CN108252552A - Intelligent three-dimensional parking apparatus and stop pick-up method - Google Patents
Intelligent three-dimensional parking apparatus and stop pick-up method Download PDFInfo
- Publication number
- CN108252552A CN108252552A CN201611235293.7A CN201611235293A CN108252552A CN 108252552 A CN108252552 A CN 108252552A CN 201611235293 A CN201611235293 A CN 201611235293A CN 108252552 A CN108252552 A CN 108252552A
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- China
- Prior art keywords
- level
- fork
- stage hoisting
- parking
- lift
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention discloses a kind of intelligent three-dimensional parking apparatus and stops pick-up method,Belong to Intelligent shutting-down device technical field,Including main frame,Level-one lifting device,Traversing lifting device and electrical control cabinet,Main frame includes double-layer structure,Several parking stalls are equipped in every layer of structure and at least one first parking broach is equipped in the parking stall on upper strata,Level-one lifting device is located at the side of main frame,For vehicle to be promoted to the second layer height,Traversing lifting device is located at the top of main frame,Vehicle for level-one lifting device to be elevated is carried and is accessed,Electrical control cabinet is located at the outside of main frame and the driving part being electrically connected in level-one lifting device and traversing lifting device,The present invention sets up Multilayer parking space and uses semi-enclosed design,Stop picking up the car simultaneously efficient,Securely and reliably,Solves the problem in the prior art.
Description
Technical field
The present invention relates to a kind of intelligent three-dimensional parking apparatus and stop pick-up method, belong to mechanical storied parking apparatus technology
Field.
Background technology
With the development of auto industry and the raising of living standards of the people, automobile occupancy volume is continuously increased per capita in city, but
It is the increase with urban population, the living space of people is less and less, almost without how many location available for parking, in order to suitable
The needs that should be stopped, people start largely to use three-dimensional parking device, of the prior art vertical to solve the problems, such as that parking stall is insufficient
Body parking apparatus has following drawback：
1. parking space is smaller, parking difficulty is increased, it has not been convenient to which car owner parks cars；
2. equipment lifting and transverse moving speed are too slow, Transport Vehicle is less efficient；
3. it is higher to build height, cell owner's daylighting is influenced.
4. whole equipment is open, there is larger security risk.
Invention content
The purpose of the present invention is to provide a kind of intelligent three-dimensional parking apparatus and stop pick-up method, set up Multilayer parking space
And semi-enclosed design is used, while it is efficient to stop picking up the car, and securely and reliably, solves the problem in the prior art.
Intelligent three-dimensional parking apparatus of the present invention, including main frame, level-one lifting device, traversing lifting device and electricity
Gas switch board, main frame include double-layer structure, several parking stalls are equipped in every layer of structure and are set in the parking stall on upper strata
There is at least one first parking broach, level-one lifting device is located at the side of main frame, for vehicle to be promoted to the second floor height
Degree, traversing lifting device are located at the top of main frame, and the vehicle for level-one lifting device to be elevated is carried and deposited
It takes, electrical control cabinet is located at the outside of main frame and the driving portion being electrically connected in level-one lifting device and traversing lifting device
Part.
Vehicle is reached when parking on level-one lifting device first, is stopped working, is pulled the hand brake, get off, operate electrical control cabinet
Vehicle is promoted to two layers of height, drives traversing lifting device at this time, be moved to one by operation panel, driving level-one lifting device
Grade promotes lower section, and vehicle is increased to certain altitude, while vehicle movement in corresponding empty parking space by traversing lifting device action
Place, traversing lifting device fall, vehicle are placed at fixed parking stall, complete parking.
The level-one lifting device includes the first level-one lift frame, the second level-one lift frame, the first level-one and is promoted
Fork, the second level-one lift fork, second parking broach, the first primary pulley stent group is stood, the second primary pulley stent group is stood, first
Level-one boom hoist cable and the second level-one boom hoist cable, wherein the first level-one lift fork and the second level-one lift fork couple respectively
In the lower section of the first level-one lift frame and the second level-one lift frame, the second parking broach be mounted on the first level-one lift fork and
Above second level-one lift fork, the first primary pulley stent group is stood to stand with the second primary pulley stent group is located at the first level-one respectively
One end of the top of lift frame and the second level-one lift frame, the first level-one boom hoist cable and the second level-one boom hoist cable
It is each passed through the first primary pulley stent group and stands to stand with the second primary pulley stent group and couple the first level-one lift fork and the 2nd 1
The other end connecting transmission device of grade lift fork, the first level-one boom hoist cable and the second level-one boom hoist cable.
Level-one lifting device is used to vehicle be promoted to certain altitude, and vehicle is extracted convenient for traversing lifting device, wherein the
One level-one lift frame, the second level-one lifting frame erect support and guiding role, are welded by H profile steel, conduct on the inside of H profile steel
Guide rail, the first level-one lift fork and the second level-one lift fork are slided in guide rail, and the first level-one lift fork and the second level-one are promoted
Fork is for installing the first parking broach, and the first primary pulley stent group is stood, the second primary pulley stent group is stood and includes pulley blocks
And stent, pulley blocks are rack-mount by bolt, and pulley combination is played to the first level-one boom hoist cable and the second level-one
Boom hoist cable plays a part of to support and be oriented to, and can change the first level-one boom hoist cable and the second level-one by pulley combination
The transmission direction of boom hoist cable, transmission device provide power for level-one lifting device.
