CN116006008A - A side guide carrier and parking system - Google Patents

Abstract

The invention discloses a side guide carrier and a parking system, wherein the parking system comprises: garage and locate a plurality of parking stalls in the garage, the garage plane is equipped with the operation guide rail, and the operation guide rail includes: a transverse guide rail, a longitudinal guide rail and a reversing guide rail which are independently or crosswise arranged; a plurality of side guide conveyers are arranged on the running guide rail; the height of the running guide rail is smaller than the ground clearance of the carrier chassis; the guide of the carrier is in contact with the side of the longitudinal rail/transverse rail/reversing rail, guiding the carrier along the longitudinal rail/transverse rail/reversing rail. The system adopts the mode that the carrier moves along the longitudinal guide rail or the transverse guide rail or the reversing guide rail, so that the carrier is not limited to enter and exit the vehicle bottom from the length direction (longitudinal direction) of the vehicle when in no-load, a parking space is conveniently and flexibly planned, the carrying driving route is conveniently planned, the driving route is shortened, the problem of path blockage caused by simultaneous operation of a plurality of carriers can be greatly relieved, and the carrying efficiency and the parking garage field utilization rate are improved.

Description

A side guide carrier and parking system

technical field

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

Background technique

At present, the four-way parking vehicle used in the three-dimensional garage needs to set up a special track to carry the four-way parking vehicle and guide it. In addition to the wheel reversing device, the four-way parking vehicle needs to be equipped with complex configurations. The four-way travel can only be realized by the combination of the limit wheel reversing device and the special track, which causes the cost of the carrier to be high and the volume cannot be lightened. Moreover, due to the limitation of its own four-way walking principle, it is impossible to rely solely on its own power to achieve changing directions such as oblique travel, translation, turning, and spin. The layout of parking spaces and driving routes is single, and it is necessary to avoid parking spaces when walking Traveling to the target location on a specific path, when the number of carriers is large, the path will easily be blocked, and the number of carriers that can run at the same time in the system is limited. Its operation mode can only be carried and stored in sequence, lacks flexibility, and has low operating efficiency. The special track and its parking garage system also need to be equipped with other special equipment such as reversing and transfer, which takes up a lot of space, the utilization rate of the garage site is low, and the vehicle storage density is low.

Contents of the invention

In view of the above problems, the inventor provides a side-guiding carrier and a parking system including it, which realizes the four-way driving of the side-guiding carrier when it is unloaded in an empty parking space or a parking space with a car, so that it is convenient and flexible to plan the transporting driving route, shorten the Travel distance, improve handling efficiency.

According to the first aspect, the present invention provides a side-guiding carrier, comprising: a vehicle body, a transfer device and a running mechanism arranged on the vehicle body, and the vehicle body is provided with a a guide assembly, the guide piece is used to cooperate with the running guide rail arranged on the plane of the parking garage, and guide the side guide carrier to move along the running guide rail;

The guide piece is in the low position and contacts with the side of the running guide rail for guidance, is in the high position and is out of contact with one running guide rail, and is put down in the low position to contact the side of the other running guide rail or pass through the gap at the intersection of the running guide rails to switch and The side of the other running guide rail contacts to switch the guiding direction.

Further, the guide is fixedly installed on the vehicle body; or

The guide is installed on the retractable device to form a retractable guide. The lowered guide is in a low position and is in contact with the side of the running guide rail. The retracted guide is in a high position and is out of contact with the running guide. .

Further, the guide assembly includes several retractable guides, the retractable guides are installed on the slider assembly, and the slider assembly is installed on the drive mechanism or guide rail that can reach the position of each guide;

When the carrier is reversing from one direction to the other, the retracted guide is at a high position and out of contact with the running guide rail, and the slider assembly drives the retractable guide to move to the position corresponding to the running guide in the other direction. The guide piece put down is at a low position, contacts with the side of the running guide rail, continues to provide guidance for the carrier, and realizes the reversing of the carrier from one direction to another.

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

Wherein, the side of the guide assembly facing the centerline of the vehicle body is the inner side of the guide assembly, and the side of the guide assembly facing away from the centerline of the vehicle body is the outside of the guide assembly.

Further, the guide assembly also includes: a retractable guide located on the carrier, keeping two or more guides in contact with the running rail at any time, so that the carrier can run stably or Reversing; fixed-mounted guides can also be replaced with retractable guides at desired locations. The retractable guide is set on the carrier corresponding to the position of the running rail and the gap where the running rail intersects, such as the middle and four sides/close to the four sides, etc., and is set according to the layout of the carrier and the overall running rail.

Further, the vehicle body is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body.

Further, the height of the vehicle body 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 traveling carrier can be under the vehicle or the mechanical structure on the driving route, Four-way or multi-way shuttle travel.

