Stereo parking garage and its control method

Abstract

The present invention discloses a three-dimensional parking garage and its control method. The three-dimensional parking garage forms an access area for vehicles to enter and exit. The three-dimensional parking garage includes a plurality of car-carrying platforms for parking vehicles, a conveying device for driving the car-carrying platforms to move in a cycle, a first sensor for detecting whether there is a vehicle on the car-carrying platform located in the access area, a fourth sensor for detecting the running direction of the conveying device, and a controller. The controller is respectively connected to the conveying device, the first sensor, and the fourth sensor. The controller controls the operation of the conveying device according to the signal sent by the first sensor. It realizes improving the use reliability of the three-dimensional parking garage, simplifying the control process and reducing the manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the field of garages, and particularly to a three-dimensional parking garage and a control method thereof. Background Art

[0002] Currently, with the continuous increase in the number of automobiles, the problem of parking difficulty has become increasingly prominent. With the progress of technology, intelligent three-dimensional parking garages have been widely used. Chinese Patent Nos. 201510343091.3, 201511014070.3, 01257189X, and 201520674851.4 respectively disclose a three-dimensional parking garage, which realizes a small floor area and the function of cyclic three-dimensional parking. In the actual use process, sensors for detecting whether a vehicle has parked are usually configured on each parking platform, which requires complex signal communication, and the control process is cumbersome and the reliability is relatively low. How to design a three-dimensional parking garage with high use reliability and a simple control process is the technical problem to be solved by the present invention. Summary of the Invention

[0003] The present invention provides a three-dimensional parking garage and a control method thereof, which can improve the use reliability of the three-dimensional parking garage, simplify the control process and reduce the manufacturing cost.

[0004] The object of the present invention is achieved by the following technical solutions:

[0005] A three-dimensional parking garage, the three-dimensional parking garage forms an access area for vehicles to enter and exit, the three-dimensional parking garage includes a plurality of car-carrying platforms for parking vehicles, a conveying device for driving the car-carrying platforms to move cyclically, a first sensor for detecting whether there is a vehicle on the car-carrying platform located in the access area, and a controller; the controller is respectively connected to the conveying device and the first sensor, and the controller controls the operation of the conveying device according to the signal sent by the first sensor.

[0006] Further, the three-dimensional parking garage further includes a second sensor for weighing the weight of the car-carrying platform located in the access area, and the second sensor is connected to the controller.

[0007] Further, the three-dimensional parking garage further includes a third sensor for detecting whether the moving car-carrying platform has moved in place, and the third sensor is connected to the controller.

[0008] Further, the multi - level parking garage further includes a mounting frame. The bottom of the mounting frame forms the vehicle access area. The mounting frame includes two support frames that are arranged oppositely and fixed on the foundation. The conveying device includes a driving mechanism, two chains, and a plurality of sprockets. A plurality of the sprockets are provided on each of the support frames. The chains are wound around the sprockets on the corresponding support frames. The driving mechanism is used to drive the sprockets to rotate so as to drive the car - carrying platform to move through the chains. The car - carrying platform is connected between the two chains.

[0009] Further, the sprocket directly driven and connected to the driving mechanism is the driving sprocket. A connecting shaft is provided between two driving sprockets that are opposite to each other at the same height position on the two support frames. The driving mechanism is used to drive each driving sprocket to run synchronously so that the upper driving sprocket of the two adjacent driving sprockets bears the load on the chain between the two adjacent driving sprockets.

[0010] Further, a hinge portion is formed between two adjacent chain links of the chain. A suspension link is provided on the upper part of the car - carrying platform. One end of the suspension link is connected to the hinge portion of one of the chains, and the other end of the suspension link is connected to the corresponding hinge portion of the other chain.

[0011] Further, the multi - level parking garage further includes a positioning and supporting assembly provided on the foundation. The positioning and supporting assembly is used to position and support the car - carrying platform at the vehicle access area.

[0012] The present invention also provides a control method for the above - mentioned multi - level parking garage. The multi - level parking garage includes n car - carrying platforms. Correspondingly, the multi - level parking garage has n parking positions. Each car - carrying platform is located at the corresponding parking position. Among them, when a vehicle is parked on the car - carrying platform, it is marked as an occupied state, and when the car - carrying platform is empty, it is marked as an idle state.

[0013] The control method includes a parking space status detection mode. The parking space status detection mode specifically includes:

[0014] Step 101: When the first sensor detects that a vehicle is parked on an idle car - carrying platform in the vehicle access area, mark the car - carrying platform as an occupied state. Then, the conveying device drives each car - carrying platform to rotate so that a new idle car - carrying platform is parked in the vehicle access area. At the same time, modify the parking position information of each car - carrying platform according to the travel of the car - carrying platform.

[0015] Step 102: When the first sensor detects that the vehicle on the occupied car - carrying platform in the vehicle access area drives out, mark the car - carrying platform as an idle state.

[0016] Further, step 101 is specifically as follows: the conveying device drives each car-carrying platform to rotate a distance equal to the distance between m parking spaces, so that the difference in the load weights of the chains on both sides of the installation frame reaches the minimum; and / or, the parking space state detection mode further includes: step 103, after step 102 is executed, the conveying device drives each car-carrying platform to rotate a distance equal to the distance between m parking spaces, so that the difference in the load weights of the chains on both sides of the installation frame reaches the minimum; at the same time, the parking space information of each car-carrying platform is modified according to the travel distance of the car-carrying platform movement.

[0017] Further, modifying the parking space value X of each car-carrying platform according to the travel distance of the car-carrying platform movement t is specifically as follows: when the conveying device drives each car-carrying platform to move forward a distance between m parking spaces, the parking space value X of each car-carrying platform t = X t-1 + m. If the value of X t-1 + m is greater than n, then X t = X t-1 + m - n; when the conveying device drives each car-carrying platform to move backward a distance between m parking spaces, the parking space value X of each car-carrying platform t = X t-1 - m. If the value of X t-1 - m is less than n, then X t = X t-1 - m + n; where X t-1 is the parking space value of the car-carrying platform before movement; where m and n are natural numbers.

