CN112459569A - Intelligent stereo garage and use method thereof - Google Patents
Intelligent stereo garage and use method thereof Download PDFInfo
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- CN112459569A CN112459569A CN202011331841.2A CN202011331841A CN112459569A CN 112459569 A CN112459569 A CN 112459569A CN 202011331841 A CN202011331841 A CN 202011331841A CN 112459569 A CN112459569 A CN 112459569A
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- vehicle
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- 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
- E04H6/22—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 characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
- E04H6/225—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 characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes without transverse movement of the parking palette after leaving the transfer means
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- 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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an intelligent stereo garage and a using method thereof, wherein the intelligent stereo garage comprises a vehicle storage area, a vehicle entrance, a conveying gallery, a translation lifting conveying device, a control system and a touch display screen; the translation lifting conveying device is composed of a conveying bottom plate, a vehicle carrying platform arranged on the conveying bottom plate, a translation mechanism and a lifting mechanism. The garage disclosed by the invention has the advantages of small overall occupied area and high space utilization rate, and can realize intelligent parking of vehicles and maximally save manpower and material resources.
Description
Technical Field
The invention relates to a three-dimensional parking device, in particular to an intelligent three-dimensional garage and a using method thereof.
Background
With the high-speed development of economy in China, the quantity of automobiles in China always keeps higher acceleration in recent years, the total quantity of automobiles is more and more huge, land resources are more and more precious, and the quantity of the existing parking spaces and garages cannot meet the parking requirements of people.
How to solve the problem of difficult parking, related researchers put forward a plurality of solutions; aiming at the phenomena that the existing automobile ownership is difficult to park due to high-speed increase, the automobile is randomly parked and placed to cause traffic jam and the like, the Huiyhua and the like develop a small intelligent stereo garage based on a rotary structure, the manufacturing cost and the maintenance cost are low, the automobile taking time is short, the upper layer and the lower layer are not interfered, and the small intelligent stereo garage can be applied to places with narrow spaces such as a household garage, a residential district garage, a unit garage and the like. A vertical circulating type stereo garage is designed by Fu Yunlong and the like aiming at the problem of difficult parking, has the flexibility of quick assembly, and has the advantages of high efficiency, safety, stability, high space utilization rate and the like. In Yi' feng, aiming at the problem that some current garages and parking lots are unreasonable in design and planning, a mechanical stereo garage is developed, a reliable and efficient parking problem solution is provided for the current society, the utilization rate of space is greatly increased, and urban parking pressure and contradiction are effectively relieved. The Wangqiang et al analyzes the working principle and the control flow of the garage aiming at the problem of the shortage of parking spaces in China and aiming at the control system of the novel three-dimensional intelligent garage and provides a plurality of subsystem functions and control algorithms of a garage management and control system; the monitoring and management of the vehicle taking process of the three-dimensional vehicle inventory are realized through debugging simulation. With the development of urban economy, parking difficulty becomes a common phenomenon, and a miniature rotary intelligent stereo garage is designed by thank-to-the-law and the basic structure and the working principle of the rotary intelligent stereo garage are introduced. The thank-to-the-town innovative design of the stereo garage is developed on the basis of systematic analysis of the overall structure of the vertical lifting stereo garage, the innovative design comprises hardware, software, safety and reliability design and the like, and effect evaluation is made on practical application.
Disclosure of Invention
The invention provides an intelligent stereo garage and a using method thereof, the whole garage occupies a small area, the space utilization rate is high, intelligent parking of vehicles can be realized, and manpower and material resources are saved to the maximum extent.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent stereo garage comprises a vehicle storage area, a vehicle entrance, a conveying gallery, a translation lifting conveying device, a control system and a touch display screen; the vehicle storage area is provided with a plurality of layers of parking spaces, and each layer of parking space is provided with a plurality of parking spaces along the conveying corridor; a vehicle receiving platform is arranged in each parking space; the translation lifting conveying device is driven by the translation mechanism to move longitudinally along the conveying gallery integrally and can move longitudinally along the conveying gallery; driven by the lifting mechanism, the conveying bottom plate and the vehicle-carrying platform on the conveying bottom plate can vertically lift to the corresponding parking space; the vehicle loading platform is matched with the vehicle receiving platform corresponding to the parking space to realize vehicle warehousing; the touch display screen is arranged at a vehicle entrance, and the control system is connected with the vehicle receiving platform, the vehicle loading platform, the translation mechanism, the lifting mechanism and the touch display screen respectively.
And the bottom of the vehicle receiving platform is provided with a gravity sensor and a position sensor which are respectively connected with a control system.