The traversing lifting device includes two-stage hoisting device and traverse displacement unit, and traverse displacement unit is located at two-stage hoisting device
Top, wherein two-stage hoisting device include the first two-stage hoisting fork, the second two-stage hoisting fork, two-stage hoisting steel wire rope, first
Two-stage hoisting guide rail, the second two-stage hoisting guide rail, two-stage hoisting motor, driving chain, the first secondary pulley group are stood, the second two level
Pulley blocks are stood to be stood with reel group, the first two-stage hoisting fork and the second two-stage hoisting fork be connected in respectively the first two-stage hoisting guide rail and
The lower section of second two-stage hoisting guide rail, promotion motor the first two-stage hoisting of connection fork and the second two-stage hoisting fork provide dynamic for it
Power, driving chain transmit with sprocket wheel cooperation and promote power, stand with the first two-stage hoisting fork and the second two-stage hoisting fork group and connect shape
Into closed loop, lifted while realizing the first two-stage hoisting fork and the second two-stage hoisting fork, reel group is stood for winding two-stage hoisting
Steel wire rope.
First secondary pulley group is stood, the second secondary pulley group is stood and is made of pulley, support shaft, bearing and stent, for leading
To and support two-stage hoisting steel wire rope, while with two-stage hoisting steel wire rope coordinate, transmit pulling force or change direction of pull；One or two
Grade lift rail, the second two-stage hoisting guide rail are welded by channel steel, are used to support the first two-stage hoisting fork, the second two-stage hoisting
Fork, and be oriented to for the first two-stage hoisting fork, the second two-stage hoisting fork；First two-stage hoisting fork, the second two-stage hoisting fork are welded with
Broach branch, broach branch and parking broach cooperation, complete the handing-over access of vehicle；First two-stage hoisting fork, the second two level carry
It rises and directive wheel is installed on fork, coordinate with the first two-stage hoisting guide rail, the second two-stage hoisting guide rail, complete the first two-stage hoisting
Fork, the fork lifting of the second two-stage hoisting are oriented to；Driving chain promotes motor power for transmitting, with the first two-stage hoisting fork, second
Two-stage hoisting fork group stands connection and forms closed loop, is lifted while realizing the first two-stage hoisting fork, the second two-stage hoisting fork；Reel group
Vertical to include reel, transmission shaft, rolling bearing units parts, reel group is stood for winding two-stage hoisting steel wire rope, transmits torque, realize
The lifting of first two-stage hoisting fork, the second two-stage hoisting fork.
The traverse displacement unit includes traversing stent, idler wheel and traversing motor, wherein traversing stent is connected in the first two level
The top of lift rail and the second two-stage hoisting guide rail, idler wheel coordinate with bearing, support shaft, can be in the guide rail above main frame
Upper rolling, traversing motor is located at the outside of idler wheel and connects idler wheel provides power for it.
Traversing stent is welded or is bolted by shaped steel, for the first two-stage hoisting guide rail, the second two level is supported to carry
The parts such as liter guide rail, promotion motor, reel group are stood, idler wheel are the main support of traverse displacement unit, idler wheel and bearing, support shaft
Cooperation, can roll on the guide rail above main frame, and each two idler wheels of traverse displacement unit or so, one of them is driving wheel, with
Traversing motor connection, realizes power transmission；Traversing motor provides the traversing power of idler wheel.
The transmission device includes level-one and promotes motor, transmission shaft, sprocket wheel, chain, cable drum and bearing, wherein
Motor drives cable drum to rotate and wind the first level-one boom hoist cable by sprocket wheel and chain joint transmission axis, transmission shaft
With the second level-one boom hoist cable.
Transmission device provides power, workflow for level-one lifting device：Motor rotation is promoted, by sprocket wheel chain dynamic
Power is transmitted to transmission shaft, and transmission shaft drives cable drum rotate and winds the first level-one boom hoist cable and the promotion of the second level-one
Steel wire rope under the traction of the first level-one boom hoist cable and the second level-one boom hoist cable, drives the first level-one lift fork, the
Two level-one lift fork groups are stood together with parking one lifting of broach, promote motor for providing power；Transmission shaft is used for driving motor
Torque is coupled by bearing between transmission shaft and the first level-one lift frame, the second level-one lift frame, passed through between sprocket wheel
Key connecting；Cable drum by key and transmission axis connection, the rotation of cable drum realize the first level-one boom hoist cable and
The winding of second level-one boom hoist cable changes the length of the first level-one boom hoist cable and the second level-one boom hoist cable, from
And realize the lifting of the first level-one lift fork, the second level-one lift fork.
The first level-one lift frame and the second level-one lift frame is welded for H profile steel, is equipped on the inside of H profile steel
Sliding rail, the first level-one lift fork and the second level-one lift fork include stent, adjustment stud, lateral idler wheel and directive wheel, stent
External connection the second parking broach, adjustment stud is located at the top of stent for adjustment the first level-one boom hoist cable and second
The elasticity of level-one boom hoist cable, the left and right sides that lateral idler wheel is located at stent limit the first level-one lift fork and the second level-one
The movement of lift fork left and right directions, directive wheel are joined by the short axle on bearing and the first level-one lift fork or the second level-one lift fork
It connects, the first level-one lift fork and the second level-one lift fork slide lifting by directive wheel in sliding rail.
First level-one lift fork and the second level-one lift fork are welding structure, for coupling and supporting parking broach, installation
The structures such as directive wheel；Adjust stud：For adjusting the pine for promoting the first level-one boom hoist cable and the second level-one boom hoist cable
Tightness, because the first level-one boom hoist cable and the effect of the second level-one boom hoist cable Tensile power, have certain rate elongation, tie up
Shield personnel can periodically adjust adjustment stud distance up and down, and steel is promoted so as to adjust the first level-one boom hoist cable and the second level-one
The elasticity of cord；Lateral idler wheel：Totally 4, each two pieces in left and right limits the first level-one lift fork and the second level-one lift fork or so
The movement in direction, play the guiding role, and bears the lateral torque that the first level-one lift fork and the second level-one lift fork are generated by unbalance loading；
Directive wheel：Totally 4, each two pieces in left and right, directive wheel by bearing with it is short in the first level-one lift fork and the second level-one lift fork
Axis connection play the guiding role, and during work, directive wheel rolls in main frame H profile steel slot.