Further, the garage plane is provided with running guide rails, and several sets of side guide carriers as mentioned above are provided on the running guide rails;

The running guide rails include: independent or cross-arranged transverse guide rails, longitudinal guide rails and reversing guide rails;

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

The guide is in contact with the side of the longitudinal guide rail/transverse guide rail/reversing guide rail, and guides the side guide carrier to move along the longitudinal guide rail/transverse guide rail/reversing guide rail. Interconnected gaps are provided at the intersections of the running guide rails for The guide assembly of the carrier and the wheels and drive assembly pass through.

Further, the running guide rail is in the shape of a long strip, and is installed close to the ground along its length direction, and its cross section is a geometric shape suitable for the guide piece. The included angle is compatible.

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

(1) the outer side of the running rail is in contact with the inner side of the guide assembly; or

(2) the inner side of the running rail is in contact with the outer side of the guide assembly; or

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

The above three structures can be set in the same system, and the different structures can be switched smoothly;

Different structural combinations can be used for the longitudinal guide rail setting and the transverse guide rail setting, and different structures can also be set for the same driving direction;

Wherein, the side of the running guide rail facing the center line of the vehicle body is the inner side of the running guide rail, and the side of the running guide rail facing away from the center line of the vehicle body is the outer side of the running guide rail.

Further, the two longitudinal guide rails and the two transverse guide rails intersect in a "well" shape, and intercommunicating gaps are provided at the intersections, which are a basic component of the guide rail; the guide components include: respectively located at the four corners of the carrier or near the four corners And the four corner guides corresponding to the intersecting gap positions are a guide base element; a guide rail base element and a guide base element form a main vertical and horizontal reversing unit;

When the carrier moves longitudinally, the four corner guides are in contact with the longitudinal rails;

When the carrier moves laterally, the four corner guides are in contact with the lateral rails;

The four corner guides transition from contacting the longitudinal rails to contacting the transverse rails, or the four corner guides transition from contacting the transverse rails through the gaps in the rail intersections, when the carrier reverses longitudinally/transversely In order to contact the longitudinal guide rail, the conversion of the driving direction is completed.

Further, the longitudinal guide rail and the transverse guide rail intersect in a "Lv" shape, and there are intercommunicating gaps at the intersection, which is a basic component of the guide rail; the guide assembly includes: two respectively located in the corresponding intersection gaps on the carrier. The guide piece is a guiding basic element; a guiding rail basic element and a guiding basic element form an auxiliary vertical and horizontal reversing unit;

When the carrier moves longitudinally, the two guides are in contact with the longitudinal rails;

When the carrier moves laterally, the two guides are in contact with the lateral rails;

When the carrier is reversed longitudinally/transversely, the two guides transition from contacting the longitudinal rail to contacting the transverse rail through the gap at the rail intersection, or the two guides transition from contacting the transverse rail to contacting the longitudinal rail through the gap at the rail intersection , to complete the conversion of the driving direction.

Further, according to the needs or the setting of the guide assembly, the said parking garage carrier guide system can be provided with a main reversing unit, or a secondary reversing unit, or several main reversing units during longitudinal/horizontal reversing. Combination of reversing unit and several secondary reversing units.

Further, the reversing guide rails also include curved guide rails; the two curved guide rails are kept at equal distances to form a curved belt-shaped channel, and the two retractable guides located in the middle of the carrier are put down at a low position, and the two retractable guide rails are placed at a low position. The connecting line between the centers of the guides constitutes the chord of the center line of the curved belt-shaped channel, and the two retractable guides move into the curved belt-shaped channel with the carrier to provide guidance for the carrier to realize the A curved turn from one direction to another.

Further, the reversing guide rails include oblique guide rails; two oblique guide rails are kept parallel to form an oblique passage, and a plurality of retractable guides enter the oblique passage or reach the oblique passage as the carrier moves Then put it down at a low position to enter the inclined passage and contact with the inclined guide rail to provide guidance for the carrier, so as to realize the translational travel of the carrier along the direction of the inclined passage.

Further, the reversing guide rail also includes a circular guide rail; the carrier reaches above the circular guide rail under the guidance of the running guide rail, and its multiple retractable guides corresponding to the position of the circular guide rail are at a low position, and the inner sides are all aligned with the outer ring guide rails. Side contact, the outer circle of the retractable guide is tangent to the outer circle of the circular guide rail, and the polygon formed by the line between two adjacent tangent points is the inscribed polygon of the outer circle of the circular guide rail, which can realize the Under the guidance of the ring guide rail, it spins and reverses in situ.

Furthermore, a section of the running guide rail or a part of a running guide rail is controlled by an actuator to stand up or lay down to form a movable guide rail.

