A lateral transport device and method for parking in a stereo garage

Abstract

The present invention discloses a lateral transport device and a transport method for parking in a stereo garage. The device uses a variable pitch mechanism and a telescopic mechanism to adjust the position of a mobile vehicle squat to adapt to the position of the wheels of vehicles with different body lengths and widths. During the adjustment process, a photoelectric sensor identifies the position of the mobile vehicle squat and feeds back to a controller, which controls a motor encoder to drive the variable pitch mechanism and the telescopic mechanism to move, and the position movement is automatic and accurate. The vehicle is transported by a combination of a mother-and-child car mechanism. The child car mechanism is responsible for moving to find the vehicle and accurately finds the center of the wheel through a centering mechanism. The centering mechanism then lifts the vehicle and cooperates with the mother car mechanism to transport the vehicle to the target parking space. After the transport is completed, the mother car mechanism and the child car mechanism can automatically return to the central lifting platform and charge.

Description

Technical Field

[0001] The present invention relates to the technical field of stereo garages, in particular to a lateral transport device and a transport method for taking out parked objects in a stereo garage. Background Art

[0002] At present, the lateral gear-shaping transport system is commonly used in deep well stereo garages. The existing lateral gear-shaping transport system has the following main defects:

[0003] 1. The lateral gear shaping system requires that each parking space has a parking plate with a power mechanism.

[0004] High cost; the parking board uses sliding contacts to draw power for reciprocating movement, and the sliding contact lines have breakpoints and discontinuities, resulting in a high failure rate for the parking board;

[0005] 2. The traditional side gear shaping handling system cannot adapt to vehicles with various wheel spacings and wheel sizes, and its adaptability is low. The parking plate has no centering mechanism, and it is impossible to perform secondary centering on the vehicle. The vehicle handling process is poorly balanced, slow, and unsafe.

[0006] 3. The lateral gear-shaping handling system cannot provide a complete set of solutions for picking up and parking vehicles with different wheelbases, widths, and wheel sizes.

[0007] Therefore, there is an urgent need for a lateral transport device and a transport method for parking in a stereo garage to adapt to the parking and retrieval needs of different vehicles. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned existing technologies and to provide a lateral transport device and transport method for parking in a multi-story parking garage. The device uses a variable distance mechanism and a telescopic mechanism to adjust the position of the mobile vehicle to adapt to the position of the wheels of vehicles with different body lengths and widths. The vehicle is transported by a combination of a mother-and-child vehicle mechanism, and the vehicle is transported from the central lifting platform to the target platform.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0010] A lateral transport device for parking in a stereo garage comprises a target parking platform, a central lifting platform, a pitch-changing mechanism, a transmission mechanism, a telescopic mechanism, a mother vehicle mechanism, a child vehicle mechanism, a centering mechanism and a controller.

[0011] The length direction of the vehicle body is defined as the longitudinal direction, and the width direction of the vehicle body is defined as the transverse direction.

[0012] The target parking space platform is provided with a first front wheel fixed platform, a first rear wheel fixed platform, a first front wheel movable platform, a first rear wheel movable platform and a movable platform slide rail.

[0013] The movable squat slide rail is longitudinally embedded in the target parking space platform, and the upper end surface of the movable squat slide rail is flush with the target parking space platform; the first front wheel movable squat and the first rear wheel movable squat are arranged on the movable squat slide rail.

[0014] A first front wheel fixed squat identification plate is provided at the center of the side wall of the first front wheel fixed squat.

[0015] The first front wheel movable squatting cloth is provided with a first front wheel movable squatting identification plate, and a first front wheel movable squatting identification hole is opened at the center of the side wall of the first front wheel movable squatting cloth; the first rear wheel movable squatting cloth is provided with a first rear wheel movable squatting identification plate; a first rear wheel movable squatting identification hole is opened at the center of the side wall of the first rear wheel movable squatting cloth.

[0016] The central lifting platform is provided with a second front wheel fixed guide rail, a second rear wheel fixed guide rail, a second front wheel movable guide rail, a second rear wheel movable guide rail and a variable pitch sliding guide rail; a mother vehicle parking position identification plate is provided at the center of the central lifting platform;

[0017] The variable pitch sliding guide rail is embedded in the central lifting platform, and the upper end surface is flush with the central lifting platform; the second front wheel moving squat and the second rear wheel moving squat are arranged on the variable pitch sliding guide rail.

[0018] The second front wheel movable squat side wall is provided with a second front wheel movable squat addressing plate; a second front wheel movable squat addressing hole is opened in the center of the second front wheel movable squat side wall; the second rear wheel movable squat addressing plate is provided with a second rear wheel movable squat addressing plate; a second rear wheel movable squat addressing hole is opened in the center of the second rear wheel movable squat side wall; the pitch changing mechanism is symmetrically arranged on the central lifting platform; the pitch changing mechanism includes a pitch changing motor, a pitch changing screw, a pitch changing screw bearing seat, a pitch changing screw sliding nut, and a fixing plate.

[0019] The variable pitch motor and the variable pitch screw bearing seat are fixed on the central lifting platform; the variable pitch screw is inserted into the variable pitch screw bearing seat and is connected to the variable pitch motor through a transmission mechanism; the variable pitch motor is equipped with a variable pitch motor encoder.

[0020] One end of the variable pitch screw is a variable pitch screw bare rod section without threads; the other end is a variable pitch screw threaded section with threads; two variable pitch screw sliding nuts are sleeved on the variable pitch screw threaded section; a fixing plate is arranged on the top of the variable pitch screw sliding nut.

[0021] One end of the variable pitch screw threaded section connected to the variable pitch screw polished rod section is sleeved with a variable pitch screw bearing seat, and the other end of the variable pitch screw threaded section is also sleeved with a variable pitch screw bearing seat.

[0022] The transmission mechanism includes a sprocket and a chain.

[0023] The sprockets are respectively mounted on the variable pitch screw polished rod section and the variable pitch motor output shaft, and the sprockets are connected by chains; under the drive of the variable pitch motor through the transmission mechanism, the variable pitch screw rotates around its own axis, and the variable pitch screw sliding nut slides along the axial direction on the variable pitch screw thread section, driving the fixed plate to move.

[0024] The telescopic mechanism is matched with the pitch-changing mechanism; each telescopic mechanism includes a telescopic motor, a telescopic screw, a telescopic screw bearing seat, a telescopic screw sliding nut, a telescopic mechanism sliding track, a thrust plate and a vehicle squatting and parking photoelectric sensor; the telescopic motor is matched with a telescopic motor encoder.

[0025] The telescopic motor and the telescopic screw bearing seat are arranged on the fixed plate.

[0026] The middle section of the telescopic screw is a telescopic screw polished rod section, which is not provided with threads; the two sides are telescopic screw threaded sections, and the threads on the two telescopic screw threaded sections have opposite rotation directions; the telescopic screw polished rod section is inserted into the telescopic screw bearing seat and is connected to the telescopic screw bearing seat in a sliding fit; the telescopic screw polished rod section is provided with a sprocket, and the two telescopic screw threaded sections are respectively provided with telescopic screw sliding nuts.

[0027] A sprocket is also provided on the output shaft of the telescopic motor, and the sprocket of the telescopic motor is connected to the sprocket of the telescopic lead screw via a chain.

[0028] The telescopic mechanism sliding track is arranged on the fixed plate; a thrust plate is arranged on the telescopic mechanism sliding track; the thrust plate is fixedly connected to the telescopic screw sliding nut and can slide freely on the telescopic mechanism sliding track under the drive of the telescopic screw sliding nut.

[0029] The vehicle squatting parking photoelectric sensor is fixed on the end of the thrust plate.

[0030] The mother vehicle mechanism comprises a mother vehicle chassis, a mother vehicle driving mechanism, a sub-vehicle return address recognition plate, a mother vehicle power supply mechanism, and a sub-vehicle guiding mechanism.

[0031] The mother vehicle driving mechanism is arranged on the mother vehicle chassis; the mother vehicle driving mechanism includes two pairs of mother vehicle driving wheels, two pairs of mother vehicle driven wheels, a mother vehicle traveling shaft, and a mother vehicle traveling motor.

[0032] The mother vehicle travel motor is equipped with a mother vehicle travel motor encoder.

[0033] The driving wheels and driven wheels of the trolley are respectively arranged on the four corners of the trolley chassis; the two pairs of driving wheels of the trolley are connected through the trolley walking shaft.

[0034] The mother vehicle travel shaft is longitudinally arranged on the mother vehicle chassis and is connected to the mother vehicle travel motor through a transmission mechanism.

[0035] The mother vehicle power supply mechanism is arranged on the mother vehicle chassis and is electrically connected to the mother vehicle travel motor.

[0036] The sub-carriage guide mechanisms are arranged on two transverse sides of the mother vehicle chassis, and a total of four sub-carriage guide mechanisms are arranged.

[0037] The sub-carriage guide mechanism includes a sub-carriage guide rod and a guide seat; a hinge is provided at the bottom of the guide seat, the guide seat is fixed on the mother car chassis, and is rotatably connected to the mother car chassis; the sub-carriage guide rod passes through the guide shaft hole provided on the guide seat and is connected to the sub-carriage mechanism.

[0038] The sub-carriage mechanisms are symmetrically arranged on the mother car mechanism; each of the sub-carriage mechanisms includes a sub-carriage chassis, a sub-carriage lifting mechanism, a sub-carriage driving mechanism, and a parking positioning photoelectric sensor.

[0039] The sub-vehicle chassis is connected and fixed to the sub-vehicle guide rod.

