Vehicle transporter with noise reduction

Abstract

The present application discloses a noise-reducing vehicle transporter, comprising a rectangular frame and a clamping arm system, a walking system and a control system installed on the frame, wherein the clamping arm system comprises two pairs of clamping arms, each clamping arm is individually provided with a clamping arm motor, each clamping arm is installed on the frame through a vertical rotating shaft, and the same pair of clamping arms has a folded state abutting against the same side of the frame, and a working state perpendicular to the side and with the two clamping arms arranged side by side; each clamping arm comprises a swing seat connected to the vertical rotating shaft and an arm rod hinged on the swing seat through a horizontal rotating shaft, and at least two auxiliary load-bearing rollers are provided on the arm rod at one end away from the vertical rotating shaft; for each arm rod, a roller for supporting the arm rod and a support plate carrying at least one auxiliary load-bearing roller are installed on the frame. The noise-reducing vehicle transporter provided by the present application effectively curbs the noise generated when the clamping arms are in motion, and does not require an increase in the amount of steel used in the parking frame, thereby reducing the cost of the parking frame.

Description

Technical Field

[0001] The present application relates to the technical field of stereo garages, and in particular to a noise-reducing vehicle transporter. Background Art

[0002] Stereo garages are the main equipment to solve the parking problem in cities. After solving the parking problem, people have higher and higher requirements for the noise and quality of stereo garages. The vehicle carrier is one of the core equipment with high frequency movement in the whole garage. One of the main noises is caused by the clamp arm retracting and releasing action. To solve this problem, only the steel structure where the clamp arm of the vehicle carrier moves is made solid, including a large number of parking racks. This not only increases the cost and has no obvious noise reduction effect, but also the clamp arm retracting and releasing action is too high, and the roller on the clamp arm is seriously damaged, which also increases the failure rate of the garage accordingly. Summary of the invention

[0003] In order to solve the noise problem of a vehicle transporter, the present application provides a noise-reducing vehicle transporter to reduce noise and lower the cost of a parking space frame.

[0004] A vehicle transporter with noise reduction, comprising a rectangular frame and a clamping arm system, a walking system and a control system installed on the frame, wherein the clamping arm system comprises two pairs of clamping arms and a clamping arm motor for driving the clamping arms to clamp and fold, each clamping arm is installed on the frame via a vertical rotating shaft, and each pair of clamping arms has a folded state in which the clamping arms are close to the same side of the frame, and a working state in which the clamping arms are perpendicular to the side and the two clamping arms are arranged side by side;

[0005] Each clamping arm comprises a swing seat connected to the vertical rotating shaft and an arm rod hinged to the swing seat through a horizontal rotating shaft, and at least two auxiliary load-bearing rollers are provided on the arm rod at one end away from the vertical rotating shaft;

[0006] For each arm, a roller for supporting the arm and a support plate for carrying at least one auxiliary load-bearing roller are installed on the frame.

[0007] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0008] Optionally, the arm is provided with a weight-reducing hole extending along the length direction of the arm, and when the clamp arm is in a folded state, the roller corresponds to the position of the weight-reducing hole.

[0009] Optionally, the weight-reducing hole is located in the middle of the arm in the length direction, and the roller corresponds to the middle position of the weight-reducing hole in the length direction.

[0010] Optionally, when the clamp arm is in the folded state, the position of at least one auxiliary load-bearing roller corresponds to that of the support plate.

[0011] Optionally, the roller is mounted on the side edge of the frame via a support, the support includes a connecting portion fixedly connected to the frame and a supporting portion extending below the arm, and the roller is rotatably mounted on the supporting portion.

[0012] Optionally, the support plate is installed on the side edge of the frame, the bottom surface of the support plate is a plane matching the supporting surface, and the top edge of the support plate has a guide surface 10a for guiding the auxiliary load-bearing roller to gradually approach the ground.

[0013] Optionally, the support plate carries an auxiliary load-bearing roller which is farthest from the vertical rotation axis.