The vehicle receiving platform and the vehicle carrying platform are vehicle conveyor belts.
The translation mechanism is a screw and nut transmission mechanism and consists of a translation motor, a screw and a nut; the screw rod is arranged along the longitudinal through length of the conveying gallery, one end of the screw rod is connected with a motor shaft of a translation motor, the translation motor is fixed on the conveying bottom plate, and a nut is arranged at the bottom of the conveying bottom plate; under the drive of the translation motor, the screw and the lead screw are matched for transmission to enable the conveying bottom plate and the vehicle-carrying platform on the conveying bottom plate to move horizontally.
The lifting mechanism is a gear and rack transmission mechanism and comprises a lifting motor, a gear and a rack, the lifting motor is fixed on the vehicle carrying platform, a motor shaft of the lifting motor is connected with the gear, the rack is arranged on the conveying bottom plate along the vertical direction, and the gear and the rack are meshed for transmission under the driving of the lifting motor, so that the vehicle carrying platform is vertically lifted.
The number of the racks is 2, and the number of the gears is 2; 2 racks are respectively arranged on two sides of the conveying bottom plate, the lifting motor is a double-output-shaft motor, a gear is arranged on one motor shaft and meshed with one rack, the other motor shaft is connected with a synchronous rotating shaft through a coupler, and a gear is arranged on the synchronous rotating shaft and meshed with the other rack; the tops of the 2 racks are connected through a top plate.
And the vehicle entrance is also provided with a license plate recognition sensor and a loudspeaker, and the license plate recognition sensor and the loudspeaker are connected with the control system.
A use method of the intelligent stereo garage comprises the following steps:
1) when a vehicle to be stored arrives at a vehicle entrance, the vehicle license plate recognition sensor recognizes and reads the vehicle license plate through the camera and the recognition system, and prompts the number of the remaining vehicle positions in the garage through the loudspeaker; after the vehicle enters the vehicle entrance, a vehicle owner drives the vehicle onto the vehicle loading platform and stops the vehicle, and then the vehicle is unloaded and the vehicle is stored through the touch display screen; displaying real-time conditions of parking spaces in the garage on an initial interface of a touch display screen, wherein the parking spaces and empty parking spaces of existing vehicles are respectively marked with different colors; the vehicle owner only needs to click the corresponding empty parking space and then selects 'parking';
2) after the parking space is selected, the translation lifting conveying device is automatically started; firstly, starting a translation motor, moving a vehicle to the front of a selected parking space along a transmission gallery, then starting a lifting motor, and moving the vehicle to the height of the corresponding parking space;
3) after the vehicle moves in place, the vehicle carrying platform and the vehicle receiving platform corresponding to the parking space are in a horizontal butt joint state, and the vehicle self-carrying platform is transmitted to the corresponding vehicle receiving platform through synchronous transmission;
4) after the vehicle is parked on the vehicle receiving platform, the lifting motor is started to lower the vehicle carrying platform to the original position; starting a translation motor, returning the whole translation lifting and conveying device to an initial position, and preparing to store the next vehicle;
5) when the car owner gets the car, get the car operation through touch display screen, only need click the parking stall that corresponds the vehicle and park, then select "get the car", by translation lift conveyer with correspond the vehicle on the parking stall remove to the vehicle entrance, the car owner drive the vehicle leave can.
Compared with the prior art, the invention has the beneficial effects that:
1) the stereo garage is provided with a plurality of layers of parking spaces, and has compact structure, small occupied area and high space utilization rate;
2) the specific position of each parking space is detected through a position sensor, and accurate positioning is realized through a control system; detecting the parking condition of each parking space through a gravity sensor; when the vehicle is stored and taken out, the vehicle owner only needs to click and select the corresponding parking space on the touch display screen and select 'parking' or 'taking' so as to be convenient to operate;
3) the translation lifting conveying device is simple in structure and reliable in operation.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of an intelligent stereo garage according to the invention.