[0040] The sub-trolley lifting mechanism is arranged on the four corners of the sub-trolley chassis; the sub-trolley lifting mechanism includes a screw elevator, a lifting top block and a lifting motor; the bottom of the screw elevator is fixed on the sub-trolley chassis and is connected to the lifting motor, and a lifting top block is provided on the top of the screw elevator.

[0041] The sub-trolley driving mechanism includes two pairs of main lane driving wheels, two pairs of main lane driven wheels, two pairs of secondary lane driving wheels, two pairs of secondary lane driven wheels, main lane traveling shafts, secondary lane traveling shafts and sub-trolley traveling motors.

[0042] The sub-carriage travel motor is equipped with a sub-carriage travel motor encoder;

[0043] The main lane driving wheels and the main lane driven wheels are fixedly connected to the lifting top block; the two pairs of main lane driving wheels are connected by the main lane walking shaft; the secondary lane driving wheels and the secondary lane driven wheels are arranged on both sides of the sub-vehicle chassis; the two pairs of secondary lane driving wheels are connected by the secondary lane walking shaft; the main lane walking shaft and the secondary lane walking shaft are respectively connected to the sub-vehicle walking motor through a transmission mechanism.

[0044] The sub-vehicle mechanism also includes a parking positioning photoelectric sensor; the parking positioning photoelectric sensor is arranged at the center position of the two longitudinal sides of the sub-vehicle chassis, corresponding to the position of the sub-vehicle return address recognition plate; the parking positioning photoelectric sensor and the sub-vehicle return address recognition plate are electrically connected to the controller.

[0045] The centering mechanism is arranged in conjunction with the sub-carriage mechanism; the centering mechanism includes a centering guide rail, a straight arm, a guide rail fixing seat, a connecting plate, a centering motor, a tapered roller bearing, a rack, a centering arm, and a stroke control sensor.

[0046] The centering guide rails are arranged symmetrically in the transverse direction; straight arms are arranged in a sliding manner inside the centering guide rails, and the guide rail fixing seat is fixedly connected to the lower end surface of the centering guide rails; the guide rail fixing seat is fixed on the top of the lifting top block; a connecting plate is provided between the two centering guide rails, and a centering motor is fixed on the connecting plate; the centering motor converts the circular motion of the centering motor into the linear motion of the rack through a tapered roller bearing.

[0047] The rack is arranged in parallel with the straight arm, and the rack and the straight arm are connected and fixed by a centering arm; a stroke control sensor is provided at the end of the straight arm.

[0048] Further preferably, a mother vehicle parking identification plate is also provided at the center position of the central lifting platform.

[0049] Further preferably, the variable pitch motor is equipped with a variable pitch motor encoder; the telescopic motor is equipped with a telescopic motor encoder; the mother vehicle travel motor is equipped with a mother vehicle travel motor encoder; the sub-vehicle travel motor is equipped with a sub-vehicle travel motor encoder; the centering motor is equipped with a centering motor encoder.

[0050] Further preferably, the variable pitch motor encoder, telescopic motor encoder, mother vehicle travel motor encoder, sub-vehicle travel motor encoder, and centering motor encoder are electrically connected to the controller.

[0051] Further preferably, the mother car mechanism is also provided with a parking and retrieval car positioning photoelectric device; the parking and retrieval car positioning photoelectric device is fixed at the center position of the mother car chassis and irradiated toward the central lifting platform, and is arranged corresponding to the mother car parking address plate; the parking and retrieval car positioning photoelectric device is electrically connected to the controller.

[0052] Further preferably, a charging plate is also provided on the central lifting platform; the mother vehicle power supply mechanism on the mother vehicle mechanism is provided with a charging head; and the charging head is matched with the charging plate.

[0053] Further preferably, nylon stops are provided at the midpoints of both longitudinal sides of the mother vehicle chassis of the mother vehicle mechanism, which serve as physical limit stops when the sub-vehicle mechanism returns to the mother vehicle mechanism.

[0054] Further preferably, a proximity switch is provided on the lifting top block of the lifting mechanism; the proximity switch is electrically connected to the controller and is used to control the lifting height of the screw elevator.

[0055] Further preferably, the centering motor key is connected to the centering motor bevel gear; a shaft bevel gear is fixed to one end of the tapered roller bearing, and a gear is fixed to the other end; the shaft bevel gear is engaged with the centering motor bevel gear, and the gear is engaged with the rack; under the drive of the centering motor, the centering motor bevel gear drives the shaft bevel gear to rotate counterclockwise, thereby driving the tapered roller bearing to rotate counterclockwise and the gear to rotate counterclockwise; the gear drives the racks on both sides to make opposite horizontal movements, and the centering arm extends to center the vehicle; conversely, the centering motor rotates clockwise and the centering arm retracts.

[0056] Further preferably, a centering arm travel switch is provided at the center position of the centering arm side wall; and a straight arm travel switch is provided on the upper end surface of the straight arm.

[0057] A method for transporting a lateral transport device for taking out a parking object in a stereo garage is characterized by comprising the following steps:

[0058] S1. The sub-carriage finds the wheel center: the central lifting platform carries the vehicle and moves to the same height as the target parking space platform, and the mother car mechanism and sub-carriage mechanism on the central lifting platform start to move; the two sub-carriage mechanisms move in the longitudinal direction, one moves toward the front wheel of the vehicle, and the other moves toward the rear wheel of the vehicle; when the parking positioning photoelectric sensor on the sub-carriage mechanism moving toward the front wheel recognizes the second front wheel moving squatting recognition hole of the central lifting platform and stops moving, the center of the sub-carriage mechanism coincides with the center of the vehicle's front wheel tire; the other sub-carriage mechanism moves toward the rear wheel until the stroke control sensor recognizes that the tire has disappeared, and this sub-carriage mechanism stops moving; the sub-carriage travel motor encoder feeds back a signal to the controller, thereby controlling the sub-carriage travel motor to rotate in the opposite direction, and the sub-carriage mechanism moves back half the length of the vehicle's rear wheel, at which point the center of the sub-carriage mechanism coincides with the center of the vehicle's rear wheel;

[0059] S2, sub-carriage changes position and moves horizontally: the sub-carriage lifting mechanism on the sub-carriage mechanism is activated, and the lifting motor drives the screw of the screw elevator to rise. The lifting distance is controlled by the proximity switch; the lifting top block is lifted up, and the main lane driving wheel and the main lane driven wheel fixed to the lifting top block are also lifted up and leave the central lifting platform. The sub-carriage mechanism changes from being supported by the main lane driving wheel and the main lane driven wheel on the ground to being supported by the secondary lane driving wheel and the secondary lane driven wheel; the travel direction of the sub-carriage mechanism changes from longitudinal to transverse;

[0060] S3. Centering the vehicle wheels: The centering motor of the centering mechanism on the sub-carriage mechanism is started. Driven by the centering motor, the bevel gear of the centering motor drives the shaft bevel gear to rotate counterclockwise, thereby driving the tapered roller bearing and the gear to rotate counterclockwise. The gear drives the racks on both sides to move horizontally in opposite directions, and the centering arm extends to center the vehicle. The centering arm travel switch arranged on the centering arm touches the tire to stop movement, and the vehicle wheel is centered left and right.

[0061] S4. Lifting the vehicle: The screw lifter on the sub-carriage mechanism continues to rise, lifting the top block to lift the guide rail fixing seat of the centering mechanism, so that the centering mechanism as a whole rises synchronously. The straight arm travel switch set on the upper end surface of the straight arm touches the wheel and continues to rise, thereby lifting the vehicle;

[0062] S5. The pitch-changing mechanism is aligned with the moving squat of the target platform: the pitch-changing mechanism on the central lifting platform is started; the pitch-changing motor starts to run, and drives the pitch-changing screw to rotate around its own axis through the transmission mechanism, and the pitch-changing screw sliding nut slides along the axis direction on the pitch-changing screw thread section, driving the fixed plate to move; the two pitch-changing mechanisms move toward the front and rear wheels of the vehicle respectively, until the photoelectric sensor of the car moving toward the front wheel recognizes the first front wheel moving squat addressing hole, and the photoelectric sensor of the car moving toward the rear wheel recognizes the first rear wheel moving squat addressing hole, at which time the thrust plates of the telescopic mechanism are aligned with the first front wheel moving squat addressing hole and the first rear wheel moving squat addressing hole respectively;

[0063] S6. The telescopic mechanism is connected to the moving squat of the target platform: the telescopic mechanism on the central lifting platform is started; the telescopic motor starts to run, driving the telescopic screw to rotate around its own axis through the transmission mechanism, and the telescopic screw sliding nut slides along the axis direction on the threaded section of the telescopic screw, driving the thrust plate to insert into the first front wheel moving squat addressing hole and the first rear wheel moving squat addressing hole;

[0064] S7, the moving squat of the target platform is separated to both sides: the pitch-changing mechanism starts to operate again for pitch-changing movement, and the thrust plate drives the first front wheel moving squat to move on the moving squat slide rail in the direction of the front wheel until the car squatting photoelectric sensor recognizes the second front wheel moving squat addressing hole of the central lifting platform and stops moving; the thrust plate drives the first rear wheel moving squat to move on the moving squat slide rail in the direction of the rear wheel until the car squatting photoelectric sensor recognizes the second rear wheel moving squat addressing hole of the central lifting platform and stops moving; at this time, the first front wheel moving squat and the first rear wheel moving squat move to both sides longitudinally to make way for the lateral movement of the sub-carriage mechanism and the mother car mechanism;

