阅读说明：本技术 一种前后独立驱动的下台板l形位移机构 (A kind of lower platen L shape displacement mechanism that front and back independently drives ) 是由 梁迅 梁崇彦 于 2019-10-06 设计创作，主要内容包括：本发明公开了一种前后独立驱动的下台板L形位移机构,包括下台板、长导轨、导向轮单元、旋转及横移导向单元、位置检测单元、定位单元、后驱动系统、前驱动系统、控制系统；长导轨位于下台板长度方向一侧；旋转及横移导向单元位于长导轨靠近车道一端,长导轨、短导轨配合导向轮加上辅助导轨导向；后驱动系统的旋转侧后驱动轮、直行侧后驱动轮加上前驱动系统的前直行驱动轮共同驱动下台板的直行位移,后驱动系统的直行侧后驱动轮加上前驱动系统的前旋转驱动轮共同驱动下台板的旋转位移,这些驱动轮都是速度跟随控制下的独立驱动；前驱动系统与后驱动系统完美实现下台板直线位移与旋转位移无离合全程前后驱动,高速平稳,转向无障碍。(The invention discloses a kind of lower platen L shape displacement mechanisms that front and back independently drives, including lower platen, long guideway, directive wheel unit, rotation and traversing pilot unit, position detection unit, positioning unit, rear drive system, front drive system, control system；Long guideway is located at lower platen length direction side；Rotation and traversing pilot unit are located at long guideway close to lane one end, and long guideway, short lead rail cooperation directive wheel are oriented to plus auxiliary guide rail；The rotary side rear drive sprocket of drive system, straight trip side rear drive sprocket drive the straight trip of lower platen to be displaced jointly plus the preceding driven by craspedodrome wheel of front drive system afterwards, the straight trip side rear drive sprocket of drive system drives the swing offset of lower platen plus the preceding rotation driving wheel of front drive system jointly afterwards, these driving wheels are all the independent drivings under speed follower control；Front drive system and rear drive system perfection realize that lower platen straight-line displacement and swing offset drive without the whole front and back of clutch, and high-speed smooth turns to accessible.)

1. a kind of lower platen L shape displacement mechanism that front and back independently drives, including lower platen, rotation and traversing pilot unit, length are led Rail, position detection unit, positioning unit；It is characterized in that, further including rear drive system, front drive system, control system；It is described Position detection unit, positioning unit, rear drive system and front drive system are electrically connected with the control system respectively；Under described Platen, rotation and traversing pilot unit, long guideway, position detection unit, positioning unit use the prior art；

The lower platen is located on parking stall, and the parking stall is front close to lane side, is rear far from lane side；Institute Long guideway is stated to be located on the left of the parking stall length direction or on the sideline of the wherein side on right side；It is described rotation and it is traversing In the long guideway side, positioned at the end position close to lane, and place side is known as rotary side, another for pilot unit setting Side