[0018] The present invention has many advantages and positive effects compared with the prior art:

[0019] The three-dimensional parking garage provided by the present invention detects whether there is a vehicle on the car-carrying platform in the vehicle entry and exit area by setting the first sensor, and the controller can mark the parked vehicle state of the car-carrying platform according to the detection result of the first sensor. Therefore, there is no need to configure an independent sensor for each car-carrying platform. The first sensor does not move with the car-carrying platform, avoiding damage caused by vibration or collision during the movement with the car-carrying platform, ensuring its use reliability, improving the use reliability of the three-dimensional parking garage, simplifying the control process and reducing the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the layout schematic diagram of the three-dimensional parking garage of the present invention;

[0021] Figure 2 is the three-dimensional view of the three-dimensional parking garage of the present invention;

[0022] Figure 3For Figure 2 Partial enlarged schematic view of area A in

[0023] Figure 4 Schematic structural view of the three-dimensional parking garage of the present invention with one side support frame removed;

[0024] Figure 5 For Figure 4 Partial enlarged schematic view of area B in

[0025] Figure 6 For Figure 4 Partial enlarged schematic view of area C in

[0026] Figure 7 Schematic structural view of the guiding sliding groove in the three-dimensional parking garage of the present invention;

[0027] Figure 8 Schematic structural view of the vehicle-carrying platform in the three-dimensional parking garage of the present invention;

[0028] Figure 9 Schematic principle diagram of the speed-limiting component in the three-dimensional parking garage of the present invention. Specific embodiments

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] Referring to Figures 1-9 As shown, the three-dimensional parking garage of this embodiment forms an in-out vehicle area 101 for vehicles to enter and exit. The three-dimensional parking garage of this embodiment includes a plurality of vehicle-carrying platforms 2 for parking vehicles, a conveying device for driving the vehicle-carrying platforms 2 to move in a cycle, a first sensor (not shown) for detecting whether there is a vehicle on the vehicle-carrying platform 2 located in the in-out vehicle area 101, and a controller (not shown); the controller is respectively connected to the conveying device, the first sensor and the fourth sensor, and the controller controls the operation of the conveying device according to the signal sent by the first sensor.

[0031] Specifically, the three-dimensional parking garage in this embodiment has a vehicle access area 101 for vehicles to enter and exit. The car-carrying platform 2 located in the vehicle access area 101 will complete the entry or exit of the vehicle. When the vehicle enters or exits the car-carrying platform 2 located in the vehicle access area 101, it can be detected by the first sensor to determine whether there is a vehicle stored on the car-carrying platform 2 in the vehicle access area 101. The controller marks whether there is a vehicle on the car-carrying platform 2 in the vehicle access area 101 according to the signal sent by the first sensor. After the car-carrying platform 2 in the vehicle access area 101 is marked as having a vehicle or not, the controller controls the conveying device to operate. Among them, the three-dimensional parking garage in this embodiment further includes a fourth sensor for detecting the running direction of the conveying device. During the process that the conveying device is controlled by the controller to rotate forward or backward, the running direction of the conveying device can be detected by the fourth sensor and fed back to the controller to further confirm whether the running direction is correct, so as to update the parking station information of each car-carrying platform 2. In the actual use process, when the controller does not receive the vehicle retrieval instruction, in order to facilitate the user to park the vehicle, the car-carrying platform 2 in the idle state is generally moved to the vehicle access area 101 to wait for a new vehicle to be parked. And, in order to ensure that the car-carrying platform 2 can accurately move to the vehicle access area 101 and stop waiting, the three-dimensional parking garage further includes a third sensor for detecting whether the moving car-carrying platform moves in place. The third sensor is connected to the controller. Specifically, during the process of driving each car-carrying platform 2 to move by the conveying device, the controller controls the operation of the conveying device. When the moving distance of the car-carrying platform 2 reaches the distance of a set number of parking stations, the third sensor detects whether the car-carrying platform 2 at the corresponding position moves to the accurate position at a specific position to trigger the controller to control the conveying device to stop operating.Preferably, during operation, the parking states of the car-carrying platforms 2 at different positions are different. To ensure that when the conveying device stops operating, the car-carrying platforms 2 on the conveying device maintain a state of weight balance, this three-dimensional parking embodiment further includes a second sensor (not shown) for weighing the car-carrying platform 2 located in the vehicle access area 101. The second sensor is connected to the controller. Specifically, when the parking state of the car-carrying platform 2 located in the vehicle access area 101 changes, the second sensor detects the load of the corresponding car-carrying platform 2, and the controller marks the weight information of the car-carrying platform 2 according to the information sent by the second sensor. In this way, during the cyclic operation of the conveying device, if the controller does not receive a car-taking signal, it first ensures that there is an idle car-carrying platform 2 in the vehicle access area 101. During the process of moving the idle car-carrying platform 2 to the vehicle access area 101, the position of the car-carrying platform 2 is further adjusted according to the load of each car-carrying platform 2 to achieve a balanced weight distribution. This is the balanced distribution mode. Or, after the vehicle in the car-carrying platform 2 is taken away, it is not moved anymore, and the car-carrying platform 2 is directly marked as idle. This is the least movement mode.

[0032] Among them, the first sensor can be embodied as a photoelectric switch, a pressure sensor, or other entities. The fourth sensor can be embodied as a photoelectric switch or an angular displacement sensor, etc. When a photoelectric switch is correspondingly used to judge the running direction, the photoelectric switch is arranged between two adjacent parking positions and offset close to one of the parking positions. In this way, during the process of the conveying device driving the car-carrying platform 2 to move, the running direction can be judged according to the time difference between the start of the conveying device and the triggering of the photoelectric switch. The third sensor can be embodied as a travel switch or a position sensor, etc.; the second sensor can be embodied as a weighing sensor, a pressure sensor, a weighing sensor, etc.