The first two-stage hoisting fork and the second two-stage hoisting fork includes adjustment bolt, composite rolling wheel and lift fork branch
Frame, adjustment bolt are located at the top of lift fork stent for adjusting the elasticity of two-stage hoisting steel wire rope, and composite rolling wheel, which is located at, to be carried
The left and right sides for rising fork stent is connect by the short axle that bearing and the first two-stage hoisting are pitched and the second two-stage hoisting is pitched, for limiting
Make the movement of the first two-stage hoisting fork or the second two-stage hoisting fork left and right directions, the first two-stage hoisting fork and the second two-stage hoisting fork
It is rolled in the first two-stage hoisting guide rail, the second two-stage hoisting guide rail channel steel by composite rolling wheel.
Lift fork stent：Welding structure, for promoting vehicle；The structures such as directive wheel are installed；Adjustment bolt：For adjusting two
The elasticity of grade boom hoist cable, because two level steel wire rope Tensile power acts on, has certain rate elongation, maintenance personnel can determine
Distance above and below phase adjustment adjustment bolt, so as to adjust the elasticity of two level steel wire rope；Composite rolling wheel：Totally 4, each 2 of left and right.It is multiple
Axial force can not only be born, but also can bear certain axial load by closing idler wheel, and composite rolling wheel can limit lift fork direction all around
Movement, play the guiding role, bear the lateral torque that the first two-stage hoisting fork and the second two-stage hoisting fork are generated by unbalance loading；Work
When, composite rolling wheel rolls in the first two-stage hoisting guide rail, the second two-stage hoisting guide rail channel steel.
The lift fork stent first line of a couplet on the first two-stage hoisting fork and the second two-stage hoisting fork is connected to several broach
Branch, is equipped with certain gap between each broach branch, and broach branch and the first parking broach and second broach that stops are matched
Conjunction is interspersed, and the first two-stage hoisting fork and the second two-stage hoisting fork can pass through the first parking broach and the second parking broach real
The access of existing vehicle.
First two-stage hoisting is pitched and the second two-stage hoisting is pitched and the first parking broach and the second parking broach matching design, profit
The principle interlocked with broach branch, the first two-stage hoisting fork and the second two-stage hoisting fork can pass through the first parking broach and second
Stop broach, so as to fulfill the promotion and decline of vehicle.
The outside of the electrical control cabinet is equipped with operation panel, and the top of main frame is equipped with to detect vehicle location
Photoelectrical position detecting apparatus, electrical control cabinet electrical connection photoelectrical position detecting apparatus, operation panel, level-one promote motor, horizontal stroke
Move motor and two-stage hoisting motor.
Control unit is equipped in electrical control cabinet, control unit attended operation panel, parking personnel is by operating operating surface
Plate control level-one promotes motor, traversing motor and two-stage hoisting motor and completes corresponding action, realizes the access of vehicle, leads to simultaneously
The parking position of vehicle can be detected by crossing photoelectrical position detecting apparatus, and whether detection vehicle exceeds the cutoff altitude permitted, electrically
Circuit is realized in the prior art for part reference.
Intelligent three-dimensional of the present invention stops pick-up method, including parking method and pick-up method, the parking method
Include the following steps：
S11：Car owner reaches vehicle on the first parking broach on level-one lifting device, is withdrawn into operating surface on the outside of equipment
At plate, bicycle parking button is pressed, level-one lifting device passes through the first level-one lift fork and the second level-one under the driving of transmission device
Vehicle is mentioned 2 layer heights by lift fork, and is stopped；
S12：Traverse displacement unit in traversing lifting device under the driving of traversing motor, be moved to level-one lifting device just on
Square, two-stage hoisting device is located at the underface of the first parking broach on level-one lifting device at this time, and two-stage hoisting device starts to move
Make；
S13：First two-stage hoisting is pitched and the second two-stage hoisting fork passes through two-stage hoisting motor, driving chain, the first two level
Pulley blocks are stood, the second cooperation that secondary pulley group is stood and reel group is stood rises, and vehicle is increased to certain altitude；
S14：Traverse displacement unit moves, and vehicle is moved to above the second parking broach idle on main frame, the first two level
Lift fork and the second two-stage hoisting fork decline, until vehicle stops falling on the second parking broach, complete parking flow.
The pick-up method includes the following steps：
S21：Traversing motor rotation, is directly passed to idler wheel, idler wheel rolls on the guide rail above main frame by motor shaft
Dynamic, traverse displacement unit is moved to the top of corresponding second parking broach on main frame；
S22：Two-stage hoisting device action, by promoted motor rotation stood with movable reel group in transmission shaft operate, so as to
Spool turns are driven, winding two-stage hoisting steel wire rope realizes that the first two-stage hoisting fork and the second two-stage hoisting fork rise；
S23：First two-stage hoisting is pitched and the second two-stage hoisting fork rises across the second parking broach, reaches setting height
Afterwards, the height of setting is more than the height to park cars, and traversing motor operating drives the entire traversing traversing operation of lifting device, arrives
Up to the top of level-one lifting device；
S24：Transmission device operation in level-one lifting device, drives cable drum rotation, and the first level-one of winding is promoted
Steel wire rope and the second level-one boom hoist cable make the first level-one lift fork and the second level-one lift fork rise to specified altitude assignment, stop
Only, it waits for and picking up the car；
S25：Two-stage hoisting motor rotates, and declines the first two-stage hoisting fork and the second two-stage hoisting fork, until dropping to
The lower section of the first parking broach, first that vehicle is parked on level-one lifting device is stopped on broach on level-one lifting device；
S26：Traversing motor rotation, makes traversing lifting device be removed above level-one lifting device；
S27：Level-one lifting device acts, and vehicle transport to ground, car owner's pick-up is removed, and completes pick-up flow.
