponding oblique reversing groove guide rail 13, and then the two transverse retractable guide wheels 52 are put down to be in a low position and enter the oblique reversing groove guide rail 13. When the curve turns, one longitudinal retractable guide wheel 51 at the center is retracted to be in a high position, and the two longitudinal retractable guide wheels 51 at the end head enter the arc reversing groove guide rail 15. The longitudinal retractable guide wheels 51 or the transverse retractable guide wheels 52 enter corresponding groove guide rails to guide the multi-direction carrier sub-vehicle 2 to change direction or turn to run under the drive of the driving device.

As shown in fig. 21, three longitudinal retractable guide wheels 51 are arranged on the multi-directional carrier sub-vehicle 2, one is arranged at the center of the vehicle body, and the multi-directional carrier sub-vehicle is matched with traveling, reversing and steering to be retracted or put down; two are mounted on two slide assemblies 8, respectively. The two slide block assemblies 8 are arranged on the guide rail 92 which is connected with the positions corresponding to the longitudinal, transverse and oblique reversing groove guide rails, the two slide block assemblies 8 are provided with a driving device, the slide block assemblies 8 drive the longitudinal retractable guide wheels 51 which are positioned at a high position to respectively move to the positions corresponding to the longitudinal groove guide rail 11, the transverse groove guide rail 12, the oblique reversing groove guide rail 13, the arc reversing groove guide rail 15 and the annular reversing groove guide rail 16 along the guide rail 92 under the driving of the driving device, and the retractable guide wheels 51 are put down to be positioned at a low position to enter the corresponding groove guide rail to guide the multi-direction carrier sub-vehicle 2 to carry out reversing or steering running under the driving of the driving device.

Example 4

In this embodiment, the lifting mechanism 72 of the parent vehicle 7 adopts a single mast lifting mechanism, the single mast lifting mechanism is composed of single stage or multiple stages according to the height and the layer number of the stereo garage, and the driving mechanism is a hydraulic cylinder or an electric push rod or a screw rod or a gear rack or a steel rope reel, a composite structure and the like. As shown in fig. 22, the single mast lift mechanism includes: the four single masts 721, the single masts 721 are connected to the elevating platform 73 through pulleys 722, a chain 723 or a sling, and the elevating platform 73 is elevated through the chain 723 or the sling.

In addition, as shown in fig. 23, the single mast lift mechanism may be a first mast 721 and a guide rail mechanism 724 thereof connected to the lift platform 73 to complete the lifting operation of the lift platform 73.

As shown in FIG. 24, the single mast hoist is a telescoping boom structure similar to a crane, which forms a composite structure with the hoist 725. The multi-stage lifting and movable pulley structure can effectively reduce the total height of empty vehicles, carrying vehicles and operation of the secondary parking mobile robot, has low space requirement, is suitable for single-layer and multi-layer three-dimensional parking, has good trafficability under the conditions of limited fire door, channel and garage layer height and the like, is suitable for various fields, can flexibly layout three-dimensional parking spaces, has high space utilization rate and can realize dense storage.

As shown in FIG. 25, the spar members 726 may be used to connect the top ends of the single pole in pairs or all together, or the bottom of the single pole may be connected in pairs or all together by spar members 726 to form a mast or frame structure. Because the size of the lifting platform 73 is smaller than the area surrounded by the beams 726, the lifting platform cannot be directly in butt joint with the parking floor through the butt joint guide mechanism, so that the springboard with the butt joint guide mechanism is arranged on the side edge of the lifting platform 73, which is interfered by the beams 726, and is put down to overlap with the parking floor when being in butt joint with the parking floor, and the carrier sub-vehicle is folded after entering and exiting the lifting platform.

Similarly, the fixed upright lifting mechanism can connect the upright of the fixed upright lifting mechanism together in pairs or all the upright lifting mechanisms are connected together by using the cross beam, so that the structural strength and the stability of the fixed upright lifting mechanism are improved. Except for one mode of arranging a folding and unfolding gangway with a butt joint guide mechanism on the lifting platform 73; the cross beam corresponding to the parking layer can be provided with a springboard with a butt-joint guiding mechanism, and the springboard is used as a transition connection between the lifting platform 73 and the parking layer when being in butt joint with the parking layer, so that the carrier sub-vehicle can enter and exit the lifting platform.

As shown in fig. 26, the chassis of the parent car is provided with a lifting mechanism comprising two single mast lifting mechanisms on the rear side and a bottom scissor lift mechanism, the single mast 721 is connected to the lifting platform 73 via pulleys 722 and chain/sling 723, and the scissor arms 727 of the scissor lift mechanism are connected to the bottom of the lifting platform 73, and cooperate to jointly lift the lifting platform 73. The difference from the full platform lift is that the multi-directional carrier sub-cart 2 passes in and out of the lift platform 73 at the rear side through the space between the two single masts 721 and the side opening, realizing a four-way in and out of the lift platform 73.