[0014] Optionally, the support plate extends along the movement trajectory of the auxiliary load-bearing roller, at least extending until the support roller is separated from the arm and still supports the auxiliary load-bearing roller.

[0015] Optionally, the opposite sides of the arm bars of the same pair of clamp arms in the working state are working edges in contact with the wheel, and each arm bar is provided with a rotating roller at the working edge for contacting and cooperating with the wheel.

[0016] Optionally, each clamp arm is equipped with a clamp arm motor, and the installation position of each clamp arm motor is located at the edge of the frame body on the side where the driven clamp arm is located. The main shaft of each clamp arm motor is arranged along the travel direction of the frame body and is linked with the corresponding clamp arm through a worm gear mechanism.

[0017] The noise-reducing vehicle transporter provided by the present application has a simple structure and is easy to install. It effectively suppresses the noise generated when the clamp arm moves, and does not require an increase in the amount of steel used in the parking frame, thereby reducing the cost of the parking frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the handling system of the stereo garage;

[0019] Figure 2a This is a top view of the vehicle transporter of this application in working state;

[0020] Figure 2b A top view of the vehicle transporter of the present application in a folded state;

[0021] Figure 3 A schematic diagram of the working state of the clamp arm system in the vehicle transporter of the present application;

[0022] Figure 4 A schematic diagram of the clamp arm system of the vehicle transporter of the present application in a folded state;

[0023] Figure 5 A schematic diagram of a drive unit in the vehicle transporter of the present application;

[0024] Figure 6a A schematic diagram of a tensioning mechanism in the vehicle transporter of the present application (one of the states);

[0025] Figure 6b A schematic diagram of the tensioning mechanism in the vehicle transporter of the present application (another state);

[0026] Figure 7 This is a schematic diagram of the installation of the supercapacitor in the vehicle transporter of this application;

[0027] Figure 8 A schematic diagram of the cooperation between the vehicle carrier and the guide rail of this application;

[0028] Figure 9a A schematic diagram of the installation of a power controller in the vehicle transporter of the present application;

[0029] Figure 9b for Figure 9a AA section view in the figure;

[0030] Fig.10 A schematic diagram of the installation of a voltage stabilizer in the vehicle transporter of the present application;

[0031] Fig.11 A side view of the vehicle transporter of this application;

[0032] Fig.12 A side view of the arm of the vehicle carrier of the present application;

[0033] Fig.13 A top view of the arm of the vehicle carrier of the present application;

[0034] Fig.14 for Fig.12 B-direction view;

[0035] Fig.15 A top view of the bracket and the rotating shaft in the vehicle transporter of the present application;

[0036] Fig.16 A partial cross-sectional view of the bracket and the rotating shaft in the vehicle transporter of the present application;

[0037] Fig.17 This is a schematic diagram of the first process of the clamp arm of the vehicle carrier of the present application switching from a folded state to a working state;

[0038] Fig.18 This is a schematic diagram of the second process of the clamping arm of the vehicle carrier of the present application switching from the folded state to the working state;

[0039] Fig.19a A top view of a pallet in the vehicle transporter of the present application;

[0040] Fig.19bA side view of a pallet in a vehicle transporter of the present application;

[0041] Fig.20a A top view of the rollers and supports in the vehicle transporter of the present application;

[0042] Fig.20b A side view of the roller and support in the vehicle transporter of the present application;

[0043] Fig.21 This is a schematic diagram of the communication principle of the garage handling system.