[0033] In addition, the three-dimensional parking garage of this embodiment can adopt the following specific structural forms. The three-dimensional parking garage of this embodiment further includes an installation frame 1, and the installation frame 1 includes two support frames 11 arranged oppositely. The conveying device includes a driving mechanism 3, two chains 5 and a plurality of sprockets. Among them, the sprockets are divided into first sprockets 41 arranged at the top and bottom of the support frame 11, and the sprockets are also divided into two second sprockets 42 arranged vertically on both sides of the support frame 11. The first sprockets 41 and the second sprockets 42 on the same support frame 11 are provided with chains 5. An articulated part 51 is formed between two adjacent link sections of the chain 5. A suspension connecting rod 22 is arranged on the upper part of the car-carrying platform 2. One end of the suspension connecting rod 22 is connected to the articulated part 51 of one of the chains 5, and the other end of the suspension connecting rod 22 is connected to the corresponding articulated part 51 of the other chain 5; a guiding chute 6 is arranged on at least one of the support frames 11, and a guiding column 24 is arranged on the car-carrying platform 2. The guiding column 24 is slidably arranged in the guiding chute 6; the driving mechanism 3 drives the first sprocket 41 and / or the second sprocket 42 to rotate.

[0034] Specifically, in this embodiment, the three-dimensional parking garage has two oppositely arranged support frames 11 installed on the foundation 100. A plurality of sprockets are provided on the support frames 11 to install the chains 5. The installation positions of the corresponding sprockets on the two support frames 11 are the same. The driving mechanism drives the sprockets to rotate to drive the two chains 5 to rotate synchronously. Among them, the sprocket connected to the driving mechanism is used as the driving sprocket, and the sprocket not connected to the driving mechanism is used as the driven sprocket. The two corresponding driving sprockets on the two support frames 11 are connected by a connecting shaft to ensure the synchronous rotation of the two driving sprockets and the synchronous operation of the two chains 5. For the driven sprockets, they can be connected by corresponding connecting shafts according to needs, or the driven sprockets can be independent without connecting shafts to reduce the manufacturing cost. Hereinafter, taking the driving mechanism 3 driving the first sprocket 41 at the bottom of the support frame 11 as an example for illustration. The driving mechanism 3 transmits power to the first sprocket 41 at the bottom of the support frame 11. The first sprockets 41 at the bottoms of the two support frames 11 are connected by a connecting shaft to rotate synchronously. The rotation of the first sprocket 41 at the bottom drives the two chains 5 to run synchronously, thereby driving the car-carrying platform 2 on the chains 5 to move accordingly. Among them, the car-carrying platform 2 is connected to the corresponding articulated parts 51 of the two chains 5 through the suspension connecting rods 22. In this way, the force generated by the car-carrying platform 2 on the chain 5 acts on the articulated part 51. During the movement of the chain 5, the car-carrying platform 2 can rotate relative to the articulated part 51, so as to ensure that the car-carrying platform 2 always maintains an upright state. Moreover, through the cooperation of the guide posts 24 on the car-carrying platform 2 and the guide chutes 6 on the support frame 11 for guiding, it is ensured that the car-carrying platform 2 can move along the guide chutes 6, thereby reducing the sway generated during the movement of the car-carrying platform 2 following the chain 5. Since the suspension connecting rods 22 of the car-carrying platform 2 are connected to the articulated parts 51 of the chain 5, there is no need to additionally configure protruding connecting plates on the chain 5 to install the car-carrying platform 2; under the action of gravity, the car-carrying platform 2 will generate a vertically downward pulling force on the articulated part 51, so that the chain 5 is subjected to a downward pulling force at the articulated part 51, and the link part of the chain 5 is not subjected to a lateral force perpendicular to the link direction. Especially for the part of the chain 5 operating in a vertical state, the car-carrying platform 2 will not generate a torque on the chain 5 to cause the chain 5 to twist, thereby reducing the wear generated during the operation of the chain 5. At the same time, compared with the prior art in which a connecting plate in the form of a cantilever beam structure is used to install the vehicle frame, a guide groove is required on one side of the chain to assist in bearing the gravity of the vehicle frame. Since the suspension connecting rods 22 of the car-carrying platform 2 are connected to the articulated parts 51 of the chain 5, the guide chute 6 mainly plays a guiding role during actual use, and the friction between the guide post 24 and the guide chute 6 is small, so that the car-carrying platform 2 can move quickly along the guide chute 6 to improve the operation efficiency.Wherein, for the convenience of installing the suspension link 22, the articulated portion 51 where the chain 5 is connected to the suspension link 22 is a bushing, and the end of the suspension link 22 is inserted into the bushing. In order to reduce the friction between the suspension link 22 and the articulated portion 51, a wear-resistant sleeve is further provided in the bushing, and the end of the suspension link 22 is inserted into the wear-resistant sleeve.