Compared with prior art, working principle and beneficial effect of the present invention:

(1) The parking system provided by the present invention adopts a side-guided guide rail guidance method, and the carrier directly travels on the parking garage plane. Guidance facilities such as reversing mechanisms can significantly reduce the maintenance difficulty and cost. In the transformation of old garages, the transformation difficulty is even lower.

(2) The form of the guide rail and the driving method make the driving path of the carrier more diversified. In the actual dispatching control, there are more optional paths, which can effectively avoid other carriers or avoid problems such as driving path congestion, and can effectively improve parking efficiency. .

(3) A variety of running guide rails and their combination forms are diversified. In the layout of parking spaces, various forms such as series and parallel, matrix, and ring can be used, and can be arranged in a single layer or multi-layer or shelf type, and has Multiple route conversion functions such as vertical and horizontal reversing, oblique translation, curved steering, and spin reversing can meet the needs of parking garages in various plane layouts, make efficient use of parking spaces, and can be used in conjunction with other handling equipment to build a comprehensive Intelligent three-dimensional parking system realizes efficient and dense storage of vehicles.

Description of drawings

Fig. 1 is the partial schematic view of parking system in embodiment 1;

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

Fig. 3 is the conveying status diagram of the side guide carrier in embodiment 1;

Fig. 4 is the structural representation of the side guide carrier in embodiment 1;

Fig. 5 is the bottom schematic view of the side guide carrier in embodiment 1;

Figure 6 is a partial enlarged view of A in Figure 2;

Fig. 7 is the schematic diagram of the side guide carrier in embodiment 1 guiding and moving along the outer surface of the guide rail;

Fig. 8 is a schematic diagram of the side guide carrier moving along the inner surface of the guide rail in embodiment 1;

Fig. 9 is the schematic diagram of the side guide carrier moving along the channel in embodiment 2;

Fig. 10 is a schematic diagram of the side guide carrier moving along the arc channel guide in embodiment 3;

Fig. 11 is the principle diagram that the side guide carrier in embodiment 4 moves along the inclined channel;

Fig. 12 is the principle diagram that the side guide carrier in embodiment 5 moves along the circular guide rail;

Fig. 13 is the principle diagram of the telescopic car body side guide carrier with telescopic mechanism in embodiment 6;

Fig. 14 is the principle diagram of the telescopic car body side guide carrier driven by the wheels in embodiment 6;

Fig. 15 is a schematic diagram of the movement of the telescopic car body side guide carrier in embodiment 6;

Fig. 16 is a plane layout diagram of the plane parking system in Embodiment 7.

Reference signs:

11-longitudinal guide rail; 12-horizontal guide rail; 13-channel; 131-arc channel; 132-oblique channel; 14-parking rack; 15-movable guide rail; 16-circular guide rail; 1st clamping device; 22-second clamping device; 3-carrying actuator; 31-connecting section; 32-front telescopic section; 33-rear telescopic section; 4-corner guide wheel; 41-retractable guide Wheel; 42-pair guide wheel.

Detailed ways

The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

In the present invention, for ease of understanding, the longitudinal direction of the vehicle or the carrier is defined as the longitudinal direction, and the width direction is defined as the transverse direction, and the definition of the longitudinal guide rail and the transverse guide rail changes with the direction of the vehicle or carrier. In actual engineering applications, the global coordinate system can be defined first, and then the vertical and horizontal directions can be defined. The running guide rails can guide the carrier to move in a shuttle.

Example 1

As shown in Figure 1, the present invention provides a kind of parking system, comprises: parking rack 14, several side guide carriers 2 and the longitudinal guide rail 11 and the transverse guide rail 12 that are arranged in the garage, longitudinal guide rail 11 and transverse guide rail 12 The guide rail 12 is arranged below the parking rack 14. The overhead height below the parking rack 14 and the space between the parking racks 14 can be used for the side-guiding carrier 2 to travel in four directions. When the carrier 2 is empty, it can shuttle under all parking spaces. The time carrier 2 can pass in four directions in the empty parking space. The longitudinal guide rails 11 and the transverse guide rails 12 are laid in a single layer or in multiple layers according to the layout of the parking garage. Intersections of the guide rails 12 are provided with gaps for the guide assembly and the drive assembly to pass through. As shown in FIGS. 3-5 , the side-guiding carrier 2 includes a car body, a transport execution device 3 and a traveling mechanism arranged on the car body. The handling actuator 3 can adopt common mechanisms of carriers such as comb-tooth type, clamp-hugging type, vehicle-lifting plate type, and maintenance point lifting type. Lifting, accessing vehicles with the comb rack on the platform and the parking space of the three-dimensional garage. Specifically, a scissor mechanism or other jacking mechanism can be used, which can be driven by a hydraulic cylinder or an electric push rod. Since the comb lifting mechanism has been It is a mature technology and will not be outlined in detail in this embodiment. The traveling mechanism can adopt a unidirectional wheel drive mode, a steering wheel drive mode or an omnidirectional wheel drive mode. The unidirectional wheel drive mode is divided into all wheel drive or partial wheel drive (partial wheel has no power), a single wheel is directly driven by the motor and reducer, or is driven separately by the main motor and reducer through mechanical devices such as transfer case and clutch . The unidirectional wheel drives the longitudinal wheels that need to be driven when driving longitudinally, and drives the horizontal wheels that need to be driven when driving horizontally. For example, the structure in Chinese patent application CN112761396A adopts the mode of horizontal and vertical switching to realize vertical and horizontal movement. In the steering driving mode, the driving wheel is a steering wheel; in the omnidirectional wheel driving mode, the driving wheel is an omnidirectional wheel such as an omni wheel or a mecanum wheel; other wheels are universal wheels or Omnidirectional wheels. Steering wheel, omnidirectional wheel, mecanum wheel and their corresponding control can be realized by those skilled in the art based on this structure and conventional control methods of steering wheel, omnidirectional wheel and mecanum wheel, and will not be repeated here. In this embodiment, the mecanum wheel is adopted, and the transverse wheels are eliminated, so that the wheel train switching device and the driving device can be simplified; this structure is an existing structure, and will not be described in detail here.

