Tower type automatic parking building

Abstract

The invention discloses a tower type automatic parking building, the tower type automatic parking building is provided with a vehicle entering area, a vehicle taking area and a plurality of annular parking areas, the tower type automatic parking building comprises a vehicle taking and placing device and a lifting device, and the vehicle taking and placing device is used for grabbing vehicles in the vehicle entering area and placing the vehicles in the annular parking areas or the vehicle taking area; the lifting device is used for driving the vehicle to ascend and descend in the vertical direction, so that the vehicle is located at the horizontal height corresponding to any annular parking area; the tower type automatic parking building is provided with a sensing assembly, the sensing assembly is used for detecting state data of a vehicle, and the state data comprises pose data and position data. Manual operation errors are reduced, safety is improved, the annular layout and the flexible pick-and-place robot design are adopted, the shortest pick-and-place path is adopted, vehicle access is more efficient, and the operation efficiency is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of parking buildings, and in particular to a tower-type automatic parking building. Background Art

[0002] The existing vertical parking building realizes parking and position adjustment of cars in the parking spaces by setting up a number of parking spaces on each floor and cooperating with the parking equipment installed in the parking spaces. Due to the large number of vehicles parked in the parking building, the existing method of requiring users to drive into the parking building and cooperate with the parking building for automatic parking causes the vehicles in the parking building to move slowly or even get stuck, affecting the parking and retrieval efficiency of the vehicles in the parking building. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a tower-type automatic parking building with a higher degree of automation of the system, which reduces human operation errors and improves safety. Secondly, the ring layout and flexible pick-and-place robot design adopt the shortest pick-and-place path, making vehicle storage and retrieval more efficient and greatly shortening the pick-and-place time. Furthermore, the intelligent main control system can optimize the vehicle storage and retrieval path, further improving the operating efficiency.

[0004] The present invention provides a tower-type automatic parking building, which is provided with a vehicle entry area, a vehicle pickup area and a plurality of circular parking areas, so as to achieve a three-dimensional stratified diversion mode of in-and-out parking. The tower-type automatic parking building comprises a vehicle pickup and placement device and a lifting device, wherein the vehicle pickup and placement device is used to grab a vehicle in the vehicle entry area and place a vehicle in the circular parking area or the vehicle pickup area;

[0005] Lifting device: used to drive the vehicle to rise and fall in the vertical direction so that the vehicle is located at a horizontal height corresponding to any of the circular parking areas;

[0006] The tower-type automatic parking building is equipped with a sensor component, and the sensor component is used to detect the status data of the vehicle, and the status data includes: posture data and position data.

[0007] Further, the vehicle pick-up and placement device includes: a pick-up and placement robot and a horizontal rotating trolley;

[0008] The pick-and-place robot is slidably arranged on the horizontal rotating trolley.

[0009] Further, the pick-and-place robot is provided with a first clamping arm assembly for clamping the front wheel of the vehicle and a second clamping arm assembly for clamping the rear wheel of the vehicle, accompanied by a synchronous lifting action;

[0010] The pick-and-place robot adjusts the distance between the first clamping arm assembly and the second clamping arm assembly according to the status data acquired by the sensor assembly, and synchronously lifts the wheels of the target vehicle after the first clamping arm assembly and the second clamping arm assembly clamp them, so that the wheels of the target vehicle are separated from the load-bearing surface.

[0011] Furthermore, the first clamping arm assembly is provided with a clamping arm motor and a wheel clamping arm, and the clamping arm motor is used to drive the wheel clamping arm to perform a clamping action.

[0012] Furthermore, any of the annular parking areas is provided with a plurality of parking spaces evenly distributed along the circumference, and the horizontal rotating trolley is used to drive the vehicle to rotate so that the vehicle matches one of the parking spaces.

[0013] Furthermore, the lifting device includes a vertical track arranged in the middle of the tower-type automatic parking building and a fan-shaped chassis steel frame slidably fitted on the vertical track;

[0014] The vehicle picking and placing device is arranged on the sector-shaped chassis steel frame.

[0015] Furthermore, the fan-shaped chassis is provided with an arc-shaped slide rail, and the horizontal rotating trolley is slidably engaged on the arc-shaped slide rail.

[0016] Furthermore, the tower-type automatic parking building also includes a car moving robot;

[0017] The car moving robot is arranged outside the tower-type automatic parking building, and the car is moved and adjusted based on the car moving robot.

[0018] Furthermore, a plurality of photovoltaic panels are laid on the outer wall of the tower-type automatic parking building, and the photovoltaic panels are connected to the power supply system of the tower-type automatic parking building to provide working power for the tower-type automatic parking building.