[0044] In the figure: 1. vertical transport device; 2. horizontal transport device; 3. vehicle carrier; 4. frame; 5. clamping arm; 51. weight reduction hole; 52. rotating roller; 53. clamping arm motor; 54. arm rod; 55. vertical rotating shaft; 56. swing seat; 57. worm; 6. driving unit; 61. walking motor; 62. driving wheel; 63. synchronous sprocket; 64. adjusting rod; 65. synchronous chain; 66. tensioning shaft; 67. tensioning sprocket; 7. driven wheel; 8. auxiliary load-bearing roller; 9. roller; 10. support plate; 10a. guide surface; 11. super capacitor; 12. support plate; 12a. side wall; 13. guide roller; 14. guide rail; 15. power controller; 16a. vertical part; 16b. horizontal part; 17. support frame; 18. voltage stabilizer; 19. bracket; 20. support. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In order to better describe and illustrate the embodiments of the present application, reference may be made to one or more drawings, but the additional details or examples used to describe the drawings should not be considered as limiting the scope of the invention of the present application, any of the currently described embodiments or preferred methods.

[0047] It should be noted that when a component is referred to as being "connected" to another component, it may be directly connected to the other component or there may be a central component. When a component is referred to as being "disposed on" another component, it may be directly disposed on the other component or there may be a central component at the same time.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0049] The vehicle transporter with good passability provided in the present application is used for transporting vehicles in a multi-story parking garage, and can also be applied to other occasions requiring load transportation. The following describes the vehicle transporter in detail using one of the application occasions in a multi-story parking garage as an example.

[0050] See also Figure 1 As shown, the stereo garage transport system includes: a vertical transport device 1 for transporting vehicles in the vertical direction, a horizontal transport device 2 for transporting vehicles in the horizontal direction, and a vehicle transporter 3 for transferring vehicles.

[0051] There are two vehicle transporters 3, one of which is a master vehicle transporter 3 and the other is a slave vehicle transporter 3. The structures of the master vehicle transporter 3 and the slave vehicle transporter 3 are basically the same. The master vehicle transporter 3 and the slave vehicle transporter 3 respectively carry the front wheels and the rear wheels of the vehicle to jointly complete the transportation of the vehicle.

[0052] When parking the car, the vehicle transporter 3 transfers the vehicle from the garage entrance to the vertical transport device 1. After the vertical transport device 1 transports the vehicle to the corresponding floor height, the vehicle transporter 3 transfers the vehicle to the horizontal transport device 2. The horizontal transport device 2 transports the vehicle to the corresponding parking space entrance, and the vehicle transporter 3 transfers the vehicle to the corresponding parking space. When picking up the car, the process is reversed.

[0053] See also Figure 2a , Figure 2b As shown, a noise-reducing vehicle transporter comprises a rectangular frame 4 and a clamping arm system, a walking system and a control system installed on the frame 4. The clamping arm system comprises two pairs of clamping arms 5, each clamping arm 5 is independently provided with a clamping arm motor 53, and each clamping arm 5 is installed on the frame 4 via a vertical rotating shaft 55. The same pair of clamping arms 5 have a folded state abutting against the same side of the frame 4, and a working state perpendicular to the side and with the two clamping arms 5 arranged side by side.

[0054] Each clamping arm 5 comprises a swing seat 56 connected to a vertical rotating shaft 55 and an arm 54 hinged to the swing seat 56 via a horizontal rotating shaft, and at least two auxiliary load-bearing rollers 8 are provided on the arm 54 at one end away from the vertical rotating shaft 55;

[0055] For each arm 54 , a roller 9 for supporting the arm 54 and a support plate 10 carrying at least one auxiliary load-bearing roller 8 are installed on the frame 4 .

[0056] The process of switching the clamp arm 5 from the folded state to the working state includes the following actions in sequence:

[0057] See also Figure 2b As shown, in the folded state, the roller 9 supports the arm 54, and the support plate 10 supports the auxiliary load-bearing roller 8;

[0058] See also Fig.17 As shown, the roller 9 rotates and gradually disengages from the weight-reducing hole 51, and the support plate 10 still supports the auxiliary load-bearing roller 8;

[0059] See also Fig.18 As shown, the auxiliary load-bearing roller 8 gradually separates from the support plate 10 and falls slightly to the ground.

[0060] The supporting roller 9 can rotate relative to the lightening hole 51, and the auxiliary load-bearing roller 8 can rotate relative to the supporting plate 10, so as to ensure that the clamping arm 5 moves more stably during the switching process between the folded state and the working state.