The long car body means that its length is greater than the vehicle wheelbase, and the short car body means that its length is less than the vehicle wheelbase. The telescopic car body can use the telescopic device to adjust the car body length according to the working status. Scale and change between. In this embodiment, a long vehicle body is used.

The guide assembly can be a structure such as a roller, a roller, a roller, etc., and is used to cooperate with and contact with a running guide rail arranged on the ground during driving, and be constrained by it to guide the course of the side-guiding carrier. Specifically, in this embodiment, the guide assembly includes: four corner guide wheels 4 respectively located at four corners of the side guide carrier 2 . The running guide rail adopts the form of a side guide rail, that is, the outer surface of the side guide rail is in contact with the inner side of the guide assembly or the inner surface of the side guide rail is in contact with the outer side of the guide assembly.

As shown in FIGS. 6-8 , when the side guide carrier 2 moves longitudinally, the four corner guide wheels 4 are in contact with the inner side or outer side of the longitudinal guide rail 11 . In order to improve the accuracy of the corner guide wheels 4 passing through the gap, several retractable guide wheels 41 can be arranged between the two corner guide wheels 4 distributed along the vertical/horizontal direction, and the retractable guide wheels 41 are integrally configured to be The retractable structure can be rotated or stretched to contact/disengage from the guide rail. In this embodiment, the retractable guide wheel 41 is lifted and retracted to realize its contact/disengagement with the guide rail.

In order to realize the four-way travel switching, the space between the guide rails arranged in sections is larger than the contour line of the corner guide wheel 4 and the size of the corresponding direction of the drive assembly. When traveling longitudinally, the mecanum wheel passes through the gap between the transverse guide rails along the radial direction and the corner guide wheel 4 sequentially; The corner guide wheels 4 pass through the gaps between the longitudinal guide rails in turn; the two gaps are interconnected. Obviously, the gap between the longitudinal rail segments at the intersection of the rails is larger than the gap between the longitudinal rail segments, so that the driving assembly: the mecanum wheel (mecanum wheel) and its auxiliary assemblies can pass in the axial direction.

It is obvious that adding a floating and pressing mechanism to the guide wheels to keep them in effective contact with the side guide rails, and performing guiding treatments such as chamfering or filleting at the joints and ends of the guide rails can increase the side guide carrier 2 Stability and smoothness when driving and changing directions.

Example 2

As shown in Figure 9, in this embodiment, the running guide rail adopts the form of a channel 13 for the guide assembly to pass between two parallel side guide rails, and the intersection of the longitudinal guide rail 11 and the transverse guide rail 12 is provided with a guide assembly and For the space through which the wheels of the carrier pass, the carrier can adopt the carrier in the Chinese patent application CN112761396A, and a corresponding guide piece can be installed on the basis of the carrier.

When running longitudinally, the horizontally retractable guide wheels 41 and the laterally moving wheel sets are all at a high position and withdraw from the channel 13; , the retractable guide wheel 41 in the transverse direction descends and moves along the transverse channel 13 .