[0019] The present invention provides a tower-type automatic parking building, which has a higher degree of automation, reduces human operation errors, and improves safety. Secondly, the ring layout and flexible pick-and-place robot design make vehicle access more efficient and greatly shorten the pick-up and delivery time. Furthermore, the intelligent main control system can optimize the vehicle access path, further improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 Schematic diagram of the structure of a tower-type automatic parking building in an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a vehicle retrieval device in an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of module connection of a tower-type automatic parking building in an embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a car moving robot for a tower-type automatic parking building in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] refer to Figure 1 to Figure 4 An embodiment of the present invention provides a tower-type automatic parking building, wherein the tower-type automatic parking building 100 is provided with a vehicle entry area, a vehicle pick-up area, and a plurality of circular parking areas. The circular design not only increases the parking capacity, but also facilitates the rotation and positioning of the vehicle.

[0027] The tower-type automatic parking building 100 is provided with a vehicle pick-up and placement device 30, which is responsible for grabbing vehicles in the vehicle entry area and placing the vehicles in the circular parking area or the vehicle pick-up area. This design allows the system to operate flexibly between different areas, greatly improving the storage and access efficiency. The lifting device 40 is responsible for driving the vehicle to rise and fall in the vertical direction, so that the vehicle can reach the horizontal height of any circular parking area. This makes full use of the vertical space and increases the capacity of the garage.

[0028] A sensor component 20 and a main control system 10 are arranged in the tower-type automatic parking building 100. The sensor component 20 is used to detect the status data of the vehicle, including posture data and position data; the main control system 10 is used to receive the status data fed back by the sensor component, and generate control instructions for driving the vehicle pick-up and placement device and the lifting device to work according to the status data. These data provide the system with real-time and accurate vehicle information, which helps to optimize the access path and improve operational efficiency. As the core of the entire control system, the main control system 10 receives the status data fed back by the sensor component 20, and generates control instructions for driving the vehicle pick-up and placement device 30 and the lifting device 40 to work according to these data. This intelligent control method ensures the coordinated operation of the entire system and maximizes operational efficiency and safety.

[0029] The sensor assembly 20 may include various types of sensors such as cameras, laser rangefinders, and pressure sensors. The combined use of these sensors can monitor the vehicle status in all directions and provide more accurate data support. For example, a camera can be used to identify the vehicle model and license plate, a laser rangefinder can accurately measure the vehicle size, and a pressure sensor can detect the vehicle weight distribution.

[0030] When a vehicle enters the vehicle entry area, the sensor component 20 will immediately collect vehicle data, and the main control system 10 will select the optimal parking position based on the data. Then, the vehicle pick-up and placement device 30 and the lifting device 40 work together to accurately deliver the vehicle to the designated location. During the vehicle pick-up process, the system will dispatch the vehicle in advance to minimize the user's waiting time.

[0031] To further improve efficiency, the system can predict peak hours based on historical data and real-time traffic information and prepare in advance. For example, before the morning rush hour, the system can move some vehicles to the lower level for quick retrieval. In terms of specific parameter settings, adjustments can be made according to actual needs. For example, the diameter of the circular parking area can be set to 15-25 meters to accommodate parking needs of different sizes. The speed of the lifting device 40 can be set to 3-4 meters per second to improve efficiency while ensuring safety. The sampling frequency of the sensor component 20 can be set to 10-20 times per second to ensure the real-time and accuracy of the data.

[0032] The control system of this tower-type automatic parking building 100 effectively solves the problems existing in traditional three-dimensional parking garages through innovative design and intelligent control. It not only improves vehicle access efficiency and garage capacity, but also achieves a high degree of intelligence and automation, providing a feasible solution to solving urban parking problems.

[0033] The embodiment of the present invention further proposes that the vehicle pick-up and placement device 30 includes a pick-up and placement robot 32 and a horizontal rotating trolley 31, and the pick-up and placement robot 32 is slidably arranged on the horizontal rotating trolley 31. The pick-up and placement robot 32 and the horizontal rotating trolley 31 in the vehicle pick-up and placement device 30 cooperate with each other to jointly solve the problem of flexible pick-up and placement and precise positioning of vehicles in the tower-type automatic parking building 100. The horizontal rotating trolley 31 provides a platform for the pick-up and placement robot 32 to rotatably adjust the posture, so that the pick-up and placement robot 32 can flexibly rotate in the horizontal direction. This design allows the vehicle pick-up and placement device 30 to be adjusted according to the corresponding orientation of the vehicle entry area, the vehicle pick-up area and each circular parking area, so that the pick-up and placement robot 32 can accurately perform the task of clamping or placing the vehicle, greatly improving the flexibility and efficiency of vehicle pick-up and placement. The pick-up and placement robot 32 is slidably arranged on the horizontal rotating trolley 31, so that the pick-up and placement robot 32 can telescopically move on the horizontal rotating trolley 31, meet the clamping of the vehicle and shrink on the horizontal rotating trolley 31, and realize the adjustment of the vehicle position. The pick-and-place robot 32 can telescope on the horizontal rotating trolley 31 to pick up or place the vehicle to meet the needs of different vehicle models and parking locations, ensuring that the vehicle can be accurately picked up or placed.