[0065] S8, the sub-carriage enters the target parking platform: the sub-carriage mechanism's sub-carriage travel motor starts running, driving the secondary lane driving wheel to rotate, thereby moving toward the target parking platform; when the parking positioning photoelectric sensor on the sub-carriage mechanism recognizes the first front wheel fixed squatting address plate on the target parking platform, the sub-carriage mechanism stops moving;

[0066] S9, target platform movement reset: the pitch-changing mechanism and telescopic mechanism on the central lifting platform start to operate and change the pitch in the opposite direction; when the parking positioning photoelectric sensor on the sub-carriage mechanism illuminates the first front wheel movement and the first rear wheel movement on the target parking space platform, the pitch-changing mechanism stops the pitch-changing movement; the telescopic mechanism starts to retract in the reverse direction to the initial position;

[0067] S10, sub-carriage landing: the screw elevator on the sub-carriage mechanism descends, and the centering mechanism as a whole descends synchronously until the four wheels of the vehicle land on the first front wheel fixed squat, the first rear wheel fixed squat, the first front wheel movable squat, and the first rear wheel movable squat of the target parking platform respectively;

[0068] S11. The sub-trolley resumes longitudinal travel: The centering arm of the centering mechanism retracts; the screw elevator on the sub-trolley mechanism continues to descend, and the primary lane driving wheel and the secondary lane driven wheel land on the target parking space platform; simultaneously, the secondary lane driving wheel and the secondary lane driven wheel lift off the target parking space platform, and the sub-trolley mechanism changes from being supported by the secondary lane driving wheel and the secondary lane driven wheel on the ground to being supported by the primary lane driving wheel and the primary lane driven wheel on the ground; the travel direction of the sub-trolley mechanism changes from horizontal to longitudinal.

[0069] S12. The sub-carriage and the mother car return to the central lifting platform: the sub-carriage mechanism moves longitudinally toward the mother car mechanism, the parking positioning photoelectric sensor of the sub-carriage mechanism recognizes the sub-carriage return address plate on the mother car mechanism, and the sub-carriage mechanism stops moving; the mother car travel motor of the mother car mechanism starts running, carrying the sub-carriage mechanism to the central lifting platform, the parking and retrieval positioning photoelectric sensor on the mother car mechanism shines on the mother car parking address plate on the central lifting platform, the mother car mechanism stops moving, and the parking action is completed; the charging head of the mother car power supply mechanism presses the charging plate on the central lifting platform, and starts to automatically charge the mother car power supply mechanism;

[0070] S13. The above steps are the working steps for side parking. The principle of side car retrieval is the same as that of side parking, but the action flow is opposite.

[0071] The present invention has the following beneficial effects:

[0072] This device uses a variable pitch mechanism and a telescopic mechanism to adjust the position of the mobile car squat to adapt to the position of the wheels of vehicles with different body lengths and widths; the adjustment process uses a photoelectric sensor to identify the position of the mobile car squat and feed it back to the controller, which controls the motor encoder to drive the variable pitch mechanism and telescopic mechanism to move, and the position movement is automatic and accurate; the vehicle is transported by a combination of parent and child car mechanisms, the child car mechanism is responsible for moving to find the vehicle, and accurately finds the center of the wheel through the centering mechanism, and then the centering mechanism lifts the vehicle and cooperates with the mother car mechanism to transport the vehicle to the target parking platform; after the transportation is completed, the mother car mechanism and the child car mechanism can automatically return to the center lifting platform and charge; the entire process is controlled by the controller in conjunction with the photoelectric sensor and motor encoder. The action is simple and accurate, with a high degree of automation, will not damage the vehicle, and can be adapted to various vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 The present invention is a schematic diagram of the overall structural arrangement of a lateral transport device for retrieving parking objects in a three-dimensional parking garage.

[0074] Figure 2 The present invention is a schematic diagram of a target platform and a central lifting platform of a lateral transport device for retrieving parking objects in a stereo garage.

[0075] Figure 3 The present invention is a schematic diagram of a side transport device for retrieving and parking in a three-dimensional parking garage.

[0076] Figure 4 The present invention is a schematic diagram of a variable distance mechanism of a lateral transport device for retrieving and parking in a three-dimensional parking garage.

[0077] Figure 5 The present invention is a schematic diagram of a telescopic mechanism of a lateral transport device for retrieving parking objects in a three-dimensional parking garage.

[0078] Figure 6 The present invention is a schematic diagram of the cooperation between the sub-carriage mechanism and the mother-carriage mechanism of a lateral transport device for parking in a stereo garage.

[0079] Figure 7 The present invention is a schematic diagram of the structure of a mother vehicle mechanism of a lateral transport device for retrieval of parking objects in a three-dimensional parking garage.

[0080] Figure 8 The present invention is a schematic diagram of a sub-vehicle guide mechanism of a lateral transport device for retrieval and parking in a stereo garage.

[0081] Figure 9 The present invention is a schematic diagram of the cooperation between the sub-vehicle mechanism and the centering mechanism of a lateral transport device for parking in a stereo garage.

[0082] Figure 10 The present invention is a schematic diagram of a sub-vehicle mechanism of a lateral transport device for retrieving and parking in a stereo garage.

[0083] Figure 11 The present invention is a schematic diagram of a centering mechanism of a lateral transport device for retrieving and parking in a three-dimensional parking garage.

[0084] Figure 12 The present invention is a diagram showing the motion principle of a centering mechanism of a lateral transport device for retrieving and parking objects in a stereo garage.

[0085] Among them are:

[0086] 10. Target parking platform; 11. First front wheel fixed stop; 111. First front wheel fixed stop identification plate; 12. First rear wheel fixed stop; 13. First front wheel movable stop; 131. First front wheel movable stop identification plate; 132. First front wheel movable stop identification hole; 14. First rear wheel movable stop; 141. First rear wheel movable stop identification plate; 142. First rear wheel movable stop identification hole; 15. Movable stop slide;

[0087] 20. Central lifting platform; 21. Second front wheel fixed stop; 22. Second rear wheel fixed stop; 23. Second front wheel movable stop; 231. Second front wheel movable stop identification plate; 232. Second front wheel movable stop identification hole; 24. Second rear wheel movable stop; 241. Second rear wheel movable stop identification plate; 242. Second rear wheel movable stop identification hole; 25. Variable pitch sliding guide rail; 26. Carriage parking identification plate; 27. Charging plate;

[0088] 30. Pitch-changing mechanism; 31. Pitch-changing motor; 311. Pitch-changing motor encoder; 32. Pitch-changing screw; 321. Pitch-changing screw polished rod section; 322. Pitch-changing screw threaded section; 33. Pitch-changing screw bearing seat; 34. Pitch-changing screw sliding nut; 35. Fixing plate;

[0089] 40. Transmission mechanism; 41. Sprocket; 42. Chain;

[0090] 50. Telescopic mechanism; 51. Telescopic motor; 511. Telescopic motor encoder; 52. Telescopic screw; 521. Telescopic screw polished rod section; 522. Telescopic screw threaded section; 53. Telescopic screw bearing seat; 54. Telescopic screw sliding nut; 55. Telescopic mechanism sliding track; 56. Thrust plate; 57. Car squatting stop photoelectric sensor;

[0091] 60. Carriage mechanism; 61. Carriage chassis; 62. Carriage drive mechanism; 621. Carriage driving wheel; 622. Carriage driven wheel; 623. Carriage travel shaft; 624. Carriage travel motor; 625. Carriage travel motor encoder; 63. Sub-carriage return address recognition plate; 64. Carriage power supply mechanism; 641. Charging head; 65. Sub-carriage guide mechanism; 651. Sub-carriage guide rod; 652. Guide seat; 653. Guide shaft hole; 66. Carriage storage and retrieval positioning photoelectric device; 67. Nylon stopper;

[0092] 70. Carriage mechanism; 71. Carriage chassis; 72. Carriage lifting mechanism; 721. Screw elevator; 722. Lifting block; 723. Lifting motor; 724. Proximity switch; 73. Carriage drive mechanism; 731. Main lane driving wheel; 732. Main lane driven wheel; 733. Secondary lane driving wheel; 734. Secondary lane driven wheel; 735. Main lane travel shaft; 736. Secondary lane travel shaft; 737. Carriage travel motor; 738. Carriage travel motor encoder; 74. Parking position photoelectric sensor;

[0093] 80. Centering mechanism; 81. Centering guide rail; 82. Straight arm; 821. Straight arm travel switch; 83. Guide rail mounting bracket; 84. Connecting plate; 85. Centering motor; 851. Centering motor encoder; 852. Centering motor bevel gear; 86. Tapered roller bearing; 861. Shaft bevel gear; 862. Gear; 87. Rack; 88. Centering arm; 881. Centering arm travel switch; 89. Travel control sensor;

[0094] 90. Controller. DETAILED DESCRIPTION

[0095] The present invention will be further described in detail below with reference to the accompanying drawings and specific preferred embodiments.

[0096] In the description of the present invention, it should be understood that the terms "left side," "right side," "upper," "lower," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Terms such as "first" and "second" do not indicate the importance of components and therefore should not be construed as limitations on the present invention. The specific dimensions used in this embodiment are intended only to illustrate the technical solution and do not limit the scope of protection of the present invention.

[0097] The present invention will be further described in detail below with reference to the accompanying drawings and specific preferred embodiments.

[0098] like Figure 1 As shown, a lateral transport device for retrieving parking in a three-dimensional parking garage includes a target parking space platform 10, a central lifting platform 20, a pitch changing mechanism 30, a transmission mechanism 40, a telescopic mechanism 50, a mother vehicle mechanism 60, a child vehicle mechanism 70, and a centering mechanism 80.