[0061] See also Fig.11 As shown, when the clamp arm 5 is in the folded state, the auxiliary load-bearing roller 8 is not in contact with the ground. When the clamp arm 5 is in the working state, the auxiliary load-bearing roller 8 is in contact with the ground. Therefore, in the process of switching the clamp arm 5 from the folded state to the working state, the auxiliary load-bearing roller 8 has a certain displacement in the height direction. Through the bearing effect of the roller 9 and the support plate 10, the auxiliary load-bearing roller 8 falls in sections in the height direction, which greatly reduces the noise generated by the direct collision between the auxiliary load-bearing roller 8 and the parking frame, thereby improving the user experience of the garage.

[0062] When the clamp arm 5 is folded, the roller 9 corresponds to the position of the weight-reducing hole 51 on the arm 54 . When the clamp arm 5 is folded, at least one auxiliary load-bearing roller 8 corresponds to the position of the support plate 10 .

[0063] See also Figure 2b As shown, the weight-reducing hole 51 is located in the middle of the length direction of the arm 54, and the roller 9 corresponds to the middle of the length direction of the weight-reducing hole 51. Fig.17 , Fig.18 As shown, the support plate 10 carries an auxiliary load-bearing roller 8 which is farthest from the vertical rotation axis 55 .

[0064] See also Fig.20a , Fig.20b As shown, the roller 9 is installed on the side edge of the frame 4 through the support 20. The support 20 includes a connecting portion fixedly connected to the frame 4 and a supporting portion extending to the bottom of the arm 54. The roller 9 is rotatably installed on the supporting portion.

[0065] See also Fig.19a , Fig.19bAs shown, the support plate 10 is installed on the side edge of the frame 4, the bottom surface of the support plate 10 is a plane matching the support surface, and the top edge of the support plate 10 has a guide surface 10a for guiding the auxiliary load-bearing roller 8 to gradually approach the ground.

[0066] See also Fig.17 As shown, the support plate 10 extends along the movement trajectory of the auxiliary load-bearing roller 8, at least until the support roller 9 is separated from the arm 54 and still supports the auxiliary load-bearing roller 8.

[0067] The vehicle transporter 3 transfers vehicles between the vertical transport device 1 and the horizontal transport device 2. The vertical transport device 1 is located in the lane. When the vertical transport device 1 and the horizontal transport device 2 are in corresponding positions, there is a gap. The vehicle transporter 3 needs to cross the gap when transporting the vehicle.

[0068] See also Figure 2a , Fig.11 , Fig.12 , Fig.13 As shown, at least two auxiliary load-bearing rollers 8 are provided at one end of the arm 54 away from the vertical rotation axis 55 . When the clamp arm 5 is in working state, the auxiliary load-bearing rollers 8 are arranged in sequence along the traveling direction of the vehicle carrier 3 .

[0069] The auxiliary load-bearing rollers 8 are arranged in sequence along the traveling direction of the vehicle transporter 3. When passing through the gap, the auxiliary load-bearing rollers 8 pass through the gap in sequence, so that the end of the arm 54 always has a support point, avoiding the auxiliary load-bearing rollers 8 from getting stuck in the gap, ensuring the stability of the vehicle transporter 3 and extending the service life of the auxiliary load-bearing rollers 8.

[0070] When adapting to a parking space frame with a narrower width, although the length of the arm 54 is correspondingly reduced, the end of the arm 54 still has an auxiliary load-bearing roller 8 to provide a support point, thereby ensuring the load-bearing capacity of the clamping arm 5 and the vehicle carrier 3.

[0071] The length of the arm 54 will affect the width of the vehicle carrier 3 in the working state, and the width of the arm 54 will affect the width of the vehicle carrier 3 in the folded state. Therefore, the length and width of the arm 54 are limited. In order to fully utilize the size on the arm 54 to install the auxiliary load-bearing rollers 8, when the clamp arm 5 is in the working state, the auxiliary load-bearing rollers 8 are arranged in sequence in a direction perpendicular to the travel direction of the vehicle carrier 3.

