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WO2019205404A1 - 一种动态转移式存取车方法 - Google Patents

一种动态转移式存取车方法 Download PDF

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Publication number
WO2019205404A1
WO2019205404A1 PCT/CN2018/103851 CN2018103851W WO2019205404A1 WO 2019205404 A1 WO2019205404 A1 WO 2019205404A1 CN 2018103851 W CN2018103851 W CN 2018103851W WO 2019205404 A1 WO2019205404 A1 WO 2019205404A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
corridor
lifting device
dynamic transfer
Prior art date
Application number
PCT/CN2018/103851
Other languages
English (en)
French (fr)
Inventor
唐柳华
李龙
Original Assignee
武汉过控科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉过控科技有限公司 filed Critical 武汉过控科技有限公司
Publication of WO2019205404A1 publication Critical patent/WO2019205404A1/zh

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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

Definitions

  • the invention relates to a dynamic transfer type access vehicle method, which can realize a fast access vehicle and belongs to the technical field of stereo garage.
  • the three-dimensional garage for storing vehicles is generally made of steel structure or reinforced concrete structure, forming a plurality of three-dimensional parking spaces.
  • the vehicles sent from the entrance and exit of the three-dimensional garage are lifted to the corresponding heights by the automatically controlled hoist, and then through the track.
  • the transportation is sent to a parking surface and then sent to the corresponding parking space.
  • the technology of storing the vehicle is carried out by a hoist to complete the lifting, horizontal conveying and lateral movement, and finally the body is stored in the parking space.
  • the stereoscopic garage has limited beats and cannot meet the needs of high-beat car production lines. It generally has problems such as large floor space, long time to access vehicles, and inconvenient vehicle access.
  • the stereo garage access speed is slow, the efficiency is low, and the access vehicle logic is complicated.
  • a dynamic transfer type access vehicle method includes a lifting device 101, a parking garage 102, a storage corridor 201, a pickup corridor 202, and a handling robot 301.
  • the parking garage 102 is multi-layered, and each floor includes at least one parking corridor 201 and one pick-up corridor 202.
  • the plurality of parking corridors 201 and the plurality of pick-up corridors 202 can be alternately combined according to the site conditions.
  • the greatest feature of the present invention is that the travel route of the vehicle has no foldback, and the access of any vehicle does not depend on the movement of other vehicles. Save the car can be stored in sequence, automatically pan and close; take the car as you like, no need to avoid, energy efficient.
  • the access vehicle is automatically completed by the handling robot 301 without regard to the skill of the driver. It is especially suitable for large-scale fast stop vehicles in the bustling areas of the city.
  • the access vehicle of the invention has the advantages of high speed and high efficiency, and the access vehicle does not need to be avoided, the logic is simple, and the implementation is easy.
  • Figure 1 is a schematic illustration of the invention.
  • the parking process allows the driver to park the vehicle Cn in the vicinity of the three-dimensional parking garage 102, and the transport robot 301 automatically loads the vehicle Cn, and the transport robot 301 maintains an integral movement with the vehicle Cn throughout the entire transportation process until the entire vehicle.
  • the transfer robot 301 is separated from the vehicle Cn.
  • the vehicle Cn mentioned in the entire process of stopping the vehicle refers to an assembly when the vehicle Cn and the transport robot 301 are integrated as a whole.
  • the vehicle Cn After the vehicle Cn enters the lifting device 101, it is lifted to a predetermined floor, and the vehicle Cn automatically moves away from the lifting device 101 along the parking corridor 201, and moves to the side of the existing vehicle, for example, the vehicle C2 moves to the vehicle C3; when the vehicle Cn leaves the parking corridor
  • other vehicles automatically move along the parking corridor 201 away from the lifting device 101 to near the existing vehicle, for example, the vehicle C9 exits, the vehicle C8 approaches the vehicle C10, while the vehicle C7 approaches the vehicle C8, and so on.
  • the picking process is that the vehicle to be taken is directly translated from the parking corridor 201 to the picking corridor 202 at the closest distance, and then translated into the lifting device 101 along the picking corridor 202.
  • the lifting device 101 sends the vehicle Cn to the ground floor, and the vehicle Cn leaves.
  • the lifting device 101 ends the pickup.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种动态转移式存取车方法，包括升降装置（101），停取车库（102），存车走廊（201），取车走廊（202），搬运机器人（301），通过搬运机器人（301）和升降装置（101）的配合实现车辆的动态转移，存取车由搬运机器人（301）自动完成，存车可以顺序存放，自动平移贴靠；取车则无需避让，节能高效。