Example 3

As shown in Figure 10, in this embodiment, the running guide rail adopts an arc-shaped channel 131 formed between two arc-shaped guide rails for the passage of the guide assembly, and connects two parking spaces 90° with respect to the longitudinal direction of the carrier. area. The 9 guide wheels of the carrier 2 all adopt retractable guide wheels 41, and enter the starting position under the guidance of both longitudinal guide rails 11 and passage 13. Pack up the six retractable guide wheels 41 that are in contact with the longitudinal guide rail 11, and when the three retractable guide wheels 41 arranged along the longitudinal centerline pass through the channel 13 and start to enter the arc channel 131, one of them is retracted at a high position to leave the channel 13. The line between the centers of the other two retractable guide wheels 41 in the low position constitutes the chord of the centerline (arc) of the arc channel 131. Driven in differential mode, it is guided by the two retractable guide wheels 41 in the low position along the arc channel 131, and turns to reach another parking area arranged at 90°. The movable guide rail 15 can stand up and lay flat under the drive of the actuator. When standing up, it can contact the guide wheel to provide guidance. When it is laid down, it can not block the passage of the wheel. It is arranged at the junction of the passage 13 and the arc passage 131. The arc passage A part of the arc-shaped guide rails on both sides of 131 is in an upright state, and the transverse guide rail 12 that has reached the position corresponds to two segments of the transverse guide rail on the other side and is in a flattened state. After the carrier 2 arrives, the retractable guide wheels 41 on the longitudinal centerline are in a high position to leave the channel 13 . Two segmented movable guide rails 15 corresponding to the horizontal guide rail stand up, and the movable guide rails 15 on both sides of the arc passage 131 are put flat to allow the corner guide wheels 4 and the horizontal retractable guide wheels 41 and the lateral wheels to pass through; Wheels and four corner guide wheels 4 and horizontal retractable guide wheels 41 can travel horizontally with corresponding transverse guide rails 12 and movable guide rails 15; Retract guide wheel 41, can travel longitudinally. In the same way, with a similar guide rail layout, an arc channel 131 can also be used to connect two parking areas that are 90° with reference to the transverse direction of the carrier; The carrier implements steering in different directions.

The curved passage 131 and other curved passages such as "U" shape and "S" shape can provide multiple operating routes and combinations of parking spaces, making the layout of parking spaces more reasonable and effectively utilizing the parking garage space.

Example 4

As shown in Figure 11, in this embodiment, the carrier 2 travels from the starting position as shown in Figure 11(a) to the conversion position as shown in Figure 11(b) to complete the longitudinal-oblique translational driving conversion, and can move along the oblique Travel obliquely to channel 132 in translation. Legend: "+" indicates that the retractable guide wheel 41 is put down and is in a low position; "-" indicates that the retractable guide wheel 41 is in a high position when retracted. The longitudinal wheel set of the carrier is driven by the steering wheel, and the horizontal wheel set is driven by the unidirectional wheel. When the driving direction is changed, the longitudinal or horizontal wheel set is switched in the same way as described in Example 1. Nine guide wheels are retractable guide wheels 41. Before the carrier 2 enters the starting position, the three retractable guide wheels 41 on the longitudinal centerline are in a high position, relying on the inner side of the six retractable guide wheels 41 on the corners and sides and the outer surface of the longitudinal guide rail 11 Contact guide longitudinal travel. When the carrier 2 starts to enter the starting position, the three retractable guide wheels 41 on the longitudinal centerline cross the transverse guide rail 12 and put down in sequence to enter the channel 13 at a low position. During the process of the carrier 2 moving from the starting position to the conversion position, the retractable guide wheels 41 that are about to interfere with the running guide rails are sequentially put away, and the retractable guide wheels 41 that need to be in contact with the running guide rails are successively put down. Under the relay connection guidance of the longitudinal guide rail 11, at least two retractable guide wheels 41 are kept in contact with the running guide rail, and travel to the conversion position as shown in Fig. 11(b). Then, the steering wheel of the longitudinal wheel set is rotated to an angle parallel to the oblique channel 132, and the three retractable guide wheels 41 on the diagonal are lowered to contact with the oblique channel 132 in a low position, and the other retractable guide wheels 41 are retracted. Being in a high position and disengaging from the running guide rail, the carrier 2 can travel in oblique translation along the inclined channel 132 . In the same way, by arranging oblique passages with different inclination angles and retractable guide wheels at different positions on the carrier, the carrier can be converted from longitudinal or horizontal to diagonal translation in different directions; The running tracks arranged in a similar layout are connected with other layouts, so that the carrier can be converted to travel in longitudinal, horizontal and other directions.