[0072] To further improve space utilization, see Fig.14 As shown, in a plane perpendicular to the length direction of the arm 54, the projections of the auxiliary load-bearing rollers 8 partially overlap.

[0073] See also Fig.13As shown, the rotation axes of the auxiliary load-bearing rollers 8 are arranged in parallel, and among two adjacent auxiliary load-bearing rollers 8, the minimum gap between the rim of one auxiliary load-bearing roller 8 and the rotation axis of the other auxiliary load-bearing roller 8 is 5-10 mm.

[0074] See also Fig.15 , Fig.16 As shown, the rotating shaft of each auxiliary load-bearing roller 8 is installed on the arm 54 through a bracket 19, the bracket 19 is fixed to the end of the arm 54 by bolts, and the rotating shaft is fixed to the bracket 19 by bolts.

[0075] See also Figure 2a to Figure 5 As shown, the middle part of the frame 4 along the traveling direction is the power zone, and two pairs of clamping arms 5 are respectively arranged on opposite sides of the traveling direction of the frame 4, and the same pair of clamping arms 5 and the corresponding clamping arm motors 53 are located on both sides of the power zone; the walking system includes: two groups of driving units 6 located in the power zone, and driven wheels 7 located at the four corners of the frame 4, each group of driving units 6 includes: two driving wheels 62 arranged in sequence along the traveling direction, and the rim apex of the driving wheel 62 is lower than the rim apex of the driven wheel 7; a walking motor 61 that drives one of the driving wheels 62 to rotate; and a synchronization mechanism that keeps the two driving wheels 62 rotating synchronously.

[0076] This embodiment is described by taking the example that each clamp arm 5 is independently configured with a clamp arm motor 53 to drive it. The clamp arm motor can also drive two clamp arms at the same time, or the clamp arm motor can directly drive two pairs of clamp arms at the same time. These two clamp arm motor driving methods are not repeated in this embodiment.

[0077] The power area between the two pairs of clamping arms 5 is the area with the largest force load. The driving unit 6 is set in the power area, and the driving unit 6 is used to drive the frame 4 to move forward, avoiding the transmission of force through the frame 4, reducing the load borne by the frame 4, and ensuring the strength and stability of the frame 4.

[0078] The apex of the wheel rim of the driving wheel 62 is lower than the apex of the wheel rim of the driven wheel 7 . The driving wheel 62 always keeps in contact with the ground while providing sufficient carrying capacity, maintains friction with the ground, and improves the walking ability of the vehicle transporter 3 .

[0079] The apex of the rim of the driving wheel 62 is lower than the apex of the rim of the driven wheel 7, which reduces the restriction of the size of the driving wheel 62 on the thickness of the vehicle carrier 3. When the clamping arm 5 is folded, the length of the vehicle carrier 3 does not exceed 2200 mm, the width does not exceed 820 mm, and the height does not exceed 90 mm, so that the free shuttle of vehicles is realized.

[0080] The height difference between the apex of the wheel rim of the driving wheel 62 and the apex of the wheel rim of the driven wheel 7 is at least 5 mm.

[0081] See also Figure 2aAs shown, the main shaft extension direction of the travel motor 61 is perpendicular to the travel direction of the frame 4, the main shaft axes of the two travel motors 61 are staggered (that is, the main shaft axes of the two travel motors 61 are not colinear), and the main shaft output end of each travel motor 61 faces the driving wheel 62 on the corresponding side.

[0082] The wheel axles of the two driving wheels 62 are rotatably mounted on the frame 4 through bearings, and the travel motor 61 is fixed on a mounting plate, and the mounting plate is fixed to the frame 4 through bolts. The output shaft of the travel motor 61 is fixedly connected to the wheel axle of one of the driving wheels 62 through a coupling.