Compared with prior art, the present invention it has the advantages that：
A kind of intelligent three-dimensional parking apparatus is provided and stops pick-up method, 1) one layer to retain original parking stall constant, only set up two
Layer steel structure, saves cost；2) stop picking up the car only there are one entrance, and be semi-enclosed for two layers, prevent personnel from arbitrarily entering, realize nothing
People is on duty；Transport Vehicle has the length, width and height of Photoelectric Detection vehicle, controls exceeded vehicle parking, securely and reliably；3) stop pick-up space to reach
3.5-4 meters, car owner is facilitated to stop；4) vehicle is promoted is realized by motor drive chain or steel wire rope, and access vehicle speed is original
1.5 times；5) equipment is easy for installation, without doing civil engineering, reduces site workload, shortens the construction period, reduce to periphery civic shadow
It rings；6) it is low to site requirements：Total height is smaller, does not influence daylighting；It can be installed and used under a variety of occasions；7) it can be used around equipment
It is not only beautiful come board of advertising etc., but also economic be benefited can be increased；It solves the problem in the prior art, can answer extensively
For in cell or work garden.
Description of the drawings
Fig. 1 is the integrally-built front view of intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 2 is the front view of level-one lifting device in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 3 is the vertical view of level-one lifting device in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 4 is the left view of level-one lifting device in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 5 is the front view of traversing lifting device in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 6 is the vertical view of traversing lifting device in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 7 is the front view of traverse displacement unit in intelligent three-dimensional parking apparatus embodiment of the present invention；
Fig. 8 is a left side for the first level-one lift fork or the second level-one lift fork in intelligent three-dimensional parking apparatus embodiment of the present invention
View；
Fig. 9 is the master of the first level-one lift fork or the second level-one lift fork in intelligent three-dimensional parking apparatus embodiment of the present invention
View；
Figure 10 is the structure diagram of parking broach in intelligent three-dimensional parking apparatus embodiment of the present invention；
Figure 11 is the first two-stage hoisting fork or the second two-stage hoisting fork in intelligent three-dimensional parking apparatus embodiment of the present invention
Front view；
Figure 12 is the first two-stage hoisting fork or the second two-stage hoisting fork in intelligent three-dimensional parking apparatus embodiment of the present invention
Vertical view；
Figure 13 is parking broach and the first two-stage hoisting fork and second in intelligent three-dimensional parking apparatus embodiment of the present invention
Two-stage hoisting fork cooperation stops the structure chart picked up the car；
Figure 14 is that the circuit of intelligent three-dimensional parking apparatus embodiment of the present invention connects block diagram；
Figure 15 is the step flow chart that Double-layer intelligent solid of the present invention stops parking method in pick-up method；
Figure 16 is the step flow chart that Double-layer intelligent solid of the present invention stops pick-up method in pick-up method；
In figure：1st, level-one lifting device；2nd, traversing lifting device；3a, the first parking broach；3b：Second parking broach；4、
Main frame；11st, the first primary pulley stent group is stood；12nd, the first level-one lift frame；13rd, the first level-one boom hoist cable；14、
First level-one lift fork；15th, transmission device；16th, the second level-one lift fork；17th, the second level-one lift frame；18th, the second level-one
Boom hoist cable；19th, the second primary pulley stent group is stood；21st, two-stage hoisting device；22nd, traverse displacement unit；31st, adjustment bolt；
32nd, composite rolling wheel；33rd, lift fork stent；34th, broach branch；141st, stud is adjusted；142nd, stent；143rd, directive wheel；144th, side
Way roller；211st, the first two-stage hoisting is pitched；212nd, two-stage hoisting steel wire rope；213rd, the first two-stage hoisting guide rail；214th, two level carries
Lifting motor；215th, driving chain；216th, the first secondary pulley group is stood；217th, the second secondary pulley group is stood；218th, the second two level carries
Rise guide rail；219th, the second two-stage hoisting is pitched；220th, reel group is stood；221st, traversing stent；222nd, idler wheel；223rd, traversing motor.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples：
Embodiment 1：
Preferably, as shown in Figure 1, intelligent three-dimensional parking apparatus of the present invention, is promoted including main frame 4, level-one
Device 1, traversing lifting device 2 and electrical control cabinet, main frame 4 include double-layer structure, several parkings are equipped in every layer of structure
Position and the multiple first parking broach 3a being equipped in the parking stall on upper strata, level-one lifting device 1 is located at the side of main frame 4,
For vehicle to be promoted to the second layer height, traversing lifting device 2 is located at the top of main frame 4, for by level-one lifting device 1
The vehicle elevated is carried and is accessed, and electrical control cabinet is located at the outside of main frame 4 and electrical connection level-one promotes dress
Put the driving part in 1 and traversing lifting device 2.
In order to further illustrate embodiment 1, as in Figure 2-4, level-one lifting device 1 includes the first level-one lift frame
12nd, the second level-one lift frame 17, the first level-one lift fork 14, the second level-one lift fork 16, second parking broach 3b, the 1st
Grade pulley bracket group founds the 11, second primary pulley stent group and founds the 19, first level-one boom hoist cable 13 and the second level-one promotion steel
Cord 18, wherein the first level-one lift fork 14 and the second level-one lift fork 16 are connected in the first level-one lift frame 12 and respectively
The lower section of two level-one lift frames 17, the second parking broach 3b are mounted on the first level-one lift fork 14 and the second level-one lift fork 16
Top, the first primary pulley stent group stand 11 and second primary pulley stent group stand 19 respectively be located at the first level-one lift frame 12
With the top of the second level-one lift frame 17, one end point of the first level-one boom hoist cable 13 and the second level-one boom hoist cable 18
Not Chuan Guo the first primary pulley stent group stand 11 and second primary pulley stent group found 19 the first level-one of connection lift forks 14 and
The other end connecting transmission device of two level-one lift forks 16, the first level-one boom hoist cable 13 and the second level-one boom hoist cable 18
15。
In order to further illustrate embodiment 1, as seen in figs. 5-6, traversing lifting device 2 includes two-stage hoisting device 21 and horizontal stroke
Moving device 22, traverse displacement unit 22 are located at the top of two-stage hoisting device 21, and wherein two-stage hoisting device 21 is carried including the first two level
Rise the 211, second two-stage hoisting of fork fork 219, two-stage hoisting steel wire rope 212, the first two-stage hoisting guide rail 213, the second two-stage hoisting
Guide rail 218, two-stage hoisting motor 214, driving chain 215, the first secondary pulley group found the 216, second secondary pulley group and found 217 and
Reel group stands 220, and the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219 are connected in the first two-stage hoisting guide rail 213 respectively
With the lower section of the second two-stage hoisting guide rail 218, promote motor 214 and connect the first two-stage hoisting fork 211 and the second two-stage hoisting fork
219 provide power for it, and driving chain 215 transmits with sprocket wheel cooperation and promotes power, with the first two-stage hoisting fork 211 and the 2nd 2
219 groups of lift fork of grade stands connection and forms closed loop, liter while realizing the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219
Drop, reel group stand 220 and are used for winding two-stage hoisting steel wire rope 212.