[0034] The horizontal rotating trolley 31 can be implemented in a variety of structures. For example, a disc-type structure can be used, and the diameter range can be between 2 meters and 4 meters, which can be adjusted according to the size of the parking building. The rotating mechanism can be gear-driven or hydraulically driven, and the rotation angle can reach 360 degrees, and the accuracy can be controlled within ±0.1 degrees. The surface of the horizontal rotating trolley 31 can be designed as a smooth metal surface or with anti-slip texture to ensure the stability of the pick-and-place robot 32.

[0035] The sliding setting of the pick-and-place robot 32 on the horizontal rotating trolley 31 can be realized in a variety of ways. A slide rail guide system can be used, and the slide rail length can be designed as needed, usually between 1.5 meters and 3 meters. The sliding mechanism can use electric or hydraulic drive, and the stroke accuracy can reach ±1 mm. In order to increase stability, a locking device can be added to the sliding mechanism to fix the position of the pick-and-place robot 32 when picking up and placing the vehicle.

[0036] The combination of the pick-and-place robot 32 and the horizontal rotating trolley 31 not only realizes flexible pick-and-place, but also generates positive interaction with the lifting device 40. When the lifting device 40 lifts the vehicle to a specified height, the horizontal rotating trolley 31 can accurately rotate to the corresponding angle, and the pick-and-place robot 32 can accurately slide to the appropriate position, thereby realizing accurate positioning and pick-and-place of the vehicle. This collaboration greatly improves the working efficiency and accuracy of the entire system.

[0037] In the specific implementation process, when it is necessary to pick up and place a vehicle, the main control system 10 first controls the lifting device 40 to move the vehicle pick-up and placement device 30 to the corresponding height of the target circular parking area according to the state data fed back by the sensor component 20. Then, the horizontal rotating trolley 31 rotates to an appropriate angle according to the position of the target parking space. The rotation angle can be accurately controlled by an encoder, and the error is controlled within ±0.05 degrees. At the same time, each rotation position corresponds to the parking space and sets a center line automatic card plate to ensure that the vehicle enters and exits the center line position accurately, and ensures that the pick-up and delivery robot is smoothly connected to the parking space. Then, the pick-up and placement robot 32 slides on the horizontal rotating trolley 31 and extends an appropriate distance, which can be adjusted according to different vehicle models. The clamping arm assembly on the pick-up and placement robot 32 adjusts the spacing according to the specific size of the vehicle, and the spacing adjustment range can be between 1.5 meters and 2.5 meters to adapt to vehicles with different wheelbases. Finally, the clamping arm assembly performs a clamping or releasing action to complete the pick-up and placement operation of the vehicle.

[0038] During the whole process, the sensor component 20 continuously monitors the position and posture of the vehicle and feeds back to the main control system 10. The main control system 10 adjusts the actions of each component in real time to ensure the accuracy and safety of vehicle placement. For example, if the vehicle position deviation is detected to exceed a preset threshold (such as 5 cm), the system will automatically adjust the position of the pick-and-place robot 32 to compensate.

[0039] The design of the embodiment of the present invention also has good scalability. By adjusting the size of the horizontal rotating trolley 31 and the parameters of the pick-and-place robot 32, it can easily adapt to tower-type automatic parking buildings 100 of different sizes and layouts. This flexibility enables the system to be widely used in various urban environments, thereby better solving the problem of difficult parking in cities.

[0040] The embodiment of the present invention further proposes that the pick-and-place robot 32 is provided with a first clamping arm assembly 322 for clamping the front wheel of the vehicle and a second clamping arm assembly 321 for clamping the rear wheel of the vehicle; the pick-and-place robot 32 adjusts the distance between the first clamping arm assembly 322 and the second clamping arm assembly 321 according to the status data obtained by the sensor assembly 20.

[0041] The pick-and-place robot 32 is provided with two groups of clamping arm assemblies for clamping the front and rear wheels of the vehicle respectively. This design can firmly grasp the vehicle. The sensor assembly 20 obtains vehicle status data, including posture data and position data, and provides vehicle information to the pick-and-place robot 32. The pick-and-place robot 32 adjusts the spacing between the two groups of clamping arm assemblies according to these data to adapt to the wheelbase of different models. This solution can solve the clamping problem caused by the difference in wheelbase of different models. By adjusting the clamping arm spacing in real time, the pick-and-place robot 32 can accurately locate and clamp the front and rear wheels of various models, improving the accuracy and adaptability of clamping. At the same time, this dynamic adjustment capability also improves the flexibility and versatility of the parking system, without the need to set up special equipment for different models. In addition, the solution can also improve parking efficiency and safety. Accurate clamping can reduce the time of vehicle positioning and clamping, and speed up the parking process. At the same time, accurate clamping can also reduce the risk of vehicle damage and improve the reliability of the parking system.