In the figure: 1. vehicle storage area 2, conveying gallery 3, vehicle entrance 4, vehicle receiving platform 5, touch display screen 6, conveying bottom plate 7, vehicle carrying platform 8, translation motor 9, lead screw 10, lifting motor 11 and rack
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
as shown in fig. 1, the intelligent stereo garage provided by the invention comprises a vehicle storage area 1, a vehicle entrance 3, a conveying corridor 2, a translation lifting conveying device, a control system and a touch display screen 5; the vehicle storage area 1 is provided with a plurality of layers of parking spaces, and each layer of parking space is provided with a plurality of parking spaces along the conveying gallery 2; a vehicle receiving platform 4 is arranged in each parking space; a vehicle inlet 3 is formed in one end of the conveying gallery 2, the translation lifting conveying device is composed of a conveying bottom plate 6, a vehicle carrying platform 7 arranged on the conveying bottom plate 6, a translation mechanism and a lifting mechanism, and the translation conveying device can integrally move longitudinally along the conveying gallery 2 under the driving of the translation mechanism; driven by the lifting mechanism, the conveying bottom plate 6 and the vehicle-carrying platform 7 on the conveying bottom plate can vertically lift to a corresponding parking space; the vehicle carrying platform 7 is matched with the vehicle receiving platform 4 corresponding to the parking space to realize vehicle warehousing; the touch display screen 5 is arranged at the vehicle inlet 3, and the control system is respectively connected with the vehicle receiving platform 4, the vehicle loading platform 7, the translation mechanism, the lifting mechanism and the touch display screen 5.
And a gravity sensor and a position sensor are arranged at the bottom of the vehicle receiving platform 4 and are respectively connected with a control system.
The vehicle receiving platform 4 and the vehicle carrying platform 7 are vehicle conveyor belts.
The translation mechanism is a screw and nut transmission mechanism and consists of a translation motor 8, a screw 9 and a nut; the screw rod 9 is arranged along the longitudinal through length of the conveying gallery 2, one end of the screw rod 9 is connected with a motor shaft of the translation motor 8, the translation motor 8 is fixed on the conveying bottom plate 6, and the nut is arranged at the bottom of the conveying bottom plate 6; under the drive of the translation motor 8, the screw nut and the lead screw 9 are matched for transmission to enable the conveying bottom plate 6 and the vehicle-carrying platform 7 on the conveying bottom plate to move horizontally.
The lifting mechanism is a gear and rack transmission mechanism and comprises a lifting motor 10, a gear and a rack 11, the lifting motor 10 is fixed on the vehicle carrying platform 7, a motor shaft of the lifting motor 10 is connected with the gear, the rack 11 is arranged on the conveying bottom plate 6 along the vertical direction, and the gear and the rack 11 are meshed for transmission under the driving of the lifting motor 10, so that the vehicle carrying platform 7 is vertically lifted.
2 racks 11 are arranged, and 2 gears are arranged; 2 racks 11 are respectively arranged at two sides of the conveying bottom plate 6, the lifting motor 10 is a double-output shaft motor, a gear is arranged on one motor shaft and meshed with one rack 11, the other motor shaft is connected with a synchronous rotating shaft through a coupler, and a gear is arranged on the synchronous rotating shaft and meshed with the other rack 11; the tops of the 2 racks 11 are connected through a top plate.
And the vehicle entrance is also provided with a license plate recognition sensor and a loudspeaker, and the license plate recognition sensor and the loudspeaker are connected with the control system.
A use method of the intelligent stereo garage comprises the following steps:
1) when a vehicle to be stored arrives at a vehicle entrance 3, the license plate recognition sensor recognizes and reads the license plate through a camera and a recognition system, and prompts the number of the remaining vehicle positions in the garage through a loudspeaker; after the vehicle enters the vehicle entrance 3, a vehicle owner drives the vehicle onto the vehicle loading platform 7 and stops the vehicle, and then gets off the vehicle to perform parking operation through the touch display screen 5; displaying real-time conditions of parking spaces in the garage on an initial interface of the touch display screen 5, wherein the parking spaces and empty parking spaces of the existing vehicles are respectively marked with different colors; the vehicle owner only needs to click the corresponding empty parking space and then selects 'parking';
2) after the parking space is selected, the translation lifting conveying device is automatically started; firstly, the translation motor 8 is started, the vehicle is moved to the front of the selected parking space along the transmission gallery 2, and then the lifting motor 10 is started to move the vehicle to the height of the corresponding parking space;
3) after the vehicle moves in place, the vehicle carrying platform 7 and the vehicle receiving platform 4 corresponding to the parking space are in a horizontal butt joint state, and the vehicle carrying platform 7 is conveyed to the corresponding vehicle receiving platform 4 through synchronous conveying;
4) after the vehicle is parked on the vehicle receiving platform 4, the lifting motor 10 is started to lower the vehicle carrying platform 7 to the original position; the translation motor 8 is started, the translation lifting and conveying device integrally returns to the initial position, and a next vehicle is ready to be stored;
5) when the car owner gets the car, get the car operation through touch display screen 5, only need click the parking stall that corresponds the vehicle and park, then select "get the car", by translation lift conveyer with correspond the vehicle on the parking stall remove to the vehicle entrance, the car owner drive the vehicle leave can.