[0035] Further, the guiding chute 6 includes two vertically arranged vertical guiding grooves 61 disposed left and right, and inclined guiding grooves 611 are respectively arranged at the ends of the vertical guiding grooves 61. The inclined guiding groove 611 located in the upper part extends upward, and the inclined guiding groove 611 located in the lower part extends downward; the vertical guiding grooves 61 and the inclined guiding grooves 611 are arranged on the support frame 11. Specifically, according to the distribution of the sprockets on the support frame 11, when the chain 5 drives the car-carrying platform 2 to move cyclically, when moving in the vertical direction between two adjacent second sprockets 42 arranged up and down, the car-carrying platform 2 is guided and moved through the vertical guiding grooves 61, and when moving between the adjacent first sprocket 41 and the second sprocket 42, the car-carrying platform 2 is guided and moved through the inclined guiding grooves 611 at the ends of the vertical guiding grooves 61 to ensure the running stability of the car-carrying platform 2. Preferably, since the car-carrying platform 2 will be located in the vehicle entry and exit area at the bottom of the installation frame 1 when parking and taking a vehicle, and since the moving vehicle will cause the car-carrying platform 2 to shake during the process of entering or exiting the car-carrying platform 2, in order to ensure that the car-carrying platform 2 still obtains good guiding support during the parking and vehicle-taking process, the guiding chute 6 further includes a transverse guiding groove 62, and the transverse guiding groove 62 is arranged at the bottom of the support frame 11 and is located between the two inclined guiding grooves 611 at the bottom; the guiding columns 24 include two lower guiding columns 241 arranged at the bottom of the car-carrying platform 2. Specifically, when the car-carrying platform 2 moves to the bottom vehicle entry and exit area, the two lower guiding columns 241 at the bottom of the car-carrying platform 2 are located in the transverse guiding groove 62. On the one hand, the transverse guiding groove 62 can guide the car-carrying platform 2 during the process of the car-carrying platform 2 moving to the bottom, and on the other hand, during the vehicle parking and taking process, the lower guiding columns 241 cooperate with the transverse guiding groove 62 to reduce the shaking of the car-carrying platform 2. Under the restriction of the transverse guiding groove 62, the shaking space of the car-carrying platform 2 becomes smaller. Among them, in order to ensure good guiding when the car-carrying platform 2 moves between the first sprocket 41 and the second sprocket 42, the guiding columns 24 further include two upper guiding columns 242 arranged on the car-carrying platform 2; the upper guiding columns 242 are located directly above the corresponding lower guiding columns 241; the inclined guiding groove 611 includes two inclined sub-guiding grooves 6111 arranged in parallel and up and down. Specifically, for the inclined guiding groove 611 on the vertical guiding groove 61, the upper inclined sub-guiding groove 6111 is used to cooperate with the upper guiding column 242 for guiding, and the lower inclined sub-guiding groove 6111 is used to cooperate with the lower guiding column 241 for guiding.In addition, in order to further ensure that the chain 5 can cooperate with the sprocket to drive the car-carrying platform 2 to move smoothly, the number of teeth of the second sprocket 42 meshing with the chain 5 is not less than three. Specifically, since the second sprockets 42 are distributed at the four corners of the mounting frame 1, the moving track of the chain 5 will change direction when passing through the second sprockets 42. By increasing the number of teeth of the second sprockets 42 meshing with the chain 5, the car-carrying platform 2 can change its moving track more smoothly when moving to the position of the second sprockets 42, so as to reduce the shaking degree of the car-carrying platform 2 and the impact on the guiding chute 6, and further improve the operation efficiency.

[0036] Meanwhile, in order to more reliably improve the stability of the car-carrying platform 2 during the parking and retrieval process and reduce the impact on the chain 5, a positioning and supporting assembly is further provided on the foundation 100. The positioning and supporting assembly is used to position and support the car-carrying platform 2 located at the vehicle access area. Specifically, during the parking and retrieval process, the car-carrying platform 2 will move to the vehicle access area at the bottom of the installation frame 1. At this time, the positioning and supporting assembly can support and position the car-carrying platform 2 in the vehicle access area. On the one hand, it can support the car-carrying platform 2 from the bottom, and on the other hand, the positioning and supporting assembly can also position the side of the car-carrying platform 2. In this way, during the parking and retrieval process, it can ensure that the car-carrying platform 2 remains stable. At the same time, it can reduce the impact on the chain 5 caused by the sudden change in the load of the car-carrying platform 2 when the vehicle drives in or out. Among them, the positioning and supporting assembly includes a plurality of positioning and telescopic modules 7. The positioning and telescopic module 7 includes a telescopic mechanism 71 and a positioning and supporting member 72 provided on the telescopic mechanism 71. The positioning and supporting member 72 has a supporting portion for supporting the bottom of the car-carrying platform 2, and the positioning and supporting member 72 also has a positioning portion for positioning the side of the car-carrying platform 2. Specifically, by the telescopic movement of the telescopic mechanism 71, the positioning and supporting member 72 can be moved closer to or farther away from the car-carrying platform 2. When parking and retrieving the vehicle, the telescopic mechanism 71 drives the positioning and supporting member 72 to move closer to the car-carrying platform 2. The supporting portion of the positioning and supporting member 72 will support the car-carrying platform 2 from the bottom, and the positioning portion of the positioning and supporting member 72 will position the car-carrying platform 2 from the side. The telescopic mechanism 71 can adopt physical entities such as telescopic electromagnets, electric cylinders, and linear motors. Among them, the positioning and supporting member 72 can be a positioning support plate with an L-shaped cross-section. The horizontal plate surface of the positioning support plate forms the supporting portion, and the vertical plate surface of the positioning support plate forms the positioning portion. In addition, the telescopic mechanism 71 can be horizontally arranged on the foundation 100, and the horizontally arranged telescopic mechanism 71 can be telescoped in the horizontal direction; or the telescopic mechanism 71 can be vertically arranged on the foundation 100, and the vertically arranged telescopic mechanism 71 can be telescoped in the vertical direction. Preferably, the positioning and telescopic modules 7 are respectively arranged at both ends and both sides of the car-carrying platform 2 located at the vehicle access area on the foundation 100. Specifically, the car-carrying platform 2 located at the vehicle access area forms a projection area on the foundation 100. Correspondingly, the positioning and telescopic modules 7 are respectively arranged around the projection area. The car-carrying platform 2 can be positioned and supported by the positioning and telescopic modules 7 arranged around.