Description

一种动态转移式存取车方法 技术领域
本发明涉及一种动态转移式存取车方法，该方法可以实现快速存取车，属于立体车库技术领域。
背景技术
目前存放车辆的立体车库普遍采用钢结构或钢筋混泥土结构制作，形成多个立体车位，由自动控制的提升机将自立体车库的出入口送来的车辆，升降到相应的高度后，再经由轨道输送，送到一个停车面上后再送到相应的停车位上，这种存储车辆的技术，由一个提升机接车后完成升降、水平输送及横向移动等动作，最后把车身存放到车位上，导致立体车库的节拍受限，不能满足高节拍汽车生产线的需要，普遍存在占地面积大，存取车辆耗时长，车辆进出不方便等问题。
技术问题
目前立体车库存取车速度慢、效率低、存取车逻辑复杂。
技术解决方案
一种动态转移式存取车方法，包括升降装置101，停取车库102，存车走廊201，取车走廊202，搬运机器人301。停取车库102为多层，每层至少包含1个停车走廊201和1个取车走廊202，多个停车走廊201和多个取车走廊202可以根据场地情况交替组合。与现有立体车库技术相比，本发明最大的特点是车辆的行驶线路无折返，任何车辆的存取都不依赖其它车辆的移动。存车可以顺序存放，自动平移贴靠；取车随心所欲，无需避让，节能高效。存取车由搬运机器人301自动完成，无需考虑驾驶员的技能。特别适合于城市繁华地带的大规模快速停取车。
有益效果
本发明存取车速度快、效率高，存取车无需避让、逻辑简单、易于实现。
附图说明
图1为本发明的示意图。
本发明的实施方式
存车过程为驾驶员把车辆Cn停放在立体停车库102附近后即可离开，搬运机器人301自动把车辆Cn装载，且搬运机器人301在搬运的整个过程中与汽车Cn保持一个整体运动，直到整个取车完成，搬运机器人才301与车辆Cn分离。停取车整个过程所提到的车辆 Cn均指车辆Cn与搬运机器人301合为一个整体时的组合体。车辆Cn进入升降装置101后，便被提升到预定楼层，车辆Cn自动沿停车走廊201远离升降装置101，平移至靠近已存车辆旁，例如车辆C2向车辆C3移动；当有车辆Cn离开停车走廊201时，其它车辆自动沿停车走廊201远离升降装置101平移至靠近已存车辆旁，例如车辆C9离开，车辆C8向车辆C10靠近，同时车辆C7向车辆C8靠近，以此类推。取车过程为待取车辆以最近的距离从停车走廊201直接平移至取车走廊202，然后沿取车走廊202平移至升降装置101内，升降装置101把车辆Cn送至地面层，车辆Cn离开升降装置101，取车结束。
工业实用性
能够实现高效、快捷的大型立体车库的建造。

Claims (6)

  1. 一种动态转移式存取车方法，包括搬运机器人(301)，升降装置(101)，停取车库(102)，每层均有停车走廊(201)和取车走廊(202)。
  2. 一种动态转移式存取车方法，其特征在于停取车库(102)的每一层均可由单个或多个停车走廊(201)和取车走廊(202)交替组合。
  3. 一种动态转移式存取车方法，其特征在于停取车库(102)的停车走廊(201)为车辆(Cn)的停放空间，取车走廊(202)仅仅为车辆(Cn)被取车时的行走通道，不作为车辆(Cn)的停放空间。
  4. 一种动态转移式存取车方法，其特征在于整个停取车过程车辆(Cn)与搬运机器人(301)作为一个整体移动。
  5. 一种动态转移式存取车方法，其特征在于整个停取车过程车辆(Cn)由搬运机器人(301)智能移动完成。
  6. 一种动态转移式存取车方法，其特征在于车辆(Cn)的移动轨迹为：车辆(Cn)进入升降装置(101)后被提升至预设楼层，车辆(Cn)平移进入该楼层的停车走廊201，自动移动靠近已经停放的车辆，并在前车离开后自动往前停靠，取车时车辆(Cn)从停车位置直线进入取车走廊(102)，然后直线平移至升降装置(101)，升降装置(101)将车辆(Cn)降至地面层后，车辆(Cn)离开升降装置(101)。
PCT/CN2018/103851 2018-04-28 2018-09-03 一种动态转移式存取车方法 WO2019205404A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN108412273B (zh) * 2018-04-28 2019-01-22 武汉过控科技有限公司 一种动态转移式存取车方法
CN109707194A (zh) * 2019-01-04 2019-05-03 武汉过控科技有限公司 一种分散缓冲式车辆出入库方法
CN110080581A (zh) * 2019-05-20 2019-08-02 武汉过控科技有限公司 一种高效存取车方法

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GB1075793A (en) * 1963-11-15 1967-07-12 Reginald George Edkins Improvements in multi-storey car parks
CN2390953Y (zh) * 1999-10-11 2000-08-09 上海交通大学 并排多车位滚道式停车设备
CN1363752A (zh) * 2002-02-08 2002-08-14 上海交通大学 多层平面移动式滚道存放停车设备
CN1786396A (zh) * 2005-12-01 2006-06-14 上海交通大学 双层搬运器备份的三车位滚道存放停车设备
CN102505885A (zh) * 2011-10-11 2012-06-20 山东省自主创新促进中心 双排立体车库
CN205189474U (zh) * 2015-12-10 2016-04-27 天津市中环富士智能设备有限公司 使用可变换载车板停车位的多层循环停车设备
CN108412273A (zh) * 2018-04-28 2018-08-17 武汉过控科技有限公司 一种动态转移式存取车方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1075793A (en) * 1963-11-15 1967-07-12 Reginald George Edkins Improvements in multi-storey car parks
CN2390953Y (zh) * 1999-10-11 2000-08-09 上海交通大学 并排多车位滚道式停车设备
CN1363752A (zh) * 2002-02-08 2002-08-14 上海交通大学 多层平面移动式滚道存放停车设备
CN1786396A (zh) * 2005-12-01 2006-06-14 上海交通大学 双层搬运器备份的三车位滚道存放停车设备
CN102505885A (zh) * 2011-10-11 2012-06-20 山东省自主创新促进中心 双排立体车库
CN205189474U (zh) * 2015-12-10 2016-04-27 天津市中环富士智能设备有限公司 使用可变换载车板停车位的多层循环停车设备
CN108412273A (zh) * 2018-04-28 2018-08-17 武汉过控科技有限公司 一种动态转移式存取车方法

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