[0042] In specific implementation, the first clamping arm assembly 322 and the second clamping arm assembly 321 can be of telescopic design, and the spacing adjustment can be achieved through an electric telescopic mechanism. The telescopic mechanism can be a hydraulic cylinder, a pneumatic cylinder or an electric screw. In order to improve the adjustment accuracy, a position sensor can be installed on the telescopic mechanism to provide real-time feedback on the position information of the clamping arm. In addition to obtaining the posture and position data of the vehicle, the sensor assembly 20 can also include a laser rangefinder for accurately measuring the wheelbase and wheelbase of the vehicle.

[0043] The control system of the pick-and-place robot 32 can set a variety of preset vehicle parameters, including the wheelbase and wheelbase data of common vehicle models. When a new vehicle is detected entering, the control system first determines the vehicle type based on the data obtained by the sensor component 20, and then calls the corresponding preset parameters to quickly adjust the clamp arm spacing. For vehicle models that do not have preset parameters in the system, the control system can calculate the appropriate clamping position and clamp arm spacing based on real-time measured data, and immediately lift the wheel synchronously after clamping it to separate the wheel from the load-bearing surface.

[0044] In addition, the first clamping arm assembly 322 and the second clamping arm assembly 321 can also be designed to be independently adjustable. For example, each clamping arm assembly can include two independently controlled clamping arms, corresponding to the left and right wheels of the vehicle respectively. This design can adapt to slight differences in vehicle wheelbases and further improve clamping accuracy.

[0045] The solution of the embodiment of the present invention is combined with the structure of the horizontal rotating trolley 31 in the above-mentioned embodiment to achieve more flexible vehicle positioning and clamping. The horizontal rotating trolley 31 can adjust the overall position and angle of the pick-and-place robot 32, while the adjustable clamping arm assembly can accurately position the wheel. This combination not only improves the adaptability of the system, but also significantly reduces the vehicle positioning time and improves the overall parking efficiency.

[0046] In practical applications, the gripping process of the pick-and-place robot 32 can be divided into two stages: rough adjustment and fine adjustment. In the rough adjustment stage, the pick-and-place robot 32 adjusts the clamping arm assembly to a position close to the target position based on the approximate size of the vehicle obtained by the sensor assembly 20. In the fine adjustment stage, the position of the clamping arm is fine-tuned using more accurate sensor data (such as laser ranging data) to ensure accurate gripping of the wheel. This two-stage adjustment method can improve the adjustment speed while ensuring accuracy.

[0047] To further improve the safety of clamping, pressure sensors can be installed on the clamping arms. When the clamping force reaches a preset threshold, the system automatically stops the clamping action to prevent damage to the wheel. At the same time, the data from the pressure sensor can also be used to determine whether the clamping is successful. If abnormal pressure distribution is detected, the system can automatically make fine adjustments or issue an alarm.

[0048] The technical solution of the embodiment of the present invention has significant advantages over the traditional fixed vehicle clamping device. Traditional devices can usually only adapt to vehicle models within a specific range, and manual intervention is often required for vehicles with large size differences. The adjustable vehicle clamping arm design of the embodiment of the present invention can automatically adapt to different vehicle models, greatly improving the versatility and automation of the parking system. At the same time, through precise sensing and control, this solution can achieve safer and more efficient vehicle clamping, reduce the risk of vehicle damage caused by improper clamping, and improve user satisfaction and system reliability.

[0049] The embodiment of the present invention further proposes that the first clamping arm assembly 322 is provided with a clamping arm motor and a wheel clamping arm, and the clamping arm motor is used to drive the wheel clamping arm to perform a clamping action.

[0050] The clamping arm motor and the wheel clamping arm provided in the first clamping arm assembly 322 are key components for realizing the wheel clamping function. The clamping arm motor provides power for the wheel clamping arm so that it can perform the clamping action. This design enables the pick-and-place robot 32 to accurately control the clamping arm motor according to the vehicle state data obtained by the sensor assembly 20, thereby adjusting the position and clamping force of the wheel clamping arm to achieve accurate clamping of the front wheel of the vehicle. This technical solution solves the problem of how to realize the clamping action of the wheel clamping arm by providing the clamping arm motor and the wheel clamping arm in the first clamping arm assembly 322, and using the clamping arm motor to drive the wheel clamping arm to perform the clamping action. The pick-and-place robot 32 can obtain the tire size of the vehicle according to the control instruction of the main control system 10, adjust the clamping size of the wheel clamping arm, so that the wheel clamping arm can meet the wheel clamping requirements of the vehicle and avoid clamping damage to the wheel of the vehicle. This design enables the pick-and-place robot 32 to flexibly adjust the clamping position and force according to the specific conditions of the vehicle, thereby ensuring the stability and safety of the vehicle during the pick-and-place process. At the same time, this electric clamping method also improves the efficiency and accuracy of the entire picking and placing process, providing important support for the automated operation of the tower automatic parking building 100.