[0099] The length direction of the vehicle body is defined as the longitudinal direction, and the width direction of the vehicle body is defined as the transverse direction. That is, the direction of the line connecting the front wheels and the rear wheels is defined as the longitudinal direction, and the direction of the line connecting the front wheels and the line connecting the rear wheels is defined as the transverse direction.

[0100] like Figure 2 As shown, the target parking space platform 10 is provided with a first front wheel fixed stop 11 , a first rear wheel fixed stop 12 , a first front wheel movable stop 13 , a first rear wheel movable stop 14 and a movable stop slide rail 15 .

[0101] A squat is a small square platform for the four wheels of a vehicle to rest on. This device uses the front wheels as a positioning reference point. The first front wheel fixed squat 11, the first front wheel movable squat 13, and the first rear wheel movable squat 14 are cubes slightly larger than the wheel width. The first rear wheel fixed squat 12 is a rectangular parallelepiped composed of several cubes arranged longitudinally to accommodate vehicles of different lengths.

[0102] The movable squat slide rail 15 is longitudinally embedded in the target parking space platform 10, and the upper end surface of the movable squat slide rail 15 is flush with the target parking space platform 10; the first front wheel movable squat 13 and the first rear wheel movable squat 14 are arranged on the movable squat slide rail 15, and the first front wheel fixed squat 11 and the first rear wheel fixed squat 12 are arranged parallel to the movable squat slide rail 15.

[0103] A first front wheel fixing squat identification plate 111 is provided at the center of the side wall of the first front wheel fixing squat 11.

[0104] like Figure 3 As shown, the first front wheel movable squat 13 is provided with a first front wheel movable squat addressing plate 131, and a first front wheel movable squat addressing hole 132 is opened in the center of the side wall of the first front wheel movable squat 13; the first rear wheel movable squat 14 is provided with a first rear wheel movable squat addressing plate 141; and the first rear wheel movable squat addressing hole 142 is opened in the center of the side wall of the first rear wheel movable squat 14. The addressing plate is used to coordinate with the photoelectric sensor for positioning; the addressing hole has two main functions: one is to cooperate with the addressing plate to form a recognition relationship between signals "0" and "1". When the photoelectric sensor recognizes the addressing plate, it will generate a moving signal, and when it recognizes the addressing hole, it will generate a stop signal; the other is to allow the variable pitch and telescopic mechanism to adjust the position of the movable squat by inserting it into the addressing hole.

[0105] The central lifting platform 20 is provided with a second front wheel fixed stop 21 , a second rear wheel fixed stop 22 , a second front wheel movable stop 23 , a second rear wheel movable stop 24 and a variable pitch sliding guide rail 25 .

[0106] The variable pitch sliding guide rail 25 is embedded in the central lifting platform 20 , and the upper end surface is flush with the central lifting platform 20 ; the second front wheel moving squat 23 and the second rear wheel moving squat 24 are arranged on the variable pitch sliding guide rail 25 .

[0107] A mother car parking position recognition piece 26 is also provided at the center of the central lifting platform 20. The function of the mother car parking position recognition piece 26 is to cooperate with the parking and retrieval car positioning photoelectric 66 to locate the mother car mechanism and find the reset position on the central lifting platform 20.

[0108] The side wall of the second front wheel moving squat 23 is provided with a second front wheel moving squat identification plate 231; the center of the side wall of the second front wheel moving squat 23 is provided with a second front wheel moving squat identification hole 232; the side wall of the second rear wheel moving squat 24 is provided with a second rear wheel moving squat identification plate 241; the center of the side wall of the second rear wheel moving squat 24 is provided with a second rear wheel moving squat identification hole 242.

[0109] The layout of the squats on the central lifting platform 20 is similar to that of the squats on the target platform 10, and the functions of the addressing sheets and addressing holes are also the same.

[0110] A charging plate 27 is also provided on the central lifting platform 20 and is connected to an external power source for supplying power to the mother vehicle power supply mechanism 64 .

[0111] like Figure 4 As shown, the pitch-changing mechanism 30 is symmetrically arranged on the central lifting platform 20 ; the pitch-changing mechanism 30 includes a pitch-changing motor 31 , a pitch-changing screw 32 , a pitch-changing screw bearing seat 33 , a pitch-changing screw sliding nut 34 , and a fixing plate 35 .

[0112] The variable pitch motor 31 and the variable pitch screw bearing seat 33 are fixed to the central lifting platform 20. The variable pitch screw 32 is installed in the variable pitch screw bearing seat 33 and is connected to the variable pitch motor 31 through the transmission mechanism 40. The variable pitch motor 31 is equipped with a variable pitch motor encoder 311, which is electrically connected to the controller 90.

[0113] One end of the variable pitch screw 32 is a variable pitch screw rod section 321 without threads; the other end is a variable pitch screw threaded section 322 with threads; two variable pitch screw sliding nuts 34 are sleeved on the variable pitch screw threaded section 322; a fixing plate 35 is arranged on the top of the variable pitch screw sliding nut 34.

[0114] One end of the variable pitch screw threaded section 322 connected to the variable pitch screw polished rod section 321 is sleeved with a variable pitch screw bearing seat 33 , and the other end of the variable pitch screw threaded section 322 is also sleeved with a variable pitch screw bearing seat 33 .

[0115] The transmission mechanism 40 includes a sprocket 41 and a chain 42. This device primarily utilizes a sprocket-chain connection, but gear meshing is also an option. The variable pitch mechanism 30 and the telescopic mechanism 50 utilize a common transmission mechanism 40, meaning their transmission mechanisms are identical in size and layout, facilitating component replacement and universal compatibility.

[0116] The sprockets 41 are respectively mounted on the variable pitch screw rod section 321 and the output shaft of the variable pitch motor 31, and the sprockets 41 are connected by a chain 42; under the drive of the variable pitch motor 31 through the transmission mechanism 40, the variable pitch screw 32 rotates around its own axis, and the variable pitch screw sliding nut 34 slides along the axial direction on the variable pitch screw threaded section 322, driving the fixed plate 35 to move.

[0117] The main function of the distance-changing mechanism 30 is to adjust the distance between the moving squats in the longitudinal direction according to the command signal of the controller 90, and to separate the moving squats to both sides when the vehicle moves toward the target platform to make room for the vehicle to enter and exit.

[0118] like Figure 5As shown, the telescopic mechanism 50 is configured in conjunction with the pitch-changing mechanism 30; the two telescopic mechanisms 50 and the pitch-changing mechanism 30 are arranged and move in a completely mirrored manner. Each telescopic mechanism 50 includes a telescopic motor 51, a telescopic screw 52, ​​a telescopic screw bearing seat 53, a telescopic screw sliding nut 54, a telescopic mechanism sliding track 55, a thrust plate 56, and a squatting position photoelectric sensor 57.

[0119] The telescopic motor 51 and the telescopic screw bearing seat 53 are arranged on the fixed plate 35. The telescopic motor 51 is equipped with a telescopic motor encoder 511 and is electrically connected to the controller 90.

[0120] The middle section of the telescopic screw 52 is the telescopic screw polished rod section 521, which is not provided with threads; the two ends are telescopic screw threaded sections 522, and the threads on the two telescopic screw threaded sections 522 have opposite rotation directions; the telescopic screw polished rod section 521 is inserted into the telescopic screw bearing seat 53 and is slidably connected to the telescopic screw bearing seat 53; the telescopic screw polished rod section 521 is provided with a sprocket 41, and the two telescopic screw threaded sections 522 are respectively provided with telescopic screw sliding nuts 54.

[0121] A sprocket 41 is also provided on the output shaft of the telescopic motor 51 , and the sprocket 41 of the telescopic motor 51 is connected to the sprocket 41 of the telescopic lead screw 52 via a chain 42 .

[0122] The telescopic mechanism sliding track 55 is arranged on the fixed plate 35; a thrust plate 56 is arranged on the telescopic mechanism sliding track 55; the thrust plate 56 is fixedly connected to the telescopic screw sliding nut 54, and can slide freely on the telescopic mechanism sliding track 55 under the drive of the telescopic screw sliding nut 54.

[0123] The car squatting parking photoelectric sensor 57 is fixed on the end of the thrust plate 56. The car squatting parking photoelectric sensor 57 is used to identify the position of the moving squat of the wheel, and is fed back by the controller 90 to make the thrust plate 56 stay in the appropriate position.

[0124] The main function of the telescopic mechanism 50 is to control the movement and adjustment position of the mobile squat in the lateral direction, so that the thrust plate 56 controls the position of the mobile squat, and together with the distance changing mechanism 30, separates the mobile squat to both sides to make room for vehicle access.

[0125] like Figure 6 and Figure 7 As shown, the mother vehicle mechanism 60 includes a mother vehicle chassis 61, a mother vehicle driving mechanism 62, a sub-vehicle return address recognition plate 63, a mother vehicle power supply mechanism 64, and a sub-vehicle guide mechanism 65.

[0126] The trolley driving mechanism 62 is arranged on the trolley chassis 61 ; the trolley driving mechanism 62 includes two pairs of trolley driving wheels 621 , two pairs of trolley driven wheels 622 , a trolley traveling shaft 623 , and a trolley traveling motor 624 .