[0083] The four driven wheels 7 are respectively installed at the four corners of the frame 4 . The axles of the driven wheels 7 are fixedly installed on the frame 4 . The driven wheels 7 rotatably cooperate with the corresponding axles, and the rotation of the axles is limited by a clamping plate fixed on the frame 4 .

[0084] See also Figure 5 As shown, the synchronization mechanism of each group of driving units 6 includes: two synchronization sprockets 63, a synchronization chain 65 wound around the two synchronization sprockets 63, and a tensioning mechanism for adjusting the tension of the synchronization chain 65. Each synchronization sprocket 63 rotates coaxially with a corresponding driving wheel 62, and the two synchronization sprockets 63 are arranged side by side.

[0085] See also Figure 5 , Figure 6a , Figure 6b As shown, the tensioning mechanism includes: a tensioning shaft 66 that slides with the frame 4, a tensioning sprocket 67 that is rotatably sleeved on the tensioning shaft 66 and cooperates with the synchronous chain 65, and an adjusting rod 64 that is arranged on the frame 4 to push the tensioning shaft 66 to change its position.

[0086] The frame 4 is provided with a strip-shaped guide hole, and the two ends of the tensioning shaft 66 extend into the corresponding guide holes respectively. The length direction of the guide hole is consistent with the axial direction of the adjustment rod 64. The frame 4 is provided with a mounting seat, and the adjustment rod 64 is a screw threadedly matched with the mounting seat. The adjustment rod 64 is also threadedly matched with a locking nut. There are two adjustment rods 64, which act on the two ends of the tensioning shaft 66 respectively to ensure that the sprocket on the tensioning shaft 66 and the synchronous chain 65 are well meshed during the adjustment process.

[0087] See also Figure 6a , Figure 6b As shown, by adjusting the position of the adjusting rod 64 , the tension of the synchronous chain 65 can be adjusted to improve the transmission efficiency and ensure the synchronous rotation of the two driving wheels 62 .

[0088] The clamp arm system includes four clamp arms 5, which are divided into two pairs. The clamp arms 5 of the same pair are arranged on the same long side of the frame 4. Each clamp arm 5 is installed on the frame 4 through a vertical shaft 55. Each pair of clamp arms 5 clamps one wheel of the vehicle. The installation position of each clamp arm motor 53 is located at the edge of the frame 4 on the side where the driven clamp arm 5 is located, and the main shaft of each clamp arm motor 53 is arranged along the travel direction of the frame 4.

[0089] See also Figure 2a As shown, the same pair of clamp arms 5 also has a working state where the two clamp arms 5 are arranged side by side and are perpendicular to the same long side; see Figure 2b As shown, the same pair of clamp arms 5 are in a folded state abutting against the same long side of the frame 4 .

[0090] See also Figure 3 , Figure 4 As shown, the clamp arm 5 includes a swing seat 56 connected to a vertical rotating shaft 55 and an arm 54 hinged on the swing seat 56 through a horizontal rotating shaft, and a weight-reducing hole 51 extending along the length direction of the arm 54 is provided on the arm 54. The clamp arm motor 53 is linked with the corresponding clamp arm 5 through a worm gear 57 mechanism, and the outer periphery of the swing seat 56 is provided with gear teeth. The worm gear 57 mechanism includes a worm 57 coaxially connected to the main shaft of the clamp arm motor 53, and a worm wheel that is also served by the swing seat 56, and the worm 57 is connected to the main shaft of the clamp arm motor 53 through a coupling.

[0091] The clamp arm motor 53 drives the worm 57 to rotate, and the swing seat 56 rotates around the vertical shaft 55 along with the rotation of the worm 57, and the arm 54 hinged on the swing seat 56 rotates to the vertical axis 55. Figure 2a Working status shown, or see Figure 2b Shown in the folded state.