[0051] Specifically, the arm motor can be of various types, such as servo motor, stepper motor or DC motor. Servo motors have the characteristics of high precision and fast response, and are suitable for scenarios that require precise control; stepper motors can achieve precise angle control, and are suitable for scenarios that require precise positioning; DC motors have the advantages of simple structure and low cost. According to actual needs, the most suitable motor type can be selected.

[0052] Wheel clamp arms can be designed in a variety of shapes, such as arc-shaped, V-shaped or parallel clamp arms. Arc-shaped clamp arms can better fit the curved surface of the tire and improve clamping stability; V-shaped clamp arms can adapt to tires of different sizes; parallel clamp arms are suitable for standard-sized tires. The material of the clamp arm can be selected from high-strength alloy steel or carbon fiber composite materials to ensure sufficient strength and durability.

[0053] The clamp arm motor and the wheel clamp arm can be connected through a variety of transmission mechanisms, such as gear transmission, screw transmission or connecting rod mechanism. Gear transmission can provide a larger transmission ratio, which is suitable for scenarios requiring large torque; screw transmission can achieve precise linear motion control; and connecting rod mechanism can achieve complex motion trajectory.

[0054] In a specific embodiment, the first clamping arm assembly 322 uses a servo motor as the clamping arm motor, with a power of 1.5kW and a maximum output torque of 15Nm. The wheel clamping arm is made of carbon fiber composite material, with a length of 400mm and an adjustable range of ±50mm. The clamping arm motor is connected to the wheel clamping arm through a precision gearbox, and the gear reduction ratio is 1:50, which can provide sufficient clamping force. The clamping surface of the wheel clamping arm is covered with a special rubber material to increase friction while protecting the tire. The clamping arm motor is equipped with a high-precision encoder with a resolution of 0.1 degrees, which can accurately control the clamping position and force. The entire clamping process is controlled by the main control system 10, and the clamping parameters are dynamically adjusted according to the vehicle status data fed back by the sensor component 20. For example, for a small car, the system may set a clamping force of 500N, while for an SUV, it may be increased to 1000N. The entire clamping process takes no more than 3 seconds, greatly improving the efficiency of vehicle pick-up and placement.

[0055] The technical solution achieves accurate matching of vehicles with specific parking spaces by setting up parking spaces evenly distributed along the circumference in the circular parking area and using a horizontal rotating trolley 31 to drive the vehicle to rotate. The horizontal rotating trolley 31, as part of the vehicle pick-up and placement device 30, can rotate within the circular parking area. This design allows the system to accurately locate the vehicle to any parking space, no matter where the parking space is in the circular area. By controlling the rotation angle of the horizontal rotating trolley 31, the system can accurately align the vehicle with the target parking space, thereby achieving accurate parking or removal of the vehicle. This design not only improves parking efficiency, but also maximizes the space utilization of the circular parking area. By evenly distributing parking spaces and using a rotating mechanism, the system can flexibly handle vehicles of different sizes and types while ensuring that each parking space can be fully utilized. In addition, this design simplifies the parking and removal process of the vehicle. Without complex navigation or multiple adjustments, the horizontal rotating trolley 31 can directly rotate the vehicle to the correct position, reducing operation time and potential errors.

[0056] In a specific implementation, the annular parking area can be provided with 16, 20 or 24 parking spaces evenly distributed along the circumference, and the specific number can be adjusted according to the size and design requirements of the tower-type automatic parking building 100. The horizontal rotating trolley 31 can adopt a gear transmission mechanism or a hydraulic drive system to achieve precise angle control. For example, a stepper motor can be used to drive a gear to mesh with a large gear at the bottom of the annular parking area, and precise angle positioning can be achieved by controlling the number of rotation steps of the stepper motor.

[0057] The design of the horizontal rotating trolley 31 cooperates with the vehicle pick-up and placement device 30 and the lifting device 40 to form an efficient vehicle parking and retrieval system. When a vehicle needs to be parked, the lifting device 40 first lifts the vehicle to the designated height of the circular parking area. Then, the horizontal rotating trolley 31 rotates to a suitable angle according to the instructions of the main control system 10 to align the vehicle with the target parking space. Finally, the pick-up and placement robot 32 places the vehicle accurately in the parking space. This collaborative mechanism greatly improves parking efficiency and reduces the time for parking and retrieval of vehicles.

[0058] To further improve the accuracy, the horizontal rotating trolley 31 can be equipped with a high-precision angle sensor and position feedback system. These sensors can monitor the angle and position of the rotating trolley in real time and feed the data back to the main control system 10. The main control system 10 makes real-time adjustments based on these data to ensure accurate alignment of the vehicle with the parking space. For example, a photoelectric encoder can be used to measure the rotation angle with an accuracy of up to 0.1 degrees.

[0059] In addition, the design of the circular parking area can also be combined with a vehicle size recognition system. By installing a laser rangefinder or visual recognition device in the vehicle entry area, the system can measure the size of the vehicle before it enters. Based on these data, the main control system 10 selects a parking space of appropriate size and guides the horizontal rotating trolley 31 to rotate to the corresponding position. This intelligent size matching further optimizes space utilization and improves the flexibility of the parking system.