[0127] The main vehicle driving wheel 621 and the main vehicle driven wheel 622 are respectively arranged on the four corners of the main vehicle chassis 61; the two pairs of main vehicle driving wheels 621 are connected through the main vehicle traveling shaft 623; the main vehicle traveling shaft 623 is longitudinally arranged on the main vehicle chassis 61, and is connected to the main vehicle traveling motor 624 through the transmission mechanism 40; the main vehicle power supply mechanism 64 is arranged on the main vehicle chassis 61 and is electrically connected to the main vehicle traveling motor 624; the main vehicle power supply mechanism 64 is provided with a charging head 641; the charging head 641 is matched with the charging plate 27.

[0128] The sub-carriage guide mechanism 65 is arranged on the two lateral sides of the mother car chassis 61, and a total of four sub-carriage guide mechanisms 65 are arranged; the mother car travel motor 624 is equipped with a mother car travel motor encoder 625, which is electrically connected to the controller 90.

[0129] like Figure 8 As shown, the trolley guide mechanism 65 includes a trolley guide rod 651 and a guide seat 652. The guide seat 652 is hinged at its bottom and fixed to the mother carriage chassis 61, being rotatably connected thereto. The trolley guide rod 651 passes through a guide shaft hole 653 provided in the guide seat 652 and is connected to the trolley mechanism 70. The trolley guide mechanism 65 connects the mother carriage mechanism 60 and the trolley mechanism 70. The trolley guide mechanism 65 is rotatable, allowing it to remain connected to the mother carriage mechanism 60 even after the trolley mechanism 70 reverses direction.

[0130] The mother vehicle mechanism 60 is also provided with a parking and retrieval vehicle positioning photoelectric device 66; the parking and retrieval vehicle positioning photoelectric device 66 is fixed at the center position of the mother vehicle chassis 61 and shines toward the central lifting platform 20, and is arranged corresponding to the mother vehicle parking position identification plate 26 to confirm the reset position of the mother vehicle mechanism 60 on the central lifting platform 20; the parking and retrieval vehicle positioning photoelectric device 66 is electrically connected to the controller 90.

[0131] Nylon stops 67 are provided at the midpoints of both longitudinal sides of the mother vehicle chassis 61 of the mother vehicle mechanism 60 , which serve as physical limit stops when the child vehicle mechanism 70 returns to the mother vehicle mechanism 60 .

[0132] like Figure 9 and Figure 10 As shown, the sub-carriage mechanisms 70 are symmetrically arranged on the mother car mechanism 60; each sub-carriage mechanism 70 includes a sub-carriage chassis 71, a sub-carriage lifting mechanism 72, a sub-carriage driving mechanism 73, and a parking positioning photoelectric sensor 74. The sub-carriage chassis 71 is connected and fixed to the sub-carriage guide rod 651.

[0133] The sub-trolley lifting mechanism 72 is arranged on the four corners of the sub-trolley chassis 71; the sub-trolley lifting mechanism 72 includes a screw elevator 721, a lifting top block 722 and a lifting motor 723; the bottom of the screw elevator 721 is fixed on the sub-trolley chassis 71 and is connected to the lifting motor 723, and a lifting top block 722 is provided on the top of the screw elevator 721.

[0134] The sub-trolley driving mechanism 73 includes two pairs of main lane driving wheels 731, two pairs of main lane driven wheels 732, two pairs of secondary lane driving wheels 733, two pairs of secondary lane driven wheels 734, a main lane traveling shaft 735, a secondary lane traveling shaft 736 and a sub-trolley traveling motor 737.

[0135] The main lane driving wheel 731 and the main lane driven wheel 732 are fixedly connected to the lifting top block 722. The two pairs of main lane driving wheels 731 are connected by a main lane travel shaft 735. The secondary lane driving wheels 733 and the secondary lane driven wheels 734 are arranged on the two lateral sides of the sub-trolley chassis 71. The two pairs of secondary lane driving wheels 733 are connected by a secondary lane travel shaft 736. The main lane travel shaft 735 and the secondary lane travel shaft 736 are each connected to the sub-trolley travel motor 737 through the transmission mechanism 40. The sub-trolley travel motor 737 is equipped with a sub-trolley travel motor encoder 728 and is electrically connected to the controller 90.

[0136] The sub-vehicle mechanism 70 also includes a parking positioning photoelectric sensor 74; the parking positioning photoelectric sensor 74 is arranged at the center position of the two longitudinal sides of the sub-vehicle chassis 71, corresponding to the position of the sub-vehicle return address recognition plate 63; the parking positioning photoelectric sensor 74 and the sub-vehicle return address recognition plate 63 are electrically connected to the controller 90.

[0137] A proximity switch 724 is provided on the lifting top block 722 of the vehicle lifting mechanism 72 ; the proximity switch is electrically connected to the controller 90 and is used to control the lifting height of the screw elevator 721 .

[0138] like Figure 11 and Figure 12 As shown, the centering mechanism 80 is arranged in conjunction with the sub-carriage mechanism 70; the centering mechanism 80 includes a centering guide rail 81, a straight arm 82, a guide rail fixing seat 83, a connecting plate 84, a centering motor 85, a tapered roller bearing 86, a rack 87, a centering arm 88, and a stroke control sensor 89.

[0139] The centering guide rails 81 are arranged symmetrically in the transverse direction; a straight arm 82 is arranged in a sliding manner inside the centering guide rail 81, and the guide rail fixing seat 83 is fixedly connected to the lower end surface of the centering guide rail 81; the guide rail fixing seat 83 is fixed on the top of the lifting top block 722; a connecting plate 84 is provided between the two centering guide rails 81, and a centering motor 85 is fixed on the connecting plate; the centering motor 85 is equipped with a centering motor encoder 851, which is electrically connected to the controller 90; the centering motor 85 converts the circular motion of the centering motor 85 into the linear motion of the rack 87 through the tapered roller bearing 86.

[0140] The centering motor 85 is keyed to the centering motor bevel gear 852; a shaft bevel gear 861 is fixed to one end of the tapered roller bearing 86, and a gear 862 is fixed to the other end; the shaft bevel gear 861 meshes with the centering motor bevel gear 852, and the gear 862 meshes with the rack 87; under the drive of the centering motor 85, the centering motor bevel gear 852 drives the shaft bevel gear 861 to rotate counterclockwise, thereby driving the tapered roller bearing 86 to rotate counterclockwise, and the gear 862 to rotate counterclockwise; The gear 862 drives the racks 87 on both sides to move horizontally in opposite directions, and the centering arm 88 extends to center the vehicle; conversely, the centering motor 85 rotates clockwise, and the centering arm 88 retracts. The rack 87 is arranged parallel to the straight arm 82, and the rack 87 and the straight arm 82 are connected and fixed through the centering arm 88; a centering arm travel switch 881 is provided at the center of the side wall of the centering arm 88; a travel control sensor 89 is arranged at the end of the straight arm 82, and a straight arm travel switch 821 is provided on the upper end surface of the straight arm 82.

[0141] A method for transporting a lateral transport device for taking out a parked object in a stereoscopic parking garage comprises the following steps:

[0142] S1. The sub-carriage finds the wheel center: the central lifting platform 20 carries the vehicle and moves to the same height as the target parking space platform 10, and the mother car mechanism 60 and the sub-carriage mechanism 70 on the central lifting platform 20 start to move; the two sub-carriage mechanisms 70 move in the longitudinal direction, one moves toward the front wheel of the vehicle, and the other moves toward the rear wheel of the vehicle; when the parking positioning photoelectric sensor 74 on the sub-carriage mechanism 70 moving toward the front wheel recognizes the second front wheel movement squatting address hole 232 of the central lifting platform 20 and stops moving, the center of the sub-carriage mechanism 70 coincides with the center of the front wheel tire of the vehicle; the other sub-carriage mechanism 70 moves toward the rear wheel until the parking positioning photoelectric sensor 74 recognizes that the tire has disappeared, and the sub-carriage mechanism 70 stops moving; the sub-carriage travel motor encoder 728 feeds back a signal to the controller 90, thereby controlling the sub-carriage travel motor 737 to rotate in the opposite direction, and the sub-carriage mechanism 70 moves back half the length of the rear wheel of the vehicle, at which time the center of the sub-carriage mechanism 70 coincides with the center of the rear wheel of the vehicle;

[0143] S2, the sub-carriage changes position and moves horizontally: the sub-carriage lifting mechanism 72 on the sub-carriage mechanism 70 is started, and the lifting motor 723 drives the screw of the screw elevator 721 to rise. The lifting distance is controlled by the proximity switch 724; the lifting top block 722 is lifted up, and the main lane driving wheel 731 and the main lane driven wheel 732 fixed to the lifting top block 722 are also lifted up and leave the central lifting platform 20. The sub-carriage mechanism 70 is supported by the secondary lane driving wheel 733 and the secondary lane driven wheel 734 instead of the main lane driving wheel 731 and the main lane driven wheel 732 on the ground; the travel direction of the sub-carriage mechanism 70 changes from longitudinal to transverse;

[0144] S3. Centering the vehicle wheels: The centering motor 85 of the centering mechanism 80 on the sub-carriage mechanism 70 is started. Driven by the centering motor 85, the centering motor bevel gear 852 drives the shaft bevel gear 861 to rotate counterclockwise, thereby driving the tapered roller bearing 86 and gear 862 to rotate counterclockwise. The gear 862 drives the racks 87 on both sides to move horizontally away from each other, and the centering arm 88 extends to center the vehicle. The movement stops until the stroke control sensor 89 provided on the centering arm 88 touches the tire, and the vehicle wheels are centered left and right.