[0092] See also Figure 2a , Figure 2b As shown, the opposite sides of the arm rods 54 of the same pair of clamp arms 5 in the working state are working edges that contact the wheels, and each arm rod 54 is provided with a rotating roller 52 at the working edge that contacts and cooperates with the wheels. Fig.14 As shown, the upper surface of the arm 54 is an arc surface corresponding to the outer circumference of the wheel, and the rotating roller 52 is rotatably installed at the lowest point of the arc surface.

[0093] The frame 4 is also provided with a super capacitor 11 connected to the travel motor 61, the clamping arm motor 53 and the control system through a circuit for power supply. The super capacitor 11 is installed on both sides of the power area.

[0094] The supercapacitors 11 are divided into two groups, which are located at both sides of the power zone. The supercapacitors 11 in the same group are installed in two areas, and a wire trough is arranged along the travel direction of the frame 4 between the two areas.

[0095] See also Figure 7As shown, the frame 4 is provided with support plates 12 arranged at intervals, and the supercapacitors 11 of each region are fixedly mounted on the corresponding support plates 12. The support plates 12 have side walls 12a arranged opposite to each other on both sides, and the support plates 12 are fixed to the frame 4 by bolts penetrating the side walls 12a. The supercapacitors 11 of each region are located in the region surrounded by the side walls 12a of the support plates 12.

[0096] The supercapacitors 11 are connected in series in the circuit. The frame 4 is also provided with a voltage regulator 18 connected to the output end of the supercapacitor 11, and a power controller 15 for managing the supercapacitor 11 and the voltage regulator 18. The supercapacitor 11 supplies power to the walking system via the voltage regulator 18. Figure 9a , Figure 9b As shown, a bracket is installed on the frame 4, and the bracket includes a horizontal portion 16b and a vertical portion 16a. The vertical portion 16a is fixed to the frame 4 by bolts, and a power controller 15 is placed and fixed on the horizontal portion 16b.

[0097] For installation of the voltage stabilizer 18, refer to Fig.10 As shown, support frames 17 are arranged at intervals on the frame 4, each support frame 17 includes a bottom plate and two side plates standing on the bottom plate and arranged opposite to each other, the two side plates are fixed to the frame 4 by bolts respectively, and the voltage stabilizer 18 is placed and fixed on the bottom plate.

[0098] See also Figure 8 As shown, a guide roller 13 is provided at the bottom of the frame 4 of the vehicle carrier 3, the rotating shaft of the guide roller 13 is arranged vertically, and a guide rail 14 matching with the guide roller 13 is provided on the vertical transport device 1 and the horizontal transport device 2.

[0099] The communication principle of the horizontal transport device 2, the master vehicle carrier 3 and the slave vehicle carrier 3 is shown in Fig.21 As shown, the horizontal transport device 2 is provided with a horizontal transport device controller and a wireless master station connected to the horizontal transport device controller, and the horizontal transport device 2 communicates with the control system of the stereo garage.

[0100] The control system of each vehicle carrier 3 includes: a vehicle carrier controller, a wireless slave station connected to the vehicle carrier controller and communicating with the wireless master station, a travel motor driver connected to the vehicle carrier controller and connected to each travel motor 61 in a one-to-one correspondence, and a clamping arm motor driver connected to the vehicle carrier controller and connected to each clamping arm motor 53 in a one-to-one correspondence.

[0101] Industrial wireless Ethernet is used for communication between the wireless master station and the wireless slave station, and Ethernet wired connection is used between the wireless slave station and the vehicle transporter controller.

[0102] The vehicle carrier controller controls the corresponding travel motor 61 and clamp arm motor 53 to move and complete the movement and vehicle clamping. The movement between the master vehicle carrier 3 and the slave vehicle carrier 3 is coordinated by the horizontal transport device controller.

[0103] The slave vehicle carrier 3 is different from the master vehicle carrier 3 only in that the vehicle carrier controller of the slave vehicle carrier 3 is also connected to a distance measuring device, which measures the distance between the slave vehicle carrier 3 and the master vehicle carrier 3 to provide a reference signal for the slave vehicle carrier 3 to adjust its position relative to the master vehicle carrier 3.