[0060] The embodiment of the present invention further proposes that the lifting device 40 includes a vertical track arranged in the middle of the tower-type automatic parking building 100 and a fan-shaped chassis steel frame slidably matched on the vertical track; the vehicle picking and placing device 30 is arranged on the fan-shaped chassis steel frame.

[0061] The vertical track in the lifting device 40 provides a vertical moving path for the vehicle, and the fan-shaped chassis steel frame can slide on the vertical track to realize the lifting and lowering of the vehicle between different floors. The vehicle pick-up and placement device 30 is arranged on the fan-shaped chassis steel frame, which can move up and down with the fan-shaped chassis steel frame, and realize the horizontal movement and vehicle pick-up and placement operation on the same floor. The vertical track is fixed in the middle of the tower-type automatic parking building 100, providing a stable lifting channel. The fan-shaped chassis steel frame, as an intermediate structure connecting the vertical track and the vehicle pick-up and placement device 30, can slide on the vertical track to realize lifting and lowering, and can also serve as a support platform for the vehicle pick-up and placement device 30. This structural design enables the entire system to efficiently complete the transfer of vehicles between different floors and parking spaces, thereby improving the space utilization and operation efficiency of the parking building. In addition, the design of the fan-shaped chassis steel frame also provides an installation foundation for the horizontal rotating trolley 31, so that the vehicle can be horizontally rotated on the same floor to align with different parking spaces. This integrated design simplifies the structure of the entire system, reduces the number of components, is conducive to reducing manufacturing and maintenance costs, and improves the reliability of the system.

[0062] The vertical track can be in various forms, such as H-shaped steel track, box track or cylindrical track. The track material can be made of high-strength steel to withstand a larger load. The fan-shaped chassis steel frame can be assembled by welding or bolting. Its shape is fan-shaped, which matches the layout of the circular parking area. The fan-shaped chassis steel frame and the vertical track can slide smoothly through sliding mechanisms such as pulleys or guide bearings.

[0063] The vehicle pick-up and placement device 30 is arranged on the fan-shaped chassis steel frame, and may include a horizontal rotating trolley 31 and a pick-up and placement robot 32. The horizontal rotating trolley 31 may be connected to the fan-shaped chassis steel frame through a bearing or a slide rail to realize a horizontal rotation function. The pick-up and placement robot 32 may be slidably arranged on the horizontal rotating trolley 31 to realize the grabbing and placement of the vehicle through a telescopic mechanism.

[0064] This design allows the lifting device 40 and the vehicle pick-up and placement device 30 to form a closely coordinated whole. When the vehicle needs to be moved to a different floor, the fan-shaped chassis steel frame slides on the vertical track, driving the entire vehicle pick-up and placement device 30 to move up and down. After reaching the target floor, the horizontal rotating trolley 31 can be rotated to a suitable angle so that the pick-up and placement robot 32 can accurately align with the parking space. This collaborative working mode significantly improves the efficiency and accuracy of vehicle transfer.

[0065] In a specific implementation, the height of the vertical track can be designed according to the number of floors of the tower-type automatic parking building 100, and can usually reach 60-120 meters. The radius of the fan-shaped chassis steel frame can be designed to be 3-5 meters to adapt to parking buildings of different sizes. The thickness of the fan-shaped chassis steel frame can be 10-20 centimeters to ensure sufficient strength and rigidity. The horizontal rotating trolley 31 can be designed to rotate 360 ​​degrees, and the rotation speed can reach 5-10 revolutions per minute. The telescopic arm length of the pick-and-place robot 32 can reach 4-6 meters to adapt to vehicles of different sizes.

[0066] In actual application, when a vehicle needs to be moved from the vehicle entry area to a circular parking area, the system first controls the fan-shaped chassis steel frame to rise or fall along the vertical track to the target floor height. Then, the horizontal rotating trolley 31 rotates to a suitable angle so that the pick-and-place robot 32 is aligned with the target parking space. The pick-and-place robot 32 then extends the vehicle clamping arm to accurately clamp the vehicle's wheels and move the vehicle from the vehicle entry area to the target parking space. The entire process is adjusted and controlled in real time by the main control system 10 based on the vehicle status data fed back by the sensor component 20 to ensure the safety and accuracy of vehicle transfer.

[0067] First, the combination of vertical rails and fan-shaped chassis steel frames greatly improves the speed of vehicle movement in the vertical direction, and can complete the transfer between different floors in a short time. Secondly, the design of the fan-shaped chassis steel frame and the horizontal rotating trolley 31 enables the system to quickly and accurately align with any parking space, greatly reducing the time for picking up and placing vehicles. Thirdly, this integrated design reduces the number of mechanical components in the system, reduces the failure rate and maintenance costs. Finally, due to the use of a more efficient vehicle transfer mechanism, this system can support larger-scale parking building designs, breaking through the limitation of 400 parking spaces in traditional stereo garages, meeting the parking needs of 1000-1500 parking spaces, and significantly improving parking efficiency and space utilization.