Example 5

As shown in FIG. 12 , in this embodiment, the carrier 2 is guided counterclockwise by 90° along the circular guide rail 16 . The ten guide wheels on the carrier 2 are all retractable guide wheels 41, and the carrier 2 relies on eight retractable guide wheels 41 to be in a low position and contact with the longitudinal guide rail 11 to guide and drive into the conversion position. The two retractable guide wheels 41 are retracted and are in a high position before contacting with the ring guide rail 16. After arriving at the conversion position as shown in Figure 12, the four retractable guide wheels 41 in the middle are retracted and are in a high position and are out of contact with the corresponding longitudinal guide rails 11, and the four retractable guide wheels 41 at the corners and the longitudinal center line The two retractable guide wheels 41 of the two retractable guide wheels 41 are in a low position and contact with the ring guide rail 16, and the hexagon formed by the connection between the contact points is inscribed with the contour line of the outer ring of the ring guide rail 16 - the outer circle, and the carrier 2 is switched to the horizontal direction Traveling, being guided by the ring guide rail 16 and being driven by the differential drive mode of the lateral drive wheel in the low position, the rotation direction is 90° to complete the steering. Then, the carrier 2 is switched to run longitudinally, and the two retractable guide wheels 41 on the longitudinal center line are respectively retracted to be in a high position, and the four retractable guide wheels 41 in the middle are put down and the four retractable guide wheels 41 in the corners are retracted. The wheels 41 are in the low position and continue to contact the corresponding longitudinal guide rail 11 to guide the carrier to move out of the conversion position. The movable guide rail 15 is laid flat when the carrier 2 rotates, so that the drive assembly and the retractable guide wheel 41 can pass through. Citation can be smoothly transitioned. Similarly, by arranging the corresponding longitudinal guide rails 11 or transverse guide rails 12 for driving in and out of different steering angle layouts, the carrier 2 can rotate from longitudinal or lateral direction to different angle directions along the circular guide rail 16 .

Example 6

As shown in Figure 13, in this embodiment, the carrier 2 adopts a telescopic car body, specifically, the telescopic car body includes: a front telescopic section 32 and a rear telescopic section 33, and the front telescopic section 32 and the rear telescopic section 33 pass through the connecting section 31 connection, after the front telescopic section 32 and the rear telescopic section 33 shrink, the overall length of the multi-directional carrier 2 is less than the vehicle wheelbase, so that the multi-directional carrier 2 can move to the bottom of the vehicle along its width direction or pass through from the bottom of the vehicle . Wherein, a telescopic mechanism is provided in the connecting section 31, including two sets of worm gears, and the two ends of the worm gear are respectively connected with the front telescopic section 32 and the rear telescopic section 33, and the worm gear is driven by a motor to realize the front telescopic section 32 and the rear telescopic section. The expansion and contraction of section 33, the contraction of front telescopic section 32 and rear telescopic section 33 can shorten the overall length of multi-directional carrier 2, thereby facilitate multi-directional carrier 2 to enter parking space from vehicle width direction, and can realize along the lateral direction shuttle. In this embodiment, the front telescopic section 32 and the rear telescopic section 33 adopt a fixed-length telescopic method; the first clamping device 21 is slidably connected to the front telescopic section 32, and the second clamping device 22 is slidably connected to the rear telescopic section 33; The first clamping device 21 and the second clamping device 22 use sensors to detect the position of the tires, thereby adjusting the distance between the first clamping device 21 and the second clamping device 22 to adapt to vehicles with different wheelbases. , the adjustment of the first clamping device 21 and the second clamping device 22 is a prior art, and will not be repeated here. In addition, the front telescopic section 32 and the rear telescopic section 33 can also be stretched out indefinitely. The first clamping device 21 and the second clamping device 22 are respectively fixed on the front telescopic section 32 and the rear telescopic section 33. By adjusting The amount of expansion and contraction of the front telescopic section 32 and the rear telescopic section 33 is adapted to vehicles with different wheelbases. The telescoping mechanism of the connecting section 31 can also be composed of a two-way hydraulic cylinder, a rack and pinion mechanism, an electric push rod mechanism, or a telescopic arm mechanism. As shown in Figure 14, the connecting section 31 may not be equipped with a telescopic mechanism, but a mechanism such as a heavy-duty linear guide rail or a telescopic longitudinal beam is arranged to connect the front telescopic section 32 and the rear telescopic section 33, and the driving device of the multi-directional carrier drives the wheels forward 1. Retreat to make the front telescopic section 32 and the rear telescopic section 33 away from or close to the connecting section 31 along the longitudinal direction of the vehicle body, so as to realize the expansion and contraction of the vehicle body. As shown in Figure 15, a parking space is arranged as a vertical and horizontal reversing station, which is composed of a main vertical and horizontal reversing unit and two auxiliary vertical and horizontal reversing units. Four corner guide wheels 4 and 4 are installed on the body of the carrier 2. Four secondary guide wheels 42 installed on the two telescopic sections respectively. When the carrier 2 is unloaded, the telescopic section shrinks and can travel in four directions under the vehicle. The main longitudinal and horizontal reversing unit plays a main guiding role. When traveling longitudinally, it relies on four corner guide wheels 4 and four secondary guide wheels 42 to communicate with the longitudinal direction. Guide rail 11 contacts guide; Rely on four corner guide wheels 4 to contact guide with transverse guide rail 12 when traveling laterally. When the carrier 2 is loaded, the telescopic section stretches out, and a main vertical and horizontal reversing unit and two auxiliary vertical and horizontal reversing units work together. When running longitudinally or horizontally, the four corner guide wheels 4 and the four secondary guide wheels 42 are respectively aligned with the longitudinal direction. The guide rails 11 or transverse guide rails 12 are contact guided.