[0145] S4. Lifting the vehicle: The screw lifter 721 on the sub-carriage mechanism 70 continues to rise, lifting the top block 722 to lift the guide rail fixing seat 83 of the centering mechanism 80, thereby causing the centering mechanism 80 to rise synchronously as a whole, lifting the vehicle;

[0146] S5. The pitch-changing mechanism is aligned with the moving squat of the target platform: the pitch-changing mechanism 30 on the central lifting platform 20 is started; the pitch-changing motor 31 is started and runs, driving the pitch-changing screw 32 to rotate around its own axis through the transmission mechanism 40, and the pitch-changing screw sliding nut 34 slides along the axis direction on the pitch-changing screw threaded section 322, driving the fixed plate 35 to move; the two pitch-changing mechanisms move toward the front and rear wheels of the vehicle respectively, until the car squatting position photoelectric sensor 57 moving toward the front wheel recognizes the first front wheel moving squatting addressing hole 132, and the car squatting position photoelectric sensor 57 moving toward the rear wheel recognizes the first rear wheel moving squatting addressing hole 142, at which time the thrust plate 56 of the telescopic mechanism 50 is aligned with the first front wheel moving squatting addressing hole 132 and the first rear wheel moving squatting addressing hole 142 respectively;

[0147] S6. The telescopic mechanism is connected to the target platform for movement: the telescopic mechanism 50 on the central lifting platform 20 is started; the telescopic motor 51 is started and runs, driving the telescopic screw 52 to rotate around its own axis through the transmission mechanism 40, and the telescopic screw sliding nut 54 slides along the axis direction on the telescopic screw thread section 522, driving the thrust plate 56 to insert into the first front wheel movement squat addressing hole 132 and the first rear wheel movement squat addressing hole 142;

[0148] S7, the moving squat of the target platform is separated to both sides: the pitch-changing mechanism 30 starts running again to perform pitch-changing movement, and the thrust plate 56 drives the first front wheel moving squat 13 to move in the moving squat slide rail 15 in the front wheel direction, until the vehicle squat stop photoelectric sensor 57 recognizes the second front wheel moving squat addressing hole 232 of the central lifting platform 20 and stops moving; the thrust plate 56 drives the first rear wheel moving squat 14 to move in the rear wheel direction on the moving squat slide rail 15, and stops moving when the vehicle squat stop photoelectric sensor 57 recognizes the second rear wheel moving squat addressing hole 242 of the central lifting platform 20; at this time, the first front wheel moving squat 13 and the first rear wheel moving squat 14 move away from each other longitudinally, making way for the lateral movement of the sub-carriage mechanism 70 and the mother car mechanism 60;

[0149] S8. The sub-carriage enters the target parking platform: the sub-carriage travel motor 737 of the sub-carriage mechanism 70 starts running, driving the secondary lane driving wheel 733 to rotate, thereby moving toward the target parking platform 10; when the parking positioning photoelectric sensor 74 on the sub-carriage mechanism 70 recognizes the first front wheel fixed squat address recognition plate 111 on the target parking platform 10, the sub-carriage mechanism 70 stops moving;

[0150] S9. Reset of the target platform's movement squat: The pitch-changing mechanism 30 and the telescopic mechanism 50 on the central lifting platform 20 start to move in the opposite direction; when the parking positioning photoelectric sensor 74 on the sub-carriage mechanism 70 illuminates the first front wheel moving squat 13 and the first rear wheel moving squat 14 on the target parking platform 10, the pitch-changing mechanism 30 stops the pitch-changing movement; and the telescopic mechanism 50 begins to retract in the opposite direction to the initial position;

[0151] S10, sub-vehicle landing: The screw elevator 721 on the sub-vehicle mechanism 70 descends, and the centering mechanism 80 descends synchronously until the four wheels of the vehicle land on the first front wheel fixed squat 11, the first rear wheel fixed squat 12, the first front wheel movable squat 13, and the first rear wheel movable squat 14 of the target parking platform 10 respectively;

[0152] S11. The sub-trolley resumes longitudinal travel: the centering arm 88 of the centering mechanism 80 retracts; the screw elevator 721 on the sub-trolley mechanism 70 continues to descend, and the primary lane driving wheel 731 and the primary lane driven wheel 732 land on the target parking space platform 10; simultaneously, the secondary lane driving wheel 733 and the secondary lane driven wheel 734 are lifted and detached from the target parking space platform 10, and the sub-trolley mechanism 70 changes from being supported by the secondary lane driving wheel 733 and the secondary lane driven wheel 734 on the ground to being supported by the primary lane driving wheel 731 and the primary lane driven wheel 732 on the ground; the travel direction of the sub-trolley mechanism 70 changes from horizontal to longitudinal.

[0153] S12, the sub-carriage and the mother car return to the central lifting platform: the sub-carriage mechanism 70 moves longitudinally toward the mother car mechanism 60, and the parking positioning photoelectric sensor 74 of the sub-carriage mechanism 70 recognizes the sub-carriage return address plate 63 on the mother car mechanism 60, and the sub-carriage mechanism 70 stops moving; the mother car travel motor 624 of the mother car mechanism 60 starts running, carrying the sub-carriage mechanism 70 to the central lifting platform 20, and the parking and retrieval car positioning photoelectric sensor 66 on the mother car mechanism 60 shines on the mother car parking address plate 26 on the central lifting platform 20, and the mother car mechanism 60 stops moving, and the parking action is completed; the charging head 641 of the mother car power supply mechanism 64 presses the charging plate 27 on the central lifting platform, and starts to automatically charge the mother car power supply mechanism 64;

[0154] S13. The above steps are the working steps for side parking. The principle of side car retrieval is the same as that of side parking, but the action flow is opposite.

[0155] This device uses a variable pitch mechanism and a telescopic mechanism to adjust the position of the mobile car squat to adapt to the position of the wheels of vehicles with different body lengths and widths; the adjustment process uses a photoelectric sensor to identify the position of the mobile car squat and feed it back to the controller, which controls the motor encoder to drive the variable pitch mechanism and telescopic mechanism to move, and the position movement is automatic and accurate; the vehicle is transported by a combination of parent and child car mechanisms, the child car mechanism is responsible for moving the vehicle to find the vehicle, and accurately finds the center of the wheel through the centering mechanism, and then the centering mechanism lifts the vehicle and cooperates with the mother car mechanism to transport the vehicle to the target parking platform; after the transportation is completed, the mother car mechanism and the child car mechanism can automatically return to the center lifting platform and charge; the entire process is controlled by the controller in conjunction with the photoelectric sensor and motor encoder. The action is simple and accurate, with a high degree of automation, will not damage the vehicle, and can be adapted to various vehicles.