[0037] Furthermore, for the vehicle-carrying platform 2 including a vehicle-carrying board 21, a connecting frame 23 and a suspension link 22, connecting frames 23 are respectively arranged at the front and rear ends of the vehicle-carrying board 21, the suspension link 22 is connected to the two connecting frames 23, and the connecting frame 23 has an inverted U-shaped structure. Specifically, the vehicle-carrying board 21 is installed on the suspension link 22 through the connecting frame 23 with an inverted U-shaped structure. The vehicle-carrying board 21 is used for parking automobiles. In order to ensure that the automobiles can park accurately in place, guiding grooves 211 for guiding the movement of wheels are formed on both sides of the vehicle-carrying board 21. Specifically, when a user parks a vehicle, the wheels on both sides are correspondingly driven into the corresponding guiding grooves 211, and the automobile moves onto the vehicle-carrying board 21 along the guiding grooves 211. At the same time, a limiting stop bar 212 for limiting the movement of the wheels is also arranged in the guiding grooves 211. When the wheels of the automobile abut against the limiting stop bar 212, it means that the vehicle has parked in place, so as to ensure the accurate position of the automobile on the vehicle-carrying board 21 and the balanced force on the vehicle-carrying board 21. Among them, the two connecting frames 23 extend obliquely downward from top to bottom towards the middle of the vehicle-carrying board 21, and the connecting frames 23 form a cable-stayed structure, which is beneficial to the more reliable installation of the vehicle-carrying board 21 on the suspension link 22 through the connecting frames 23. A bearing is arranged on the connecting frame 23, and the end of the suspension link 22 passes through the bearing on the corresponding connecting frame 23. The vehicle-carrying board 21 and the connecting frame 23 can be fixed together by bolts, welding or other means. The vehicle-carrying board 21 is rotatably hung on the suspension link 22 through the connecting frame 23. At the same time, the suspension link 22 can rotate relative to the hinge portion 51 of the chain 5, and two rotating pairs are formed between the vehicle-carrying board 21 and the chain 5 to ensure that the vehicle-carrying board 21 remains horizontal during the movement process. In addition, for the guiding column 24, the lower guiding column 241 is arranged on the vehicle-carrying board 21, and the upper guiding column 242 is arranged on the connecting frame 23. In order to further reduce the friction between the guiding column 24 and the guiding chute 6, rollers are respectively arranged on the lower guiding column 241 and the upper guiding column 242, and the rollers are used for rolling in the guiding chute 6.

[0038] Further, in order to facilitate the adjustment of the tension of the chain 5 and reduce the installation difficulty, a lift bracket 8 that can be adjusted up and down is provided at the top of the support frame 11, and the first sprocket 41 located at the top is installed on the lift bracket 8. Specifically, by installing the first sprocket 41 at the top of the support frame 11 on the lift bracket, during the assembly process, after connecting the chain 5 to the first sprocket 41 and the second sprocket 42, by raising the lift bracket, the chain 5 reaches a tensioned state, thus eliminating the need for an additional tensioning wheel and avoiding the structure where the shape of the chain 5 protrudes outward or depresses inward due to the use of a tensioning wheel. In this way, the overall direction of the chain 5 is smoother, ensuring that the car-carrying platform 2 can move smoothly along with the chain 5. Among them, the specific physical entity of the lift bracket 8 has various structural forms. The lift bracket 8 includes a support crossbeam 81, a mounting seat 82, and a lifting assembly 83. The support crossbeam 81 is fixed on the support frame 11, and the mounting seat 82 is installed on the support crossbeam 81 through the lifting assembly 83. The first sprocket 41 located at the top is installed on the mounting seat 82. Specifically, the support crossbeam 81 is fixed on the support frame 11 as a support component, and a bearing seat is configured on the mounting seat 82 for installing the first sprocket 41. The height position of the mounting seat 82 is adjusted by adjusting the lifting assembly 83. The specific physical entity of the lifting assembly 83 has various structural forms. For example: The lifting assembly includes multiple support longitudinal beams 831. Multiple first mounting holes (not marked) arranged longitudinally are provided on the support crossbeam 81. A locking bolt (not marked) is provided at the lower end of the support longitudinal beam 831. The locking bolt is inserted into the first mounting hole at the corresponding height position, and the mounting seat 82 is fixed to the upper end of the support longitudinal beam 831. During actual assembly, after installing the chain 5, the support longitudinal beam 831 is raised to make the chain 5 reach a tensioned state, and then, the locking bolt is inserted into the first mounting hole at the corresponding height position for fixation; or, the lifting assembly 83 includes multiple telescopic columns 832. The columns 832 are arranged between the support crossbeam 81 and the mounting seat 82. Specifically, the columns 832 can be telescopic rod structures. The column 832 includes a fixed column body and a sliding column body. The sliding column body can slide on the fixed column body. A locking component is provided between the fixed column body and the sliding column body. The locking component can be a pin. Correspondingly, a number of pin holes are respectively provided on the fixed column body and the sliding column body. After the sliding column body is adjusted in place, the pin is inserted into the pin hole of the fixed column body and the pin hole of the sliding column body simultaneously. During the process of adjusting the support longitudinal beam 831 or the telescopic column 832, a jack can be used to support the mounting seat 82 on the support crossbeam 81 and gradually raise the mounting seat 82 until the chain 5 is tensioned, and then, the support longitudinal beam 831 or the column 832 is fixedly locked correspondingly.In addition, after the lifting assembly 83 adjusts the height position of the mounting base 82, in order to fix the mounting base 82, a plurality of longitudinally arranged second mounting holes can be correspondingly provided on the support frame 11, and both ends of the mounting base 82 are fixed by inserting fixing bolts into the second mounting holes at the corresponding height positions.

[0039] By connecting the suspension link on the car-carrying platform to the articulated part of the corresponding chain, no moment arm is formed between the suspension link and the articulated part. In this way, the chain only bears the downward pulling force generated by the car-carrying platform on it, and the car-carrying platform will not generate an additional moment on the vertically running part of the chain. On the one hand, it ensures that the vertically running part of the chain will not be deformed by the lateral acting force, reduces the wear of the chain, and improves the service life of the chain. On the other hand, the car-carrying platform only generates a downward pulling force on the chain without generating a moment, so that the guide chute only needs to guide the running car-carrying platform without providing a supporting force, and the friction between the guide column of the car-carrying platform and the guide chute is small, so that the chain can drive the car-carrying platform to run quickly and efficiently, realizing the improvement of the operation efficiency of the three-dimensional parking garage, prolonging its service life and improving the use reliability.