[0068] It is further proposed that the sector-shaped chassis is provided with an arc-shaped slide rail, and the horizontal rotating trolley 31 is slidably matched on the arc-shaped slide rail.

[0069] The fan-shaped chassis is provided with an arc-shaped slide rail, and the horizontal rotating trolley 31 slides with it. This design has the following functions: improving positioning accuracy, the arc-shaped slide rail provides a precise motion trajectory for the horizontal rotating trolley 31, ensuring that the vehicle can be accurately positioned at the designated parking space; enhancing stability, the sliding matching structure makes the horizontal rotating trolley 31 more stable during movement, reduces shaking and offset, and improves the reliability of the entire system; achieving flexible rotation, the design of the arc-shaped slide rail enables the horizontal rotating trolley 31 to move flexibly in the circumferential direction, which is convenient for the vehicle to turn and position in the circular parking area; simplifying the structure, by sliding matching, the driving mechanism of the horizontal rotating trolley 31 is simplified, and the complexity and failure rate of the system are reduced. This technical solution cleverly solves the problem of precise positioning and flexible movement of vehicles in the circular parking area by setting an arc-shaped slide rail on the fan-shaped chassis and making the horizontal rotating trolley 31 slide with it. This design not only improves the positioning accuracy and stability of the parking system, but also simplifies the structure and improves the overall performance and reliability.

[0070] The arc-shaped slide rail on the fan-shaped chassis can be realized in various forms. One possible implementation method is to directly process an arc-shaped groove on the surface of the fan-shaped chassis as a slide rail. Another method is to install an independent arc-shaped track component on the fan-shaped chassis, such as an arc-shaped track made of metal or high-strength engineering plastic. The cross-sectional shape of the arc-shaped slide rail can be designed to be T-shaped, U-shaped or V-shaped to meet different sliding needs and load-bearing requirements.

[0071] The sliding cooperation between the horizontal rotating trolley 31 and the arc-shaped slide rail can be achieved in many ways. For example, a roller or a slider matching the arc-shaped slide rail can be installed at the bottom of the horizontal rotating trolley 31. The roller can be made of wear-resistant materials, such as nylon or polyurethane, to reduce friction and noise. The slider can be made of self-lubricating materials, such as copper-based alloys or engineering plastics, to improve sliding performance and service life.

[0072] In order to further improve the positioning accuracy and operation stability, a guide mechanism can be installed on the horizontal rotating trolley 31. For example, auxiliary guide wheels perpendicular to the arc-shaped slide rail can be provided, and these guide wheels contact the side of the fan-shaped chassis to prevent the horizontal rotating trolley 31 from lateral deviation during movement.

[0073] The curvature radius of the arc-shaped slide rail should match the radius of the annular parking area. For example, if the inner radius of the annular parking area is 10 meters and the outer radius is 15 meters, the curvature radius of the arc-shaped slide rail can be set at about 2.8 meters to ensure that the horizontal rotating trolley 31 can cover the entire parking area.

[0074] In order to achieve precise control of the horizontal rotating trolley 31, position sensors such as magnetic scales or photoelectric encoders can be installed on the arc-shaped slide rails. These sensors can detect the position of the horizontal rotating trolley 31 in real time and feed the information back to the main control system 10. The main control system 10 adjusts the speed and position of the horizontal rotating trolley 31 based on these data to achieve precise positioning. For example, the position accuracy can be set to ±5 mm to ensure that the vehicle can be accurately parked at the specified position.

[0075] Traditional mechanical chain rail type stereo garages usually adopt linear motion, which is difficult to achieve flexible circular motion, resulting in low vehicle storage and retrieval efficiency. However, the embodiment of the present invention realizes the rapid and accurate positioning and movement of vehicles in the circular parking area through the cooperation of the arc-shaped slide rail and the horizontal rotating trolley 31. This design not only improves parking efficiency, but also greatly reduces the wear of mechanical parts and prolongs the service life of the equipment.

[0076] In addition, the design of the embodiment of the present invention also optimizes space utilization. Traditional stereo garages often require a large operating space, while the circular layout and arc-shaped slide rail design of the embodiment of the present invention enable the parking system to better adapt to circular or polygonal building structures, thereby improving land utilization. This design is particularly suitable for areas with limited land resources such as city centers, and can provide more parking spaces in a limited space.

[0077] The system has a higher degree of automation, which reduces human error and improves safety. Secondly, the circular layout and flexible design of the pick-and-place robot 32 make vehicle access more efficient and greatly shorten the time of pick-up and delivery. Furthermore, the intelligent main control system 10 can optimize the vehicle access path, further improving the operation efficiency.