[0156] The preferred embodiments of the present invention are described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A lateral transport device for parking in a three-dimensional parking garage, characterized by: The invention comprises a target parking platform (10), a central lifting platform (20), a pitch-changing mechanism (30), a transmission mechanism (40), a telescopic mechanism (50), a mother vehicle mechanism (60), a child vehicle mechanism (70), a centering mechanism (80) and a controller (90); the vehicle body length direction is defined as the longitudinal direction, and the vehicle body width direction is defined as the transverse direction; the target parking platform (10) is provided with a first front wheel fixed squat (11), a first rear wheel fixed squat (12), a first front wheel movable squat (13), a first rear wheel movable squat (14) and a movable squat slide rail (15); the movable squat slide rail (15) is longitudinally embedded in the target parking platform (10), and the upper end surface of the movable squat slide rail (15) is flush with the target parking platform (10); the first front wheel movable squat (13) and the first rear wheel movable squat (14) are arranged on the movable squat slide rail (15); A first front wheel fixing squat address plate (111) is provided at the center of the side wall of the first front wheel fixing squat (11); The side wall of the first front wheel movable squat (13) is provided with a first front wheel movable squat addressing plate (131), and the center of the side wall of the first front wheel movable squat (13) is provided with a first front wheel movable squat addressing hole (132); the first rear wheel movable squat (14) is provided with a first rear wheel movable squat addressing plate (141); the center of the side wall of the first rear wheel movable squat (14) is provided with a first rear wheel movable squat addressing hole (142); The central lifting platform (20) is provided with a second front wheel fixed stop (21), a second rear wheel fixed stop (22), a second front wheel movable stop (23), a second rear wheel movable stop (24) and a variable pitch sliding guide rail (25); a mother vehicle parking address plate (26) is provided at the center of the central lifting platform (20); The variable pitch sliding guide rail (25) is embedded in the central lifting platform (20), and the upper end surface is flush with the central lifting platform (20); the second front wheel moving squat (23) and the second rear wheel moving squat (24) are arranged on the variable pitch sliding guide rail (25); The side wall of the second front wheel movable squat (23) is provided with a second front wheel movable squat addressing piece (231); the center of the side wall of the second front wheel movable squat (23) is provided with a second front wheel movable squat addressing hole (232); the side wall of the second rear wheel movable squat (24) is provided with a second rear wheel movable squat addressing piece (241); the center of the side wall of the second rear wheel movable squat (24) is provided with a second rear wheel movable squat addressing hole (242); The pitch-changing mechanism (30) is symmetrically arranged on the central lifting platform (20); the pitch-changing mechanism (30) comprises a pitch-changing motor (31), a pitch-changing screw (32), a pitch-changing screw bearing seat (33), a pitch-changing screw sliding nut (34), and a fixing plate (35); The variable pitch motor (31) and the variable pitch screw bearing seat (33) are fixed on the central lifting platform (20); the variable pitch screw (32) is inserted into the variable pitch screw bearing seat (33) and is connected to the variable pitch motor (31) through a transmission mechanism (40); the variable pitch motor (31) is equipped with a variable pitch motor encoder (311); One end of the variable pitch screw (32) is a variable pitch screw polished rod section (321) without a thread; the other end of the variable pitch screw (32) is a variable pitch screw threaded section (322) with a thread; two variable pitch screw sliding nuts (34) are sleeved on the variable pitch screw threaded section (322); a fixing plate (35) is arranged on the top of the variable pitch screw sliding nut (34); one end of the variable pitch screw threaded section (322) connected to the variable pitch screw polished rod section (321) is sleeved with a variable pitch screw bearing seat (33), and the other end of the variable pitch screw threaded section (322) is also sleeved with a variable pitch screw bearing seat (33); The transmission mechanism (40) includes a sprocket (41) and a chain (42); The sprockets (41) are respectively mounted on the variable pitch screw polished rod section (321) and the output shaft of the variable pitch motor (31), and the sprockets (41) are connected by a chain (42); when the variable pitch motor (31) is driven through the transmission mechanism (40), the variable pitch screw (32) rotates around its own axis, and the variable pitch screw sliding nut (34) slides on the variable pitch screw thread section (322) along the axis direction, driving the fixed plate (35) to move; The telescopic mechanism (50) is matched with the pitch-changing mechanism (30); each of the telescopic mechanisms (50) includes a telescopic motor (51), a telescopic screw (52), a telescopic screw bearing seat (53), a telescopic screw sliding nut (54), a telescopic mechanism sliding rail (55), a thrust plate (56) and a vehicle squatting and parking photoelectric sensor (57); The telescopic motor (51) is equipped with a telescopic motor encoder (511); The telescopic motor (51) and the telescopic screw bearing seat (53) are arranged on the fixed plate (35); The middle section of the telescopic screw (52) is a telescopic screw polished rod section (521) and is not provided with threads; the two ends of the telescopic screw (52) are telescopic screw threaded sections (522), and the threads on the two telescopic screw threaded sections (522) have opposite rotation directions; the telescopic screw polished rod section (521) is inserted into the telescopic screw bearing seat (53) and is connected to the telescopic screw bearing seat (53) in a sliding manner; the telescopic screw polished rod section (521) is provided with a sprocket (41), and the two telescopic screw threaded sections (522) are respectively provided with telescopic screw sliding nuts (54); A sprocket (41) is also provided on the output shaft of the telescopic motor (51), and the sprocket (41) of the telescopic motor (51) and the sprocket (41) of the telescopic screw (52) are connected via a chain (42); The telescopic mechanism sliding track (55) is arranged on the fixed plate (35); a thrust plate (56) is arranged on the telescopic mechanism sliding track (55); the thrust plate (56) is fixedly connected to the telescopic screw sliding nut (54), and can slide freely on the telescopic mechanism sliding track (55) under the drive of the telescopic screw sliding nut (54); The vehicle squatting parking photoelectric sensor (57) is fixed to the end of the thrust plate (56); The mother vehicle mechanism (60) includes a mother vehicle chassis (61), a mother vehicle driving mechanism (62), a sub-vehicle return address recognition plate (63), a mother vehicle power supply mechanism (64), and a sub-vehicle guide mechanism (65); The mother vehicle driving mechanism (62) is arranged on the mother vehicle chassis (61); the mother vehicle driving mechanism (62) includes two pairs of mother vehicle driving wheels (621), two pairs of mother vehicle driven wheels (622), a mother vehicle traveling shaft (623), and a mother vehicle traveling motor (624); The mother vehicle travel motor (624) is equipped with a mother vehicle travel motor encoder (625); The mother vehicle driving wheels (621) and the mother vehicle driven wheels (622) are respectively arranged on the four corners of the mother vehicle chassis (61); the two pairs of mother vehicle driving wheels (621) are connected through the mother vehicle running shaft (623); The mother vehicle travel shaft (623) is longitudinally arranged on the mother vehicle chassis (61), and the mother vehicle travel shaft (623) is connected to the mother vehicle travel motor (624) through a transmission mechanism (40); The mother vehicle power supply mechanism (64) is arranged on the mother vehicle chassis (61), and the mother vehicle power supply mechanism (64) is electrically connected to the mother vehicle travel motor (624); The sub-carriage guide mechanism (65) is arranged on two lateral sides of the mother car chassis (61), and a total of four sub-carriage guide mechanisms (65) are arranged; The sub-carriage guide mechanism (65) includes a sub-carriage guide rod (651) and a guide seat (652); a hinge is provided at the bottom of the guide seat (652); the guide seat (652) is fixed to the mother car chassis (61) and is rotatably connected to the mother car chassis (61); the sub-carriage guide rod (651) passes through a guide shaft hole (653) provided on the guide seat (652) and is connected to the sub-carriage mechanism (70); The sub-carriage mechanisms (70) are symmetrically arranged on the mother car mechanism (60); each sub-carriage mechanism (70) includes a sub-carriage chassis (71), a sub-carriage lifting mechanism (72), a sub-carriage driving mechanism (73), and a parking positioning photoelectric sensor (74); the sub-carriage chassis (71) is connected and fixed to the sub-carriage guide rod (651); The sub-carriage lifting mechanism (72) is arranged on the four corners of the sub-carriage chassis (71); the sub-carriage lifting mechanism (72) comprises a screw lifter (721), a lifting top block (722) and a lifting motor (723); the bottom of the screw lifter (721) is fixed on the sub-carriage chassis (71) and is connected to the lifting motor (723); the top of the screw lifter (721) is provided with a lifting top block (722); The sub-carriage driving mechanism (73) includes two pairs of main lane driving wheels (731), two pairs of main lane driven wheels (732), two pairs of secondary lane driving wheels (733), two pairs of secondary lane driven wheels (734), a main lane travel shaft (735), a secondary lane travel shaft (736), and a sub-carriage travel motor (737); The sub-carriage travel motor (737) is equipped with a sub-carriage travel motor encoder (738); The main lane driving wheel (731) and the main lane driven wheel (732) are fixedly connected to the lifting top block (722); the two pairs of main lane driving wheels (731) are connected via a main lane travel shaft (735); the secondary lane driving wheels (733) and the secondary lane driven wheels (734) are arranged on both sides of the sub-trolley chassis (71) in the transverse direction; the two pairs of secondary lane driving wheels (733) are connected via a secondary lane travel shaft (736); the main lane travel shaft (735) and the secondary lane travel shaft (736) are respectively connected to the sub-trolley travel motor (737) via a transmission mechanism (40); The sub-vehicle mechanism (70) further includes a parking positioning photoelectric sensor (74); the parking positioning photoelectric sensor (74) is arranged at the center position of two longitudinal sides of the sub-vehicle chassis (71), corresponding to the position of the sub-vehicle return address recognition piece (63); The parking positioning photoelectric sensor (74) and the sub-vehicle return address recognition plate (63) are electrically connected to the controller (90); The centering mechanism (80) is arranged in a matching arrangement with the sub-carriage mechanism (70); the centering mechanism (80) comprises a centering guide rail (81), a straight arm (82), a guide rail fixing seat (83), a connecting plate (84), a centering motor (85), a tapered roller bearing (86), a rack (87), a centering arm (88), and a stroke control sensor (89); The centering motor (85) is equipped with a centering motor encoder (851); The centering guide rails (81) are arranged symmetrically in the transverse direction; a straight arm (82) is arranged in a sliding manner in the centering guide rail (81); the guide rail fixing seat (83) is fixedly connected to the lower end surface of the centering guide rail (81); the guide rail fixing seat (83) is fixed on the top of the lifting top block (722); a connecting plate (84) is provided between the two centering guide rails (81), and a centering motor (85) is fixed on the connecting plate; the centering motor (85) converts the circular motion of the centering motor (85) into the linear motion of the rack (87) through a tapered roller bearing (86); the rack (87) and the straight arm (82) are arranged in parallel, and the rack (87) and the straight arm (82) are connected and fixed by the centering arm (88); a stroke control sensor (89) is provided at the end of the straight arm (82).

2. The lateral transport device for parking in a three-dimensional parking garage according to claim 1, characterized in that: The variable pitch motor encoder (311), the telescopic motor encoder (511), the mother vehicle travel motor encoder (625), the sub-vehicle travel motor encoder (738), and the centering motor encoder (851) are electrically connected to the controller (90).

3. The lateral transport device for parking in a three-dimensional parking garage according to claim 2, characterized in that: The mother car mechanism (60) is further provided with a parking and retrieval car positioning photoelectric device (66); the parking and retrieval car positioning photoelectric device (66) is fixed at the center of the mother car chassis (61) and illuminates toward the central lifting platform (20), and is arranged corresponding to the mother car parking position identification plate (26); the parking and retrieval car positioning photoelectric device (66) is electrically connected to the controller (90).

4. The lateral transport device for parking in a three-dimensional parking garage according to claim 1, characterized in that: The central lifting platform (20) is also provided with a charging plate (27); the mother vehicle power supply mechanism (64) on the mother vehicle mechanism (60) is provided with a charging head (641); the charging head (641) is matched with the charging plate (27).

5. The lateral transport device for parking in a three-dimensional parking garage according to claim 1, characterized in that: Nylon stops (67) are provided at the midpoints of both longitudinal sides of the mother vehicle chassis (61) of the mother vehicle mechanism (60), which serve as physical limit stops when the sub-vehicle mechanism (70) returns to the mother vehicle mechanism (60).

6. The lateral transport device for parking in a three-dimensional parking garage according to claim 1, characterized in that: A proximity switch (724) is provided on the lifting top block (722) of the lifting mechanism (72); the proximity switch (724) is electrically connected to the controller (90) and is used to control the lifting height of the screw elevator (721).