[0040] Based on the above technical solution, optionally, in order to reduce the operating energy consumption and make full use of the height space to obtain more parking spaces, the installation frame 1 can be increased in height. Correspondingly, the length of the chain 5 will increase, and at the same time, the number of car-carrying platforms 2 suspended on the chain 5 will increase accordingly. The chain 5 will accumulate and bear the tensile force generated by multiple car-carrying platforms 2. In order to improve the reliability of the chain 5 in use, the chain 5 bears the car-carrying platform 2 in a segmented load-bearing manner. Specifically, at least one third sprocket 43 is further provided between two second sprockets 42 arranged up and down. The driving mechanism 3 is respectively drivingly connected to the first sprocket 41, the second sprocket 42, and the third sprocket 43. The first sprocket 41, the second sprocket 42, and the third sprocket 43 serve as driving sprockets with power drive; at the same height position on the two support frames 11, a connecting shaft is provided between two opposite driving sprockets; the driving mechanism 3 is used to drive each driving sprocket to run synchronously, so that the upper and lower adjacent driving sprockets bear the load of the chain 5 between the two adjacent driving sprockets. Specifically, two driving sprockets connected by a connecting shaft form a set of driving wheel pairs, and the driving mechanism 3 provides power for each driving wheel pair. In this way, the driving sprockets in the driving wheel pair can provide a tensile force for the lower part of the chain 5. By controlling the driving force of the driving wheel pairs at different positions, the following effects can be achieved: for two upper and lower adjacent driving sprockets in the same support frame, the upper driving sprocket is configured to bear the load of the chain 5 between the two driving sprockets, so as to realize the segmented load-bearing of the chain 5. Among them, there are various ways for the driving mechanism 3 to transmit power to the driving wheel pairs. For example: Solution 1, the driving mechanism 3 includes a main motor and a power distribution box 31. The power distribution box 31 is provided with a power input shaft and multiple power output shafts drivingly connected to the power input shaft. The main motor is drivingly connected to the power input shaft, and the power output shafts are drivingly connected to the corresponding driving wheel pairs to achieve synchronous operation and thus segmentally bear the load of the chain; or, Solution 2, the driving mechanism 3 includes multiple driving motors drivingly connected to the corresponding driving wheel pairs, and realizes synchronous operation or automatic acceleration or deceleration operation according to the load between the two driving sprockets through a control system, so as to segmentally bear the load of the chain. In addition, according to the length of the chain 5 between two adjacent driving sprockets, when the length of the chain 5 between two adjacent driving sprockets is relatively long, a driven sprocket (not shown) can also be provided between the upper and lower adjacent driving sprockets to guide the chain 5 to ensure that the chain 5 can move smoothly. Among them, the driven sprocket serves as a driven wheel without power drive and is only used to guide the chain 5.Preferably, since the vehicle storage states of the vehicle loading platform 2 at different positions are different, resulting in different numbers of stored vehicles and causing load imbalance, in order to ensure smooth movement during actual operation, the drive wheel pair further includes a speed limiting component. The speed limiting component includes a friction sleeve 431, a mounting shaft 432, and a plurality of friction plates 433. The mounting shaft 432 is inserted into the friction sleeve 431. A plurality of guide rods 435 are arranged on the outer periphery of the mounting shaft 432. The outer surface of the friction plate 433 is set as an arc surface that cooperates with the inner wall of the friction sleeve 431. The friction plate 433 is slidably arranged on the corresponding guide rod 435. A return spring 434 is arranged between the friction plate 433 and the mounting shaft 432. The friction sleeve 431 is fixedly arranged on the mounting frame, and the mounting shaft 432 is connected to the driving sprocket. Specifically, when the driving sprocket rotates, it will drive the mounting shaft 432 to rotate simultaneously. Under the action of centrifugal force, the friction plate 433 will move outward against the tension of the return spring 434. When the rotation speed of the driving sprocket exceeds the set value, the friction plate 433 will contact the inner wall of the friction sleeve 431 to generate frictional force. Moreover, the greater the rotation speed of the driving sprocket, the greater the generated frictional force. Thus, the rotation speed of the driving sprocket can be effectively stabilized, avoiding the situation of the driving sprocket rotating at an excessive speed when the weight distribution is unbalanced, so as to ensure the smooth operation of the entire device.

[0041] Further, the drive wheel pair further includes a brake (not shown) for braking the driving sprocket. Specifically, when the third sensor requests the car-carrying platform to stop at a specified position, the brake will brake the drive wheel pair to ensure that the driving sprocket will not rotate arbitrarily without power and guarantee the stationary state during parking. Preferably, the drive wheel pair is further provided with a torque sensor (not shown) for detecting the magnitude of the torque applied to the driving sprocket; at the same time, a second sensor is configured in the vehicle entry and exit area to weigh the weight of the car-carrying platform 2 located in the vehicle entry and exit area. Specifically, in order to enable the driving sprocket to provide segmented tension to the part of the chain 5 below it up to the next driving sprocket, so as to more accurately achieve segmented load-bearing of the chain, there are two states of having a vehicle and not having a vehicle for the car-carrying platform 2 at different positions. The number of car-carrying platforms 2 that can be placed on the chain 5 between two adjacent driving sprockets above and below is certain. The weight borne by the car-carrying platform 2 on the chain 5 between two adjacent driving sprockets above and below can be obtained through a load cell when the vehicle is parked on the car-carrying platform and stored in the control system for the controller to call. Together with the weight of the chain 5 and the car-carrying platform 2 itself, the magnitude of the torque generated by this section of the chain 5 and the corresponding car-carrying platform 2 on the upper driving sprocket can be accurately calculated. In this way, during the process of the drive mechanism 3 driving the chain to circulate, on the ascending side, when the torque value detected by the torque sensor corresponding to the upper driving sprocket is greater than the calculated torque value, the lower driving sprocket needs to accelerate to increase the load-bearing; on the descending side, when the torque value detected by the torque sensor corresponding to the upper driving sprocket is greater than the calculated torque value, the lower driving sprocket needs to decelerate to increase the load-bearing. In this way, the driving sprocket bears the load of the corresponding part of the chain 5 below it, and more accurately achieves segmented load-bearing.