Example 7

As shown in Figure 16, this embodiment provides a plane parking system, which comprehensively uses the guide rail layout and row, column or matrix parking space layout in Embodiment 2, Embodiment 3, Embodiment 4 and Embodiment 5 , use the guide rail layout in the above embodiment to connect the parking spaces A (A1-A7), B (B1-B4), C (C1-C3) and D (D1-D6). When the four side guide carriers 2 are traveling longitudinally and horizontally, the inner side of the guide wheels is in contact with the outer side of the running guide rail and is guided by the running guide rail. The main guide wheels of No. 1 and No. 2 side guide carriers 2 are installed on the four sides of the car body , the driving wheels are arranged on four sides; No. 3, the main guide wheels of No. 4 side guide carrier 2 are installed on the bottom of the car body near the four sides, and the driving wheels are arranged before the four corner guide wheels. The four side guide carriers 2 can be equipped with long or short body or telescopic body with comb-tooth type, car-lift type, clamping tire type, maintenance point jack-up type and other handling execution devices. Carrying vehicles in parking spaces and running routes.

Specifically, for example, if the No. 1 side guide carrier 2 is required to transport the vehicle to the B2 parking space in the B area, the load carrier drives into the A1 parking space along the longitudinal guide rail 11 and the passage 13, and puts it down corresponding to the position of the inclined passage 132. Three retractable guide wheels 41 enter the oblique channel 132, and pack up other retractable guide wheels 41; four longitudinal wheels (steering wheels) turn to be parallel to the oblique channel, and drive No. 1 side guide carrier 2 along the oblique direction. Passage 132 leads to B3; converts the corresponding wheel set and retracts the corresponding retractable guide wheel 41, turns to longitudinal travel, guides to reach B1 through passage 13, then turns to transverse travel to reach B2, unloads the vehicle to complete the handling task . After the No. 1 side guide carrier 2 arrives at B1, it can also rely on two retractable guide wheels 41 put down in the channel to pack up a retractable guide wheel 41 and other retractable guide wheels 41 on the longitudinal centerline, Four longitudinal wheels (steering wheels) follow the steering or differential steering, and guide along the arc channel 131 to reach the C2 parking space; convert the corresponding wheel set and retract the corresponding retractable guide wheel 41, and then drive laterally to reach C1 or C3 parking space. If the No. 3 side guide carrier 2 is needed to transport the vehicle to the C3 parking space in the C area, the load carrier puts down six retractable guide wheels 41 corresponding to the ring guide rail 16 and the ring guide rail 16 at the ring guide rail 16 of the D1 parking space. Contact, switch to lateral wheel differential steering, rotate clockwise and reverse 90° under the guidance of ring guide rail 16; switch the corresponding wheel set and retractable retractable guide wheel 41 corresponding to retractable, convert to longitudinal travel to reach C2 parking position, and then turn to drive laterally to reach the C1 parking space, unload the vehicle to complete the handling task. No. 2 side guide carrier 2 is sailing to other parking areas under the guidance of longitudinal guide rail 11, and No. 4 side guide carrier 2 completes the carrying task and rolls out of parking garage along transverse guide rail 12 from A7 parking space.

The above uses specific examples to illustrate the present invention, which is only used to help understand the present invention, and is not intended to limit the present invention. For those skilled in the technical field to which the present invention belongs, some simple deduction, deformation or replacement can also be made according to the idea of the present invention.

Claims (17)

1. A side-guided carrier, comprising: the parking garage is characterized in that a guide assembly formed by a plurality of guide pieces is arranged on the vehicle body and is used for being matched with an operation guide rail arranged on the plane of the parking garage to guide the side guide carrier to move along the operation guide rail;

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

2. The side guide carrier of claim 1, wherein the guide is fixedly mounted to the vehicle body; or alternatively

The guide piece is arranged on the retraction device to form a retractable guide piece, the lowered guide piece is positioned at a low position and is contacted with the side face of the running guide rail, and the retracted guide piece is positioned at a high position and is separated from contact with the running guide rail.