7. The lateral transport device for parking in a three-dimensional parking garage according to claim 1, characterized in that: The centering motor (85) is key-connected with a centering motor bevel gear (852); a shaft bevel gear (861) is fixed to one end of the tapered roller bearing (86), and a gear (862) is fixed to the other end; the shaft bevel gear (861) is meshed with the centering motor bevel gear (852), and the gear (862) is meshed with the rack (87); under the drive of the centering motor (85), the centering motor bevel gear (852) drives the shaft bevel gear (861) to rotate counterclockwise, thereby driving the tapered roller bearing (86) to rotate counterclockwise, and the gear (862) to rotate counterclockwise; the gear (862) drives the racks (87) on both sides to move in opposite directions horizontally, and the centering arm (88) extends to the centering vehicle; conversely, the centering motor (85) rotates clockwise, and the centering arm (88) retracts.

8. The lateral transport device for parking in a multi-story parking garage according to claim 1, characterized in that: A centering arm travel switch (881) is provided at the center position of the side wall of the centering arm (88); and a straight arm travel switch (821) is provided on the upper end surface of the straight arm (82).

9. A method for transporting a lateral transport device for retrieval of parking in a multi-story parking garage according to claim 8, characterized in that: The specific steps include: S1. The sub-carriage finds the wheel center: the central lifting platform (20) carries the vehicle and moves to the same height as the target parking platform (10), and the mother car mechanism (60) and the sub-carriage mechanism (70) on the central lifting platform (20) start to move; the two sub-carriage mechanisms (70) move in the longitudinal direction, one moves toward the front wheel direction of the vehicle, and the other moves toward the rear wheel direction of the vehicle; when the parking positioning photoelectric sensor (74) on the sub-carriage mechanism (70) moving toward the front wheel recognizes that the second front wheel of the central lifting platform (20) has moved to the squatting address plate (23 1) After stopping, the center of the sub-carriage mechanism (70) coincides with the center of the vehicle's front wheel tire; the other sub-carriage mechanism (70) moves toward the rear wheel until the travel control sensor (89) recognizes that the tire signal disappears, and this sub-carriage mechanism (70) stops moving; the sub-carriage travel motor encoder (738) feeds back a signal to the controller (90), thereby controlling the sub-carriage travel motor (737) to rotate in the opposite direction, and the sub-carriage mechanism (70) moves back half the length of the vehicle's rear wheel, and at this time the center of the sub-carriage mechanism (70) coincides with the center of the vehicle's rear wheel; S2, the sub-carriage changes position and moves horizontally: the sub-carriage lifting mechanism (72) on the sub-carriage mechanism (70) is started, and the lifting motor (723) drives the screw of the screw elevator (721) to rise, and the lifting distance is controlled by the proximity switch (724); the lifting top block (722) is lifted up, and the main lane driving wheel (731) and the main lane driven wheel (732) fixedly connected to the lifting top block (722) are also lifted up and leave the central lifting platform (20), and the sub-carriage mechanism (70) is supported by the secondary lane driving wheel (733) and the secondary lane driven wheel (734) instead of the main lane driving wheel (731) and the main lane driven wheel (732) on the ground; the moving direction of the sub-carriage mechanism (70) changes from longitudinal to transverse; S3, centering the vehicle wheel: the centering motor (85) of the centering mechanism (80) on the sub-vehicle mechanism (70) is started, and under the drive of the centering motor (85), the centering motor bevel gear (852) drives the shaft bevel gear (861) to rotate counterclockwise, thereby driving the tapered roller bearing (86) to rotate counterclockwise, and the gear (862) to rotate counterclockwise; the gear (862) drives the racks (87) on both sides to move in opposite directions horizontally, and the centering arm (88) extends to center the vehicle; until the centering arm travel switch (881) arranged on the centering arm (88) touches the tire to stop the movement, and the vehicle wheel is centered left and right; S4, lifting the vehicle: the screw lifter (721) on the sub-vehicle mechanism (70) continues to rise, lifting the top block (722) to lift the guide rail fixing seat (83) of the centering mechanism (80), thereby causing the centering mechanism (80) to rise synchronously as a whole, and the straight arm travel switch (821) provided on the upper end surface of the straight arm (82) touches the wheel and continues to rise, thereby lifting the vehicle; S5, the pitch-changing mechanism is aligned with the moving squat of the target platform: the pitch-changing mechanism (30) on the central lifting platform (20) is started; the pitch-changing motor (31) is started and runs, and drives the pitch-changing screw (32) to rotate around its own axis through the transmission mechanism (40), and the pitch-changing screw sliding nut (34) slides along the axis direction on the pitch-changing screw thread section (322), driving the fixed plate (35) to move; the two pitch-changing mechanisms move toward the front wheel and the rear wheel of the vehicle respectively, until the vehicle squatting position photoelectric sensor (57) moving toward the front wheel recognizes the first front wheel moving squatting address hole (132) and the vehicle squatting position photoelectric sensor (57) moving toward the rear wheel recognizes the first rear wheel moving squatting address hole (142), at which time the thrust plate (56) of the telescopic mechanism (50) is aligned with the first front wheel moving squatting address hole (132) and the first rear wheel moving squatting address hole (142) respectively; S6, the telescopic mechanism is connected to the target platform for moving squat: the telescopic mechanism (50) on the central lifting platform (20) is started; the telescopic motor (51) is started and runs, and drives the telescopic screw (52) to rotate around its own axis through the transmission mechanism (40), and the telescopic screw sliding nut (54) slides along the axis direction on the telescopic screw thread section (522), driving the thrust plate (56) to insert into the first front wheel moving squat addressing hole (132) and the first rear wheel moving squat addressing hole (142); S7, the moving squat of the target platform is separated to both sides: the pitch-changing mechanism (30) is started again to perform pitch-changing movement, and the thrust plate (56) drives the first front wheel moving squat (13) to move in the moving squat slide rail (15) toward the front wheel direction until the vehicle squat stop photoelectric sensor (57) recognizes the second front wheel moving squat address hole (232) of the target platform (10) and stops moving; the thrust plate (56) drives the first rear wheel moving squat (14) to move in the moving squat slide rail (15) toward the rear wheel direction until the vehicle squat stop photoelectric sensor (57) recognizes the second rear wheel moving squat address hole (242) of the central lifting platform (20) and stops moving; at this time, the first front wheel moving squat (13) and the first rear wheel moving squat (14) move away from each other in the longitudinal direction, making way for the lateral movement of the sub-carriage mechanism (70) and the mother car mechanism (60); S8, the sub-carriage enters the target parking platform (10): the sub-carriage travel motor (737) of the sub-carriage mechanism (70) starts to run, driving the secondary lane driving wheel (733) to rotate, thereby moving toward the target parking platform (10); when the parking positioning photoelectric sensor (74) on the sub-carriage mechanism (70) recognizes the first front wheel fixed squat address plate (111) on the target parking platform (10), the sub-carriage mechanism (70) stops moving; S9, target platform movement squat reset: the pitch changing mechanism (30) and the telescopic mechanism (50) on the central lifting platform (20) start to operate and perform reverse pitch changing; when the parking positioning photoelectric sensor (74) on the sub-carriage mechanism (70) illuminates the first front wheel moving squat (13) and the first rear wheel moving squat (14) on the target parking platform (10), the pitch changing mechanism (30) stops the pitch changing movement; the telescopic mechanism (50) starts to retract in the reverse direction to the initial position; S10, the sub-vehicle lands: the screw elevator (721) on the sub-vehicle mechanism (70) descends, and the centering mechanism (80) as a whole descends synchronously until the four wheels of the vehicle land on the first front wheel fixed squat (11), the first rear wheel fixed squat (12), the first front wheel movable squat (13), and the first rear wheel movable squat (14) of the target parking platform (10); S11, the sub-carriage resumes longitudinal travel: the centering arm (88) of the centering mechanism (80) retracts; the screw elevator (721) on the sub-carriage mechanism (70) continues to descend, and the main lane driving wheel (731) and the main lane driven wheel (732) fall on the target parking space platform (10); at the same time, the secondary lane driving wheel (733) and the secondary lane driven wheel (734) are lifted up and separated from the target parking space platform (10), and the sub-carriage mechanism (70) changes from the secondary lane driving wheel (733) and the secondary lane driven wheel (734) being supported on the ground to the main lane driving wheel (731) and the main lane driven wheel (732) being supported on the ground; the travel direction of the sub-carriage mechanism (70) changes from the horizontal direction to the longitudinal direction; S12, the sub-carriage and the mother car return to the central lifting platform: the sub-carriage mechanism (70) moves longitudinally toward the mother car mechanism (60), the parking positioning photoelectric sensor (74) of the sub-carriage mechanism (70) recognizes the sub-carriage return address plate (63) on the mother car mechanism (60), and the sub-carriage mechanism (70) stops moving; the mother car travel motor (624) of the mother car mechanism (60) starts running, carrying the sub-carriage mechanism (70) to the central lifting platform (20) moves, the parking and retrieval car positioning photoelectric (66) on the mother car mechanism (60) shines on the mother car parking address plate (26) on the central lifting platform (20), the mother car mechanism (60) stops moving, and the parking action is completed; the charging head (641) of the mother car power supply mechanism (64) presses the charging plate (27) on the central lifting platform, and starts to power the mother car. The source mechanism (64) is automatically charged; S13. The above steps are the working steps for side parking. The principle of side car retrieval is the same as that of side parking, but the action flow is opposite.

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