In order to further illustrate embodiment 1, as shown in fig. 7, traverse displacement unit 22 includes traversing stent 221, idler wheel 222 and horizontal stroke
Motor 223 is moved, wherein traversing stent 221 is connected in the upper of the first two-stage hoisting guide rail 213 and the second two-stage hoisting guide rail 218
Side, idler wheel 222 coordinate with bearing, support shaft, can be rolled on the guide rail above main frame 4, traversing motor 223 is located at idler wheel
222 outside simultaneously connects idler wheel 222 and provides power for it.
In order to further illustrate embodiment 1, as Figure 2-3, transmission device 15 include level-one promoted motor, transmission shaft,
Sprocket wheel, chain, cable drum and bearing, wherein motor drive steel wire rope by sprocket wheel and chain joint transmission axis, transmission shaft
Spool turns simultaneously wind the first level-one boom hoist cable 13 and the second level-one boom hoist cable 18.
In order to further illustrate embodiment 1, as Figure 8-9, the first level-one lift frame 12 and the second level-one lifting frame
Frame 17 is welded for H profile steel, sliding rail is equipped on the inside of H profile steel, the first level-one lift fork 14 and the second level-one lift fork 16 are wrapped
Stent 142, adjustment stud 141, lateral idler wheel 144 and directive wheel 143 are included, the external of stent 142 couples the second parking broach 3b,
Adjustment stud 141 is located at the top of stent 142 for adjusting the first level-one boom hoist cable 13 and the second level-one boom hoist cable
18 elasticity, the left and right sides that lateral idler wheel 144 is located at stent 142 limit the first level-one lift fork 14 and the promotion of the second level-one
The movement of 16 left and right directions is pitched, directive wheel 143 passes through on bearing and the first level-one lift fork 14 or the second level-one lift fork 16
Short axle couples, and the first level-one lift fork 14 and the second level-one lift fork 16 slide lifting by directive wheel 143 in sliding rail.
In order to further illustrate embodiment 1, as shown in figs. 10-12, the first two-stage hoisting fork 211 and the second two-stage hoisting fork
219 include adjustment bolt 31, composite rolling wheel 32 and lift fork stent 33, and adjustment bolt 31 is located at the top of lift fork stent 33
For adjusting the elasticity of two-stage hoisting steel wire rope 212, the left and right sides that composite rolling wheel 32 is located at lift fork stent 33 passes through axis
It holds and is connect with the short axle on the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219, for limiting the first two-stage hoisting fork
211 or second two-stage hoisting pitch the movements of 219 left and right directions, the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219 pass through
Composite rolling wheel 32 rolls in the first two-stage hoisting guide rail 213,218 channel steel of the second two-stage hoisting guide rail.
In order to further illustrate embodiment 1, as shown in figure 13, the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219
On 33 first line of a couplet of lift fork stent be connected to several broach branches 34, certain gap is equipped between each broach branch 34, and
Broach branch 34 and the first parking broach 3a and the second parking broach 3b cooperation are interspersed, the first two-stage hoisting fork 211 and the
Two two-stage hoistings fork 219 can pass through the first parking broach 3a and the second parking broach 3b to realize the access of vehicle.
In order to further illustrate embodiment 1, as shown in figure 14, the outside of electrical control cabinet is equipped with operation panel, main frame 4
Top be equipped with for the photoelectrical position detecting apparatus that detects vehicle location, electrical control cabinet electrical connection optoelectronic position detection dress
It puts, operation panel, level-one promote motor, traversing motor 223 and two-stage hoisting motor 214.
The operation principle of embodiment 1 is：During parking, car owner combs the second parking that vehicle is reached on level-one lifting device 1
It on tooth 3b, is withdrawn on the outside of equipment at electrical control cabinet, by operating operation panel, control level-one lifting device 1 is filled in transmission
It puts under 15 driving, vehicle is mentioned, and stop by the first level-one lift fork 14 and the second level-one lift fork 16 by 2 layer heights,
Traverse displacement unit 22 is moved to the surface of level-one lifting device 1, at this time two-stage hoisting device 21 under the driving of traversing motor 223
The underface of second parking broach 3b, two-stage hoisting device 21 start to act on level-one lifting device 1, the first two-stage hoisting
211 and second two-stage hoisting fork 219 of fork stands 216 by two-stage hoisting motor 214, driving chain 215, the first secondary pulley group,
Second secondary pulley group stand 217 and reel group stand 220 cooperation rise, vehicle is increased to certain altitude, traverse displacement unit 22 moves
It is dynamic, vehicle is moved to above the first parking broach 3a idle on main frame 4, the first two-stage hoisting fork 211 and the second two level
Lift fork 219 declines, until vehicle stops falling on the first parking broach 3a, completes parking flow；
During pick-up, car owner drives traversing motor 223 to rotate, is directly passed to by motor shaft by operating operation panel
Idler wheel 222, idler wheel 222 roll on the guide rail above main frame 4, and traverse displacement unit 22 is moved to corresponding second parking broach 3b's
Top, two-stage hoisting device 21 act, and the transmission shaft operating stood with movable reel group in 220 is rotated by promoting motor 214, so as to
Spool turns are driven, winding two-stage hoisting steel wire rope 212 is realized on the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219
It rises, after 219 rising arrival setting height of the first two-stage hoisting fork 211 and the second two-stage hoisting fork, the height of setting, which is more than, parks
The height of vehicle, traversing motor 223 operate, and drive entire traversing 2 traversing operation of lifting device, reach level-one lifting device 1
Top, the transmission device 15 in level-one lifting device 1 are run, and drive cable drum rotation, and the first level-one of winding promotes steel wire
13 and second level-one boom hoist cable 18 of rope makes the first level-one lift fork 14 and the second level-one lift fork 16 rise to specified height
Degree stops, and waits for and picking up the car, and two-stage hoisting motor 214 rotates, and makes under the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219
Drop, until the top of level-one lifting device 1 is dropped to, on the second parking broach 3b that vehicle is parked on level-one lifting device 1,
Traversing motor 223 rotates, and traversing lifting device 2 is made to be removed above level-one lifting device 1, level-one lifting device 1 acts, vehicle
It transports to ground, car owner, which picks up the car, to be removed, and completes pick-up flow.