3. The side guide carrier of claim 1, wherein the guide assembly includes a plurality of retractable guides mounted on a slider assembly mounted on a drive mechanism or rail accessible to the respective guide positions;

when the carrier is reversed from one direction to the other direction, the retracted guide piece is positioned at a high position and is separated from contact with the running guide rail, the sliding block assembly drives the retractable guide piece to move to a position corresponding to the running guide rail in the other direction respectively, the lowered guide piece is positioned at a low position and is contacted with the side face of the running guide rail, the guide is continuously provided for the carrier, and the direction change of the carrier from one direction to the other direction is realized.

4. The side guide carrier of claim 1, wherein the inside of the guide assembly is in contact with the side of the longitudinal rail/transverse rail/reversing rail or the outside of the guide assembly is in contact with the side of the longitudinal rail/transverse rail/reversing rail;

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

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

6. The side guide carrier of claim 1, wherein the vehicle body is any one of a long vehicle body, a short vehicle body, and a telescoping vehicle body.

7. The side-guided carrier of claim 1, wherein the height of the vehicle body is less than the ground clearance of the vehicle on the travel path or the ground clearance of the mechanical structure on the travel path, and wherein the multi-directional carrier is configured to travel four-way or multi-way shuttles under the vehicle or the mechanical structure on the travel path.

8. A parking system comprising a garage and a plurality of parking spaces arranged in the garage, wherein the plane of the garage is provided with an operation guide rail, and a plurality of side guide carriers as claimed in any one of claims 1 to 7 are arranged on the operation guide rail;

the running rail includes: a transverse guide rail, a longitudinal guide rail and a reversing guide rail which are independently or crosswise arranged;

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

the guide piece is contacted with the side surface of the longitudinal guide rail/the transverse guide rail/the reversing guide rail, the guide side guide carrier moves along the longitudinal guide rail/the transverse guide rail/the reversing guide rail, and the intersection of the running guide rail is provided with an intercommunicating gap for the guide component of the carrier, the wheels and the driving component to pass through.

9. The parking system of claim 8, wherein the running rail is elongated and fits along its length against the ground, and has a cross-section of a geometry adapted to the guide, and wherein the running rail is oriented at an angle to the ground and the guide is oriented at an angle to the ground.

10. The parking system of claim 8, wherein the mating structure of the running rail and guide assembly comprises:

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

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

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

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

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

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

11. The parking system of claim 8, wherein the two longitudinal rails and the two transverse rails are crossed in a "well" shape, and an intercommunicating gap is formed at the crossing point, and is a rail base element; the guide assembly includes: four corner guide pieces which are respectively positioned at four corners of the carrier and correspond to the gap positions at the intersections are guide foundation elements; a guide rail base element and a guide base element form a main crossbar unit;

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

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

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

12. The parking system of claim 8, wherein the longitudinal rail and the transverse rail are cross-shaped, and an intercommunicating gap is formed at the crossing point, which is a rail base element; the guide assembly includes: two guide pieces which are respectively positioned on the carrier and correspond to the gaps at the intersection are a guide basic element; a guide rail base element and a guide base element form a secondary crossbar unit;

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

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

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

13. Parking system according to claim 11 or 12, characterized in that the parking garage carrier guidance system is provided with one main reversing unit or one auxiliary reversing unit or a combination of several main reversing units and several auxiliary reversing units, according to need or the arrangement of the guidance assembly, when reversing longitudinally/transversely.

14. The parking system of claim 8, wherein the reversing guide further comprises a curvilinear guide; the two curved guide rails are kept at equal intervals to form a curved strip-shaped channel, two retractable guide members positioned in the middle of the carrier are put down in a low position, a connecting line between circle centers of the two retractable guide members forms a chord of the central line of the curved strip-shaped channel, and the two retractable guide members move into the curved strip-shaped channel along with the carrier to provide guidance for the carrier so as to realize curved steering of the carrier from one direction to the other direction.

15. The parking system of claim 8, wherein the reversing guide comprises a diagonal guide; the two oblique guide rails are kept in parallel to form an oblique channel, and the retractable guide pieces move into the oblique channel along with the carrier or reach the upper side of the oblique channel and then enter the oblique channel to contact with the oblique guide rails at a low position, so that the carrier is guided to realize translational running along the direction of the oblique channel.

16. The parking system of claim 8, wherein the reversing guide further comprises an annular guide; the carrier reaches the upper part of the annular guide rail under the guidance of the running guide rail, a plurality of retractable guide pieces corresponding to the positions of the annular guide rail are positioned at low positions, the inner sides of the retractable guide pieces are contacted with the outer side face of the annular guide rail, the outer circle of each retractable guide piece is tangent to the outer circle of the annular guide rail, and a polygon formed by connecting lines between two adjacent tangent points is an inscribed polygon of the outer circle of the annular guide rail, so that the carrier can spin-commutate in situ under the guidance of the annular guide rail.

17. A parking system as claimed in claim 8, wherein the run rail or part of the run rail is arranged to be raised or lowered by an actuator to form the movable rail.

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