[0078] The embodiment of the present invention further proposes that the tower-type automatic parking building 100 also includes a car moving robot 50; the car moving robot 50 is arranged outside the tower-type automatic parking building 100, and the car is moved and adjusted based on the car moving robot 50.

[0079] The car moving robot 50 is arranged at the corresponding car entry area outside the tower-type automatic parking building 100. The car moving robot 50 is slidably fitted outside the tower-type automatic parking building 100 based on a track. When a car enters the car entry area, the driver can park at any position in the car entry area. The car moving robot 50 identifies and grabs the car in the car entry area and moves the car to the entrance position of the automatic parking building 100.

[0080] The car moving robot 50 includes: a frame 51, a connecting arm 52 and a slide rail connecting part 53. The slide rail connecting part 53 is slidably fitted on the track outside the tower-type automatic parking building 100, and a grasping mechanism 521 arranged on the connecting arm 52 grasps the wheels of the car, so that the car moving robot 50 can grasp and lift the car, thereby realizing the transportation of the car.

[0081] The embodiment of the present invention further proposes that the tower-type automatic parking building 100 also includes a photovoltaic panel 60 arranged on the outer wall of the tower-type automatic parking building 100, and the photovoltaic panel 60 is connected to the power supply system of the tower-type automatic parking building 100, and the photovoltaic panel 60 realizes the power supply to the tower-type automatic parking building 100.

[0082] A number of photovoltaic panels 60 are laid on the outer wall of the tower automatic parking building 100. Based on the photovoltaic panels 60, solar energy is converted into working electricity for the tower automatic parking building 100, thereby realizing the operation of the car moving robot 50, the lifting device 40, and the vehicle picking and placing device 30 of the tower automatic parking building 100. Charging piles are arranged in the parking area of ​​the tower automatic parking building 100. The photovoltaic system composed of the photovoltaic panels 60 supplies electricity to the charging piles inside the tower automatic parking building 100.

[0083] In addition, the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A tower-type automatic parking building, characterized in that: The tower-type automatic parking building is provided with a vehicle entry area, a vehicle pick-up area and a plurality of circular parking areas. The tower-type automatic parking building comprises a vehicle pick-up and placement device and a lifting device. The vehicle pick-up and placement device is used to grab a vehicle in the vehicle entry area and place a vehicle in the circular parking area or the vehicle pick-up area. Lifting device: used to drive the vehicle to rise and fall in the vertical direction so that the vehicle is located at a horizontal height corresponding to any of the circular parking areas; The tower-type automatic parking building is equipped with a sensor component, and the sensor component is used to detect the status data of the vehicle, and the status data includes: posture data and position data.

2. The tower-type automatic parking building according to claim 1, characterized in that: The vehicle pick-up and placement device comprises: a pick-up and placement robot and a horizontal rotating trolley; The pick-and-place robot is slidably arranged on the horizontal rotating trolley.

3. The tower-type automatic parking building according to claim 2, characterized in that: The pick-and-place robot is provided with a first clamping arm assembly for clamping the front wheel of the vehicle and a second clamping arm assembly for clamping the rear wheel of the vehicle; The pick-and-place robot adjusts the distance between the first clamping arm assembly and the second clamping arm assembly according to the status data acquired by the sensor assembly, and synchronously lifts the wheels of the target vehicle after the first clamping arm assembly and the second clamping arm assembly clamp them, so that the wheels of the target vehicle are separated from the load-bearing surface.

4. The tower-type automatic parking building according to claim 3 is characterized in that: The first clamping arm assembly is provided with a clamping arm motor and a wheel clamping arm, and the clamping arm motor is used to drive the wheel clamping arm to perform a clamping action.

5. The tower-type automatic parking building according to claim 2, characterized in that: Any of the annular parking areas is provided with a plurality of parking spaces evenly distributed along the circumference, and the horizontal rotating trolley is used to drive the vehicle to rotate so that the vehicle matches one of the parking spaces.

6. The tower-type automatic parking building according to claim 2, characterized in that: The lifting device comprises a vertical track arranged in the middle of the tower-type automatic parking building and a fan-shaped chassis steel frame slidably fitted on the vertical track; The vehicle picking and placing device is arranged on the sector-shaped chassis steel frame.

7. The tower-type automatic parking building according to claim 6, characterized in that: The fan-shaped chassis is provided with an arc-shaped slide rail, and the horizontal rotating trolley is slidably matched on the arc-shaped slide rail.

8. The tower-type automatic parking building according to claim 1, characterized in that: The tower-type automatic parking building also includes a car moving robot; The car moving robot is arranged outside the tower-type automatic parking building, and the car is moved and adjusted based on the car moving robot.

9. The tower-type automatic parking building according to claim 1, characterized in that: The outer wall of the tower-type automatic parking building is paved with a plurality of photovoltaic panels, and the photovoltaic panels are connected to the power supply system of the tower-type automatic parking building to provide working power for the tower-type automatic parking building.

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