The foregoing description of the utility model 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 utility model pertains, based on the idea of the utility model.

Claims (9)

1. A primary-secondary parking robot for carrying a multidirectional travel carrier, comprising: after the multi-directional carrier sub-vehicles enter the mother vehicle, the multi-directional carrier sub-vehicles are carried to the lower part of the target parking layer by the mother vehicle, and then the multi-directional carrier sub-vehicles are lifted by the mother vehicle, so that the multi-directional carrier sub-vehicles enter the parking layer loading and unloading vehicles on different layers, and the multi-directional carrier sub-vehicles are characterized in that:

the parent vehicle includes:

a chassis;

the traveling device is arranged on the chassis and used for driving the bus to travel;

the lifting mechanism is arranged on the chassis and used for lifting the multi-direction carrier sub-vehicle;

the lifting platform is arranged on the lifting mechanism and used for parking the multi-direction carrier sub-vehicle; the lifting platform is a side opening platform or a full platform with no shielding around, wherein the side opening platform is provided with a plurality of openings for the entrance and exit of the multi-directional carrier sub-vehicle, the lifting platform and the parking layer are provided with a docking guide mechanism, and the docking guide mechanism is used for guiding the multi-directional carrier sub-vehicle to enter and exit the lifting platform;

the multi-directional carrier sub-vehicle is provided with a guide assembly formed by a plurality of guide pieces, and the guide pieces are used for being matched with groove running guide rails embedded in the plane of the parking garage to guide the multi-directional carrier sub-vehicle to move along the groove running guide rails.

2. The child-mother parking robot for mounting a multi-directional traveling carrier according to claim 1, wherein the body of the multi-directional carrier sub-vehicle is any one of a long body, a short body, and a telescopic body.

3. The child-mother parking robot for carrying a multi-directional traveling carrier according to claim 1, wherein the height of the body of the multi-directional carrier sub-vehicle is smaller than the ground clearance of the vehicle on the traveling route or the ground clearance of the mechanical structure on the traveling route, and the multi-directional traveling carrier sub-vehicle can travel in four or more directions under the vehicle or the mechanical structure on the traveling route.

4. The child-mother parking robot carrying a multi-directional traveling carrier according to claim 1, wherein the docking guide mechanism is a docking groove guide rail which is embedded in the lifting platform and is identical to the groove running guide rail, or a navigation reference object which is arranged at a docking position of the lifting platform and the parking floor;

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

the guiding sensor is used for guiding the multidirectional carrier sub-vehicle to enter and exit the lifting platform and enabling the guiding assembly to be accurately abutted with the groove running guide rail after the lifting platform is abutted with the navigation reference object at the abutting position of the parking layer.

5. The child-mother parking robot for carrying a multi-directional traveling carrier as claimed in claim 4, wherein the docking guide mechanism is a docking groove guide rail, and the guide member is converted from an entering direction to an exiting direction at a crossing of the docking groove guide rail when the carrier enters the elevating platform from one direction and exits the elevating platform from the other direction.

6. The primary-secondary parking robot for carrying a multi-directional traveling carrier according to claim 1,

the guide piece is fixedly arranged on the multi-direction carrier sub-vehicle; or alternatively

The guide piece is arranged on the retraction device to form a retractable guide piece, and the retractable guide piece is put down in a groove guide rail of which the lower position extends into the operation guide rail or the retractable guide piece is positioned in a groove guide rail of which the higher displacement is out of the operation guide rail.

7. The child-mother parking robot carrying a multi-directional travel carrier according to claim 6, wherein a plurality of retractable guides of the guide assembly are mounted on a slider assembly mounted on a drive mechanism or rail accessible to the respective guide positions;

when the multi-directional carrier sub-vehicle is reversed from one direction, the retracting guide piece is positioned at a high displacement out of 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 retractable guide piece is put down to be positioned at a low position and extend into the running guide rail, the guidance is continuously provided for the multi-directional carrier sub-vehicle, and the reversing of the multi-directional carrier sub-vehicle from one direction to the other direction is realized.

8. The child-mother parking robot for mounting a multi-directional travel carrier according to claim 1, wherein the lifting mechanism is: any one of a single mast lifting mechanism, a scissor type lifting mechanism and a fixed upright lifting mechanism; or alternatively

And the scissor type lifting mechanism and the single mast lifting mechanism/fixed upright lifting mechanism form a composite lifting mechanism.

9. The child-mother parking robot carrying a multi-directional travel carrier according to claim 8, wherein the single mast lift mechanism comprises:

the single mast is positioned at four corners of the chassis of the mother vehicle;

the single mast is connected with the lifting platform; or alternatively

The single mast is connected with the lifting platform through pulleys and chains/slings; or alternatively

The single mast is configured into a telescopic arm, and the telescopic arm is connected with the lifting platform; or alternatively

The single mast is configured as a telescopic arm, and a winding device on the chassis is connected with the lifting platform through pulleys and chains/slings.

Images