[0042] The present invention also provides a control method for the above-mentioned three-dimensional parking garage. The control method includes a driving control mode. The driving control mode includes: the driving mechanism drives each pair of driving wheels to rotate synchronously, so that for two adjacent upper and lower pairs of driving wheels, the upper pair of driving wheels bears the load of the chain between the two pairs of driving wheels. Specifically, by driving each pair of driving wheels to rotate synchronously, the upper pair of driving wheels bears the load of the corresponding chain part below it, eliminating the cumulative effect of the chain load, effectively enhancing the bearing capacity of the chain, making it very easy to build a single large-capacity three-dimensional parking garage, reducing the operating energy consumption and manufacturing cost of the three-dimensional parking garage, and greatly improving the operating speed and shortening the vehicle access time. Among them, during the process of the chain circulating, for two adjacent upper and lower pairs of driving wheels on the ascending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is greater than the load of the chain between the two pairs of driving wheels, the lower driving wheel pair should accelerate until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two pairs of driving wheels; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two pairs of driving wheels, the upper driving wheel pair should accelerate until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two pairs of driving wheels; for two adjacent upper and lower pairs of driving wheels on the descending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is greater than the load of the chain between the two pairs of driving wheels, the lower driving wheel pair should decelerate to increase the load until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two pairs of driving wheels; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two pairs of driving wheels, the upper driving wheel pair should decelerate to increase the load until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two pairs of driving wheels.

[0043] For the driving method using Solution 1, a main motor drives each pair of driving wheels to rotate synchronously through a power distribution box, so that the upper pair of driving wheels can bear the load of the corresponding chain part below it; for the driving method using Solution 2, since the pairs of driving wheels are driven by different driving motors, the output power of the driving motors can be dynamically controlled. For two adjacent driving wheels on the ascending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel is greater than the load of the chain between the two driving wheels, the lower driving wheel accelerates correspondingly until the torque value detected by the torque sensor corresponding to the upper driving wheel is equal to the load of the chain between the two driving wheels; conversely, when the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is less than the load of the chain between the two pairs of driving wheels, the upper driving wheel accelerates correspondingly until the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is equal to the load of the chain between the two pairs of driving wheels; for two adjacent pairs of driving wheels on the descending side, when the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is greater than the load of the chain between the two pairs of driving wheels, the lower driving wheel decelerates to increase the load-bearing capacity until the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is equal to the load of the chain between the two pairs of driving wheels; conversely, when the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is less than the load of the chain between the two pairs of driving wheels, the upper driving wheel decelerates to increase the load-bearing capacity until the torque value detected by the torque sensor corresponding to the upper pair of driving wheels is equal to the load of the chain between the two pairs of driving wheels.

[0044] The control method further includes a parking space status detection mode, which is specifically as follows: The multi-story parking garage includes n car-carrying platforms. Correspondingly, the multi-story parking garage has n parking spaces, and each car-carrying platform is located at the corresponding parking space. Among them, when a vehicle is parked on the car-carrying platform, it is marked as an occupied state, and when the car-carrying platform is empty, it is marked as an idle state; the parking space status detection mode specifically includes:

[0045] Step 101: When the first sensor detects that a vehicle has been parked on a carrier platform in the vehicle entry / exit area in an idle state, mark the carrier platform as occupied. Then, the conveying device drives each carrier platform to rotate so that a new idle carrier platform is parked in the vehicle entry / exit area. At the same time, modify the parking position information of each carrier platform according to the travel of the carrier platform. Specifically, when a user needs to park a vehicle, the user parks the vehicle on a carrier platform in the vehicle entry / exit area in an idle state. At this time, when the first sensor detects that a vehicle has been parked on the carrier platform in the vehicle entry / exit area, the controller marks the carrier platform as occupied. After the vehicle is parked, the controller controls the conveying device to drive each carrier platform to rotate so that a new idle carrier platform moves into the vehicle entry / exit area. At the same time, the controller synchronously modifies the parking position information of each carrier platform. Among them, in order to achieve a balanced weight distribution of the carrier platforms, the conveying device drives each carrier platform to rotate a distance between m parking positions so that the difference in the load weights of the chains on both sides of the mounting frame is minimized.

[0046] Step 102: When the first sensor detects that the vehicle on the occupied carrier platform in the vehicle entry / exit area has driven out, mark the carrier platform as idle. Specifically, when a user needs to park a vehicle, the controller moves the carrier platform on which the user's vehicle is parked into the vehicle entry / exit area. After the vehicle leaves the carrier platform, when the first sensor detects that there is no vehicle on the carrier platform, the controller re - marks the carrier platform as idle.

[0047] Step 103: After step 102 is executed, the conveying device drives each carrier platform to rotate a distance between m parking positions so that the difference in the load weights of the chains on both sides of the mounting frame is minimized; at the same time, modify the parking position information of each carrier platform according to the travel of the carrier platform. Specifically, considering the weight balance, when the carrier platform originally in the occupied state in the vehicle entry / exit area is re - marked as idle, if the controller determines through calculation that the weight distribution of each carrier platform is unbalanced at this time, the controller controls the conveying device to drive each carrier platform to rotate, move another idle carrier platform into the vehicle entry / exit area, and at the same time ensure that the difference in the load weights of the chains on both sides of the mounting frame is minimized, that is, achieve a balanced weight distribution of each carrier platform.

[0048] Further, the parking position value X of each carrier platform is modified according to the travel of the carrier platform t , specifically: when the conveying device drives each carrier platform to move forward a distance between m parking positions, the parking position value X of each carrier platform t =X t-1 +m. If the value of X t-1 +m is greater than n, then Xt = X t-1 + m - n; The conveying device drives each car-carrying platform to move backward by the distance between m parking positions, then the parking position value X of each car-carrying platform t = X t-1 - m, if X t-1 - m is less than n, then X t = X t-1 - m + n; wherein, X t-1 is the parking position value before the car-carrying platform moves; wherein, m and n are natural numbers.