The following examples are carried out on the premise of the technical scheme of the invention, and detailed embodiments and specific operation processes are given, but the scope of the invention is not limited to the following examples. The methods used in the following examples are conventional methods unless otherwise specified.
[ examples ] A method for producing a compound
In the embodiment, the intelligent stereo garage comprises a vehicle storage area, a vehicle inlet, a conveying gallery, a translation lifting conveying device, a control system and a touch display screen; a touch display screen is arranged at the entrance of the vehicle, a conveying corridor is arranged in front of the vehicle storage area, a lead screw is longitudinally arranged along the conveying corridor, and the translation lifting conveying device can move along the conveying corridor; the translation lifting and conveying device is internally provided with a translation mechanism and a lifting mechanism, the translation mechanism is a screw and nut transmission mechanism, and the lifting mechanism is a gear and rack transmission mechanism.
The parking space is provided with a vehicle receiving platform, the translation lifting device is provided with a vehicle carrying platform, and the vehicle receiving platform and the vehicle carrying platform both adopt vehicle conveyor belts. When the vehicle enters the parking space, the two conveyor belts are in butt joint and synchronously run to move the vehicle to the corresponding parking space.
The automatic operation of the intelligent stereo garage is controlled by a control system (single chip microcomputer), the empty parking spaces are displayed through a touch display screen, and the number of the empty parking spaces is reminded through an intelligent voice system before a vehicle drives in. The empty parking space monitoring is realized by the cooperation of the gravity sensor and the position sensor, and the translation lifting conveying device can automatically convey the vehicle to the empty parking space selected by the vehicle owner under the control of the control system.
In this embodiment, after the vehicle owner deposits the vehicle, the control system randomly generates a vehicle-taking password, and the vehicle owner takes the vehicle by using the password.
In this embodiment, control system adopts STM32F407ZG singlechip, and translation motor chooses for use direct current motor, and step motor chooses for use, corresponds every parking stall department and establishes limit switch, establishes the electron band-type brake on the rack. A driving chip of the translation motor is an L298n driving chip, a driving chip of the lifting motor is an A4988 driving chip, and the touch display screen is an HMI serial port screen.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An intelligent stereo garage is characterized by comprising a vehicle storage area, a vehicle entrance, a conveying gallery, a translation lifting conveying device, a control system and a touch display screen; the vehicle storage area is provided with a plurality of layers of parking spaces, and each layer of parking space is provided with a plurality of parking spaces along the conveying corridor; a vehicle receiving platform is arranged in each parking space; the translation lifting conveying device is driven by the translation mechanism to move longitudinally along the conveying gallery integrally and can move longitudinally along the conveying gallery; driven by the lifting mechanism, the conveying bottom plate and the vehicle-carrying platform on the conveying bottom plate can vertically lift to the corresponding parking space; the vehicle loading platform is matched with the vehicle receiving platform corresponding to the parking space to realize vehicle warehousing; the touch display screen is arranged at a vehicle entrance, and the control system is connected with the vehicle receiving platform, the vehicle loading platform, the translation mechanism, the lifting mechanism and the touch display screen respectively.
2. The intelligent stereo garage of claim 1, wherein a gravity sensor and a position sensor are arranged at the bottom of the vehicle receiving platform, and the gravity sensor and the position sensor are respectively connected with the control system.
3. The intelligent stereo garage of claim 1, wherein the vehicle receiving platform and the vehicle carrying platform are vehicle conveyor belts.
4. The intelligent stereo garage of claim 1, wherein the translation mechanism is a screw and nut transmission mechanism, and is composed of a translation motor, a screw and a nut; the screw rod is arranged along the longitudinal through length of the conveying gallery, one end of the screw rod is connected with a motor shaft of a translation motor, the translation motor is fixed on the conveying bottom plate, and a nut is arranged at the bottom of the conveying bottom plate; under the drive of the translation motor, the screw and the lead screw are matched for transmission to enable the conveying bottom plate and the vehicle-carrying platform on the conveying bottom plate to move horizontally.
5. The intelligent stereo garage of claim 1, wherein the lifting mechanism is a rack and pinion transmission mechanism, and comprises a lifting motor, a pinion and a rack, the lifting motor is fixed on the vehicle carrying platform, a motor shaft of the lifting motor is connected with the pinion, the rack is vertically arranged on the conveying bottom plate, and the pinion and the rack are driven by the lifting motor to engage for transmission, so that the vehicle carrying platform is vertically lifted.