Embodiment 2：
As shown in figures 15-16, intelligent three-dimensional of the present invention stops pick-up method, including parking method and pick-up method,
The parking method includes the following steps：
S11：Car owner reaches vehicle on the second parking broach 3b on level-one lifting device 1, is withdrawn on the outside of equipment and grasps
Make at panel, press bicycle parking button, level-one lifting device 1 passes through the first level-one lift fork 14 under the driving of transmission device 15
Vehicle is mentioned 2 layer heights, and stop with the second level-one lift fork 16；
S12：Traverse displacement unit 22 in traversing lifting device 2 is moved to level-one lifting device under the driving of traversing motor 223
1 surface, at this time two-stage hoisting device 21 be located on level-one lifting device 1 underface of second parking broach 3b, two level carries
Device 21 is risen to start to act；
S13：First two-stage hoisting fork 211 and the second two-stage hoisting fork 219 pass through two-stage hoisting motor 214, driving chain
215th, the first secondary pulley group stand the 216, second secondary pulley group stand 217 and reel group stand 220 cooperation rise, vehicle is improved
To certain altitude；
S14：Traverse displacement unit 22 moves, and vehicle is moved to above the first parking broach 3a idle on main frame 4, first
Two-stage hoisting fork 211 and the second two-stage hoisting fork 219 decline, until vehicle stops falling on the first parking broach 3a, complete parking
Flow.
Pick-up method includes the following steps：
S21：Traversing motor 223 rotates, and is directly passed to idler wheel 222 by motor shaft, idler wheel 222 is above main frame 4
Guide rail on roll, traverse displacement unit 22 is moved to the top of corresponding first parking broach 3a on main frame 4；
S22：Two-stage hoisting device 21 acts, and the transmission shaft fortune stood with movable reel group in 220 is rotated by promoting motor 214
Turn, so as to drive spool turns, winding two-stage hoisting steel wire rope 212 realizes the first two-stage hoisting fork 211 and the second two-stage hoisting
Fork 219 rises；
S23：First two-stage hoisting fork 211 and the second two-stage hoisting fork 219 pass through the first parking broach 3a to rise, and arrival is set
After determining height, the height of setting is more than the height to park cars, and traversing motor 223 operates, and drives entire traversing lifting device 2 horizontal
Movement row reaches the top of level-one lifting device 1；
S24：Transmission device 15 in level-one lifting device 1 is run, and drives cable drum rotation, and the first level-one of winding carries
13 and second level-one boom hoist cable 18 of steel wire rope is risen, the first level-one lift fork 14 and the second level-one lift fork 16 is made to rise to finger
Fixed height, stops, and waits for and picking up the car；
S25：Two-stage hoisting motor 214 rotates, and declines the first two-stage hoisting fork 211 and the second two-stage hoisting fork 219, directly
To the lower section for dropping to the second parking broach 3b on level-one lifting device 1, second that vehicle is parked on level-one lifting device 1 is stopped
On vehicle broach 3b；
S26：Traversing motor 223 rotates, and traversing lifting device 2 is made to be removed above level-one lifting device 1；
S27：Level-one lifting device 1 acts, and vehicle transport to ground, car owner's pick-up is removed, and completes pick-up flow.
Using the embodiment of the present invention described above in association with attached drawing intelligent three-dimensional parking apparatus and stop pick-up method, frame
If Multilayer parking space and the semi-enclosed design of use, while it is efficient to stop picking up the car, and securely and reliably, solves and goes out in the prior art
The problem of existing.But the present invention is not limited to described embodiment, without departing from the principles and spirit of the present invention
These variation, modification, replacement and deformations for being carried out to embodiment are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of intelligent three-dimensional parking apparatus, it is characterised in that：Including main frame (4), level-one lifting device (1), traversing promotion
Device (2) and electrical control cabinet, the main frame (4) include double-layer structure, be equipped in every layer of structure several parking stalls and
At least one first parking broach (3a) is equipped in the parking stall on upper strata, the level-one lifting device (1) is positioned at main frame
The side of frame (4), for vehicle to be promoted to the second layer height, traversing lifting device (2) is used positioned at the top of main frame (4)
It is carried and is accessed in the vehicle for elevating level-one lifting device (1), electrical control cabinet is located at the outside of main frame (4)
And the driving part in electrical connection level-one lifting device (1) and traversing lifting device (2).
2. intelligent three-dimensional parking apparatus according to claim 1, it is characterised in that：Level-one lifting device (1) packet
Include the first level-one lift frame (12), the second level-one lift frame (17), the first level-one lift fork (14), the second level-one lift fork
(16), second parking broach (3b), the first primary pulley stent group stands (11), the second primary pulley stent group stands (19), first
Level-one boom hoist cable (13) and the second level-one boom hoist cable (18), wherein the first level-one lift fork (14) and the second level-one carry
Rise the lower section that fork (16) is connected in the first level-one lift frame (12) and the second level-one lift frame (17) respectively, the second parking comb
Tooth (3b) above the first level-one lift fork (14) and the second level-one lift fork (16), stand by the first primary pulley stent group
(11) (19) are stood and are located at the first level-one lift frame (12) and the second level-one lift frame respectively with the second primary pulley stent group
(17) one end of top, the first level-one boom hoist cable (13) and the second level-one boom hoist cable (18) is each passed through the 1st
Grade pulley bracket group stands (11) and the second primary pulley stent group stands (19) and couples the first level-one lift fork (14) and the second level-one
The other end connecting transmission device of lift fork (16), the first level-one boom hoist cable (13) and the second level-one boom hoist cable (18)
(15)。
3. intelligent three-dimensional parking apparatus according to claim 2, it is characterised in that：Traversing lifting device (2) packet
Include two-stage hoisting device (21) and traverse displacement unit (22), traverse displacement unit (22) positioned at the top of two-stage hoisting device (21), wherein
Two-stage hoisting device (21) includes the first two-stage hoisting fork (211), the second two-stage hoisting fork (219), two-stage hoisting steel wire rope
(212), the first two-stage hoisting guide rail (213), the second two-stage hoisting guide rail (218), two-stage hoisting motor (214), driving chain
(215), the first secondary pulley group stands (216), the second secondary pulley group stands (217) and reel group is stood (220), the first two-stage hoisting
Fork (211) and the second two-stage hoisting fork (219) are connected in the first two-stage hoisting guide rail (213) and the second two-stage hoisting guide rail respectively
(218) lower section, it is it that two-stage hoisting motor (214), which connects the first two-stage hoisting fork (211) and the second two-stage hoisting fork (219),
Power is provided, driving chain (215) transmits with sprocket wheel cooperation and promotes power, with the first two-stage hoisting fork (211) and the second two level
Lift fork (219) organizes vertical connection and forms closed loop, realizes that the first two-stage hoisting fork (211) and the second two-stage hoisting pitch the same of (219)
When lift, reel group stands (220) for winding two-stage hoisting steel wire rope (212).
4. intelligent three-dimensional parking apparatus according to claim 3, it is characterised in that：The traverse displacement unit (22) is including horizontal stroke
Stent (221), idler wheel (222) and traversing motor (223) are moved, wherein traversing stent (221) is connected in the first two-stage hoisting guide rail
(213) coordinate with the top of the second two-stage hoisting guide rail (218), idler wheel (222) with bearing, support shaft, it can be in main frame (4)
It is rolled on the guide rail of top, traversing motor (223) is positioned at the outside of idler wheel (222) and connects idler wheel (222) and provides power for it.
5. intelligent three-dimensional parking apparatus according to claim 4, it is characterised in that：The transmission device (15) is including one
Grade promotion motor, transmission shaft, sprocket wheel, chain, cable drum and bearing, wherein motor pass through sprocket wheel and chain joint transmission
Axis, transmission shaft drive cable drum to rotate and wind the first level-one boom hoist cable (13) and the second level-one boom hoist cable
(18)。
6. intelligent three-dimensional parking apparatus according to claim 5, it is characterised in that：The first level-one lift frame
(12) it is welded with the second level-one lift frame (17) for H profile steel, sliding rail, the first level-one lift fork is equipped on the inside of H profile steel
(14) and the second level-one lift fork (16) includes stent (142), adjustment stud (141), lateral idler wheel (144) and directive wheel
(143), the second parking broach (3b) of external connection of stent (142), adjustment stud (141) are used positioned at the top of stent (142)
In the elasticity for adjusting the first level-one boom hoist cable (13) and the second level-one boom hoist cable (18), lateral idler wheel (144) position
The shifting of the first level-one lift fork (14) and second level-one lift fork (16) left and right directions is limited in the left and right sides of stent (142)
Dynamic, directive wheel (143) is coupled by bearing with the short axle in the first level-one lift fork (14) or the second level-one lift fork (16), the
One level-one lift fork (14) and the second level-one lift fork (16) slide lifting by directive wheel (143) in sliding rail.
7. intelligent three-dimensional parking apparatus according to claim 6, it is characterised in that：The first two-stage hoisting fork
(211) and the second two-stage hoisting fork (219) includes adjustment bolt (31), composite rolling wheel (32) and lift fork stent (33), adjusts
Whole bolt (31) is used to adjust the elasticity of two-stage hoisting steel wire rope (212), compound rolling positioned at the top of lift fork stent (33)
It takes turns (32) and passes through bearing and the first two-stage hoisting fork (211) and the second two-stage hoisting positioned at the left and right sides of lift fork stent (33)
The short axle connection on (219) is pitched, for limiting the first two-stage hoisting fork (211) or the second two-stage hoisting fork (219) left and right directions
Movement, the first two-stage hoisting fork (211) and the second two-stage hoisting pitch (219) by composite rolling wheel (32) in the first two-stage hoisting
It is rolled in guide rail (213), second two-stage hoisting guide rail (218) channel steel.
8. intelligent three-dimensional parking apparatus according to claim 7, it is characterised in that：The first two-stage hoisting fork
(211) and lift fork stent (33) first line of a couplet on the second two-stage hoisting fork (219) is connected to several broach branches (34), each to comb
Certain gap, and broach branch (34) and the first parking broach (3a) and the second parking broach are equipped between tooth branch (34)
(3b) cooperation is interspersed, and the first two-stage hoisting fork (211) and the second two-stage hoisting fork (219) can pass through the first parking broach
(3a) and the second parking broach (3b) realize the access of vehicle.
9. intelligent three-dimensional parking apparatus according to claim 8, it is characterised in that：The outside of the electrical control cabinet is set
There is operation panel, the top of main frame (4) is equipped with the photoelectrical position detecting apparatus for detecting vehicle location, electrical control cabinet electricity
Gas connection photoelectrical position detecting apparatus, operation panel, level-one promote motor, traversing motor (223) and two-stage hoisting motor
(214)。
10. a kind of intelligent three-dimensional stops pick-up method, set applied to intelligent three-dimensional described in any one of claim 1-9 parking
It is standby, it is characterised in that：Including parking method and pick-up method, the parking method includes the following steps：
S11：Car owner reaches vehicle on the second parking broach (3b) on level-one lifting device (1), is withdrawn on the outside of equipment and grasps
Make at panel, press bicycle parking button, level-one lifting device (1) is promoted under the driving of transmission device (15) by the first level-one
Vehicle is mentioned 2 layer heights, and stop by fork (14) and the second level-one lift fork (16)；
S12：Traverse displacement unit (22) in traversing lifting device (2) is moved to level-one and promotes dress under traversing motor (223) driving
Put the surface of (1), at this time two-stage hoisting device (21) positioned on level-one lifting device (1) second parking broach (3b) just under
Side, two-stage hoisting device (21) start to act；
S13：First two-stage hoisting pitches (211) and the second two-stage hoisting fork (219) passes through two-stage hoisting motor (214), transmission chain
Item (215), the first secondary pulley group stand (216), the second secondary pulley group stands (217) and reel group stands the cooperation rising of (220),
Vehicle is increased to certain altitude；
S14：Traverse displacement unit (22) is mobile, vehicle is moved to above the first parking broach (3a) idle on main frame (4), the
One two-stage hoisting pitches (211) and the second two-stage hoisting fork (219) declines, until vehicle stops falling on the first parking broach (3a),
Complete parking flow；
The pick-up method includes the following steps：
S21：Traversing motor (223) rotation, is directly passed to idler wheel (222), idler wheel (222) is in main frame (4) by motor shaft
It is rolled on the guide rail of top, traverse displacement unit (22) is moved to the top of corresponding first parking broach (3a) on main frame (4)；
S22：Two-stage hoisting device (21) acts, and the biography stood with movable reel group in (220) is rotated by two-stage hoisting motor (214)
Moving axis operates, and so as to drive spool turns, winding two-stage hoisting steel wire rope (212) realizes the first two-stage hoisting fork (211) and the
Two two-stage hoistings fork (219) rises；
S23：First two-stage hoisting is pitched (211) and the second two-stage hoisting fork (219) and is risen across the first parking broach (3a), reaches
After setting height, the height of setting is more than the height to park cars, and traversing motor (223) operating drives entire traversing promotion dress
(2) traversing operation is put, reaches the top of level-one lifting device (1)；
S24：Transmission device (15) operation in level-one lifting device (1), drives cable drum rotation, and the first level-one of winding carries
Steel wire rope (13) and the second level-one boom hoist cable (18) are risen, makes the first level-one lift fork (14) and the second level-one lift fork (16)
Specified altitude assignment is risen to, is stopped, waiting for and picking up the car；
S25：Two-stage hoisting motor (214) rotates, and declines the first two-stage hoisting fork (211) and the second two-stage hoisting fork (219),
Until dropping to the lower section of the second parking broach (3b) on level-one lifting device (1), vehicle is parked on level-one lifting device (1)
The second parking broach (3b) on；
S26：Traversing motor (223) rotation, makes traversing lifting device (2) be removed above level-one lifting device (1)；
S27：Level-one lifting device (1) acts, and vehicle transport to ground, car owner's pick-up is removed, and completes pick-up flow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235293.7A CN108252552A (en) | 2016-12-28 | 2016-12-28 | Intelligent three-dimensional parking apparatus and stop pick-up method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235293.7A CN108252552A (en) | 2016-12-28 | 2016-12-28 | Intelligent three-dimensional parking apparatus and stop pick-up method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108252552A true CN108252552A (en) | 2018-07-06 |
Family
ID=62719403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611235293.7A Pending CN108252552A (en) | 2016-12-28 | 2016-12-28 | Intelligent three-dimensional parking apparatus and stop pick-up method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108252552A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113482420A (en) * | 2021-05-31 | 2021-10-08 | 怡丰技术有限公司 | Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof |
| CN113482415A (en) * | 2021-06-02 | 2021-10-08 | 怡丰技术有限公司 | Automatic parking system, parking frame, parking method and vehicle taking method |
| CN109573877B (en) * | 2018-11-09 | 2024-04-02 | 大连君方科技有限公司 | Automobile lifting device and method |
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| CN103590635A (en) * | 2013-11-20 | 2014-02-19 | 江南嘉捷电梯股份有限公司 | Stereo parking garage |
| CN104594688A (en) * | 2013-11-03 | 2015-05-06 | 蒋知峰 | Elevated type parking equipment |
| CN106088732A (en) * | 2016-08-12 | 2016-11-09 | 湖北华阳重工实业有限公司 | A kind of comb-tooth-type single-row stereoscopic garage |
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| CN2833007Y (en) * | 2005-08-29 | 2006-11-01 | 沙洲职业工学院 | Counterweight balancing type concealed garage |
| CN104594688A (en) * | 2013-11-03 | 2015-05-06 | 蒋知峰 | Elevated type parking equipment |
| CN103590635A (en) * | 2013-11-20 | 2014-02-19 | 江南嘉捷电梯股份有限公司 | Stereo parking garage |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109573877B (en) * | 2018-11-09 | 2024-04-02 | 大连君方科技有限公司 | Automobile lifting device and method |
| CN113482420A (en) * | 2021-05-31 | 2021-10-08 | 怡丰技术有限公司 | Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof |
| CN113482415A (en) * | 2021-06-02 | 2021-10-08 | 怡丰技术有限公司 | Automatic parking system, parking frame, parking method and vehicle taking method |
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