[0049] As described above, it is only the preferred embodiment of the present invention, and it is not a limitation to the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications into equivalent embodiments of equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution content of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims

1. A three-dimensional parking garage, characterized in that, the three-dimensional parking garage forms an access area for vehicles to enter and exit. The three-dimensional parking garage includes a plurality of vehicle-carrying platforms for parking vehicles, a conveying device for driving the vehicle-carrying platforms to move in a cycle, a first sensor for detecting whether there is a vehicle on the vehicle-carrying platform located in the access area, and a controller; the controller is respectively connected to the conveying device and the first sensor, and the controller controls the operation of the conveying device according to the signal sent by the first sensor; the three-dimensional parking garage further includes a positioning and supporting assembly arranged on the foundation; the positioning and supporting assembly includes a plurality of positioning telescopic modules. The positioning telescopic module includes a telescopic mechanism and a positioning support member arranged on the telescopic mechanism. The positioning support member has a support portion for supporting the bottom of the vehicle-carrying platform, and the positioning support member also has a positioning portion for positioning the side portion of the vehicle-carrying platform; the positioning support member is a positioning support plate with an L-shaped cross-section. The horizontal plate surface of the positioning support plate forms the support portion, and the vertical plate surface of the positioning support plate forms the positioning portion; the vehicle-carrying platform located at the access area forms a projection area on the foundation. The positioning telescopic modules are respectively arranged around the projection area, and the vehicle-carrying platform can be positioned and supported around through the positioning telescopic modules arranged around; the three-dimensional parking garage further includes an installation frame. The bottom of the installation frame forms the access area. The installation frame includes two support frames arranged opposite to each other and fixed on the foundation; at least one of the support frames is provided with a guiding chute. The vehicle-carrying platform is provided with a guiding column, and the guiding column is slidably arranged in the guiding chute; the guiding chute further includes a horizontal guiding chute and two vertical guiding chutes arranged left and right. The end portions of the vertical guiding chutes are respectively provided with inclined guiding chutes. The inclined guiding chute located at the upper part extends upwards, and the inclined guiding chute located at the lower part extends downwards; the vertical guiding chute and the inclined guiding chute are arranged on the support frame, and the horizontal guiding chute is arranged at the bottom of the support frame and located between the two inclined guiding chutes at the bottom; the guiding column includes two lower guiding columns arranged at the bottom of the vehicle-carrying platform; the conveying device includes a driving mechanism, two chains and a plurality of sprockets. A plurality of the sprockets are arranged on each support frame. The chain is wound around the sprockets on the corresponding support frame. The driving mechanism is used to drive the sprockets to rotate to drive the vehicle-carrying platform to move through the chain. The vehicle-carrying platform is connected between the two chains; the top of the support frame is provided with a liftable and adjustable lifting bracket. The sprocket located at the top is installed on the lifting bracket; the lifting bracket includes a support cross beam, a mounting seat and a lifting assembly. The support cross beam is fixed on the support frame. The mounting seat is installed on the support cross beam through the lifting assembly. The sprocket located at the top is installed on the mounting seat.

2. The three-dimensional parking garage according to claim 1, characterized in that, The three-dimensional parking garage further includes a second sensor for weighing the weight of the car-carrying platform located in the vehicle access area, and the second sensor is connected to the controller.

3. The three-dimensional parking garage according to claim 1, wherein, the three-dimensional parking garage further includes a third sensor for detecting whether a moving car-carrying platform has moved into place, and the third sensor is connected to the controller.

4. The three-dimensional parking garage according to claim 1, wherein, the sprocket directly driven and connected to the driving mechanism is a driving sprocket, and a connecting shaft is arranged between two driving sprockets that are opposite to each other at the same height position on the two support frames; the driving mechanism is used to drive each driving sprocket to run synchronously, so that the upper driving sprocket of two adjacent driving sprockets bears the load on the chain between the two adjacent driving sprockets.

5. The three-dimensional parking garage according to claim 1, wherein, a hinge part is formed between two adjacent chain links of the chain, a suspension connecting rod is arranged on the upper part of the car-carrying platform, one end of the suspension connecting rod is connected to the hinge part of one of the chains, and the other end of the suspension connecting rod is connected to the corresponding hinge part of the other chain.

6. A control method for a three-dimensional parking garage according to any one of claims 1-5, wherein, the three-dimensional parking garage includes n car-carrying platforms, correspondingly, the three-dimensional parking garage has n parking spaces, and each car-carrying platform is located at the corresponding parking space. Among them, when a vehicle is parked in the car-carrying platform, it is marked as an occupied state, and when the car-carrying platform is empty, it is marked as an idle state; the control method includes a parking space state detection mode; the parking space state detection mode specifically includes: Step 101: When the first sensor detects that a vehicle is parked in an idle car-carrying platform in the vehicle access area, mark the car-carrying platform as an occupied state, and then, the conveying device drives each car-carrying platform to rotate, so that a new idle car-carrying platform is parked in the vehicle access area. At the same time, modify the parking space information of each car-carrying platform according to the travel of the car-carrying platform; Step 102: When the first sensor detects that the vehicle in the occupied car-carrying platform in the vehicle access area has driven out, mark the car-carrying platform as an idle state.

7. The control method for a three-dimensional parking garage according to claim 6, wherein, Step 101 is specifically that the conveying device drives each car-carrying platform to rotate a distance of m parking spaces, so that the difference in the load weights of the chains on both sides of the installation frame reaches the minimum; and / or, the parking space state detection mode further includes: Step 103: After executing Step 102, the conveying device drives each car-carrying platform to rotate a distance of m parking spaces, so that the difference in the load weights of the chains on both sides of the installation frame reaches the minimum; at the same time, modify the parking space information of each car-carrying platform according to the travel of the car-carrying platform.

8. The control method for a three-dimensional parking garage according to claim 7, wherein, Modify the parking station value X of each car-carrying platform according to the travel of the car-carrying platform t , specifically: if the conveying device drives each car-carrying platform to move forward by a distance between m parking stations, then the parking station value X of each car-carrying platform t =X t-1 +m. If the value of X t-1 +m is greater than n, then X t =X t-1 +m - n; if the conveying device drives each car-carrying platform to move backward by a distance between m parking stations, then the parking station value X of each car-carrying platform t =X t-1 -m. If the value of X t-1 -m is less than n, then X t =X t-1 -m + n; where X t-1 is the parking station value of the car-carrying platform before it moves; where m and n are natural numbers.

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