6. The intelligent stereo garage of claim 5, wherein the number of the racks is 2, and the number of the gears is 2; 2 racks are respectively arranged on two sides of the conveying bottom plate, the lifting motor is a double-output-shaft motor, a gear is arranged on one motor shaft and meshed with one rack, the other motor shaft is connected with a synchronous rotating shaft through a coupler, and a gear is arranged on the synchronous rotating shaft and meshed with the other rack; the tops of the 2 racks are connected through a top plate.
7. The intelligent stereo garage of claim 1, wherein the vehicle entrance is further provided with a license plate recognition sensor and a speaker, and the license plate recognition sensor and the speaker are connected to the control system.
8. The use method of the intelligent stereo garage according to any one of claims 1 to 7, comprising the following steps:
1) when a vehicle to be stored arrives at a vehicle entrance, the vehicle license plate recognition sensor recognizes and reads the vehicle license plate through the camera and the recognition system, and prompts the number of the remaining vehicle positions in the garage through the loudspeaker; after the vehicle enters the vehicle entrance, a vehicle owner drives the vehicle onto the vehicle loading platform and stops the vehicle, and then the vehicle is unloaded and the vehicle is stored through the touch display screen; displaying real-time conditions of parking spaces in the garage on an initial interface of a touch display screen, wherein the parking spaces and empty parking spaces of existing vehicles are respectively marked with different colors; the vehicle owner only needs to click the corresponding empty parking space and then selects 'parking';
2) after the parking space is selected, the translation lifting conveying device is automatically started; firstly, starting a translation motor, moving a vehicle to the front of a selected parking space along a transmission gallery, then starting a lifting motor, and moving the vehicle to the height of the corresponding parking space;
3) after the vehicle moves in place, the vehicle carrying platform and the vehicle receiving platform corresponding to the parking space are in a horizontal butt joint state, and the vehicle self-carrying platform is transmitted to the corresponding vehicle receiving platform through synchronous transmission;
4) after the vehicle is parked on the vehicle receiving platform, the lifting motor is started to lower the vehicle carrying platform to the original position; starting a translation motor, returning the whole translation lifting and conveying device to an initial position, and preparing to store the next vehicle;
5) when the car owner gets the car, get the car operation through touch display screen, only need click the parking stall that corresponds the vehicle and park, then select "get the car", by translation lift conveyer with correspond the vehicle on the parking stall remove to the vehicle entrance, the car owner drive the vehicle leave can.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331841.2A CN112459569A (en) | 2020-11-24 | 2020-11-24 | Intelligent stereo garage and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331841.2A CN112459569A (en) | 2020-11-24 | 2020-11-24 | Intelligent stereo garage and use method thereof |
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| CN112459569A true CN112459569A (en) | 2021-03-09 |
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| CN202011331841.2A Pending CN112459569A (en) | 2020-11-24 | 2020-11-24 | Intelligent stereo garage and use method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110761606A (en) * | 2019-11-01 | 2020-02-07 | 何世新 | High-structure remote control intelligent garage |
| CN113027199A (en) * | 2021-03-29 | 2021-06-25 | 浙江理工大学 | Rotary intelligent stereo garage and control method |
| CN114658272A (en) * | 2022-01-21 | 2022-06-24 | 合肥巍华智能停车设备有限公司 | Interlocking logic control method for stereo garage |
| CN115288501A (en) * | 2022-08-19 | 2022-11-04 | 安徽鸿杰威尔停车设备有限公司 | Carry on big lift platform of heavy load type of manipulator |
-
2020
- 2020-11-24 CN CN202011331841.2A patent/CN112459569A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110761606A (en) * | 2019-11-01 | 2020-02-07 | 何世新 | High-structure remote control intelligent garage |
| CN110761606B (en) * | 2019-11-01 | 2021-06-15 | 何世新 | High-structure remote control intelligent garage |
| CN113027199A (en) * | 2021-03-29 | 2021-06-25 | 浙江理工大学 | Rotary intelligent stereo garage and control method |
| CN114658272A (en) * | 2022-01-21 | 2022-06-24 | 合肥巍华智能停车设备有限公司 | Interlocking logic control method for stereo garage |
| CN115288501A (en) * | 2022-08-19 | 2022-11-04 | 安徽鸿杰威尔停车设备有限公司 | Carry on big lift platform of heavy load type of manipulator |
| CN115288501B (en) * | 2022-08-19 | 2023-05-16 | 安徽鸿杰威尔停车设备有限公司 | Carry on heavy-duty formula large elevator platform of manipulator |
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