[0104] The process of transporting a vehicle using the vehicle transporter 3 comprises the following steps:

[0105] When a vehicle enters the garage entrance, the vehicle contour detection light curtain is used to capture the vehicle contour data, and the wheelbase data is obtained through conversion by the three-dimensional garage control system. The wheelbase data is fed back to the horizontal transport device 2, and then fed back to the vehicle carrier 3 by the horizontal transport device 2;

[0106] After obtaining the wheelbase data from the vehicle carrier 3, the distance from the main vehicle carrier 3 is automatically adjusted according to the measurement result of the distance measuring device until it meets the wheelbase data;

[0107] The main vehicle carrier 3 and the slave vehicle carrier 3 move synchronously to the bottom of the vehicle, and clamp the corresponding vehicle through their respective clamp arm systems to carry the vehicle;

[0108] The master vehicle transporter 3 and the slave vehicle transporter 3 move synchronously to transport the vehicle to a designated location.

[0109] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A noise-reducing vehicle transporter, comprising a rectangular frame and a clamping arm system, a walking system and a control system mounted on the frame, characterized in that: The clamp arm system includes two pairs of clamp arms and a clamp arm motor for driving the clamp arms to clamp and fold. Each clamp arm is mounted on the frame via a vertical shaft. Each pair of clamp arms has a folded state in which the clamp arms are close to the same side of the frame, and a working state in which the clamp arms are perpendicular to the side and arranged side by side. Each clamping arm comprises a swing seat connected to the vertical rotating shaft and an arm rod hinged to the swing seat through a horizontal rotating shaft, and at least two auxiliary load-bearing rollers are provided on the arm rod at one end away from the vertical rotating shaft; For each arm, the frame is provided with rollers for supporting the arm and a support plate carrying at least one auxiliary load-bearing roller; The arm is provided with a weight-reducing hole extending along the length direction of the arm, and when the clamp arm is folded, the position of the roller corresponds to the weight-reducing hole; The support plate extends along the movement track of the auxiliary load-bearing roller, at least until the support roller is separated from the arm rod and still supports the auxiliary load-bearing roller.

2. The noise-reducing vehicle transporter according to claim 1, characterized in that: The weight-reducing hole is located in the middle of the arm in the length direction, and the support roller corresponds to the middle position of the weight-reducing hole in the length direction.

3. The noise-reducing vehicle transporter according to claim 1, characterized in that: When the clamp arm is in the folded state, at least one auxiliary load-bearing roller corresponds to the position of the support plate.

4. The noise-reducing vehicle transporter according to claim 1, characterized in that: The roller is installed on the side edge of the frame through a support. The support includes a connecting part fixedly connected to the frame and a supporting part extending below the arm. The roller is rotatably installed on the supporting part.

5. The noise-reducing vehicle transporter according to claim 1, characterized in that: The support plate is installed on the side edge of the frame, the bottom surface of the support plate is a plane matched with the supporting surface, and the top edge of the support plate has a guide surface for guiding the auxiliary load-bearing roller to gradually approach the ground.

6. The noise-reducing vehicle transporter according to claim 1, characterized in that: The support plate carries an auxiliary load-bearing roller which is farthest from the vertical rotation axis.

7. The noise-reducing vehicle transporter according to any one of claims 1 to 6, characterized in that: The opposite sides of the arm rods of the same pair of clamp arms in the working state are working edges in contact with the wheels, and each arm rod is provided with a rotating roller in contact with the wheels at the working edge.

8. The noise-reducing vehicle transporter according to any one of claims 1 to 6, characterized in that: Each clamp arm is equipped with a clamp arm motor, and the installation position of each clamp arm motor is located at the edge of the frame body on the side where the driven clamp arm is located. The main shaft of each clamp arm motor is arranged along the travel direction of the frame body and is linked with the corresponding clamp arm through a worm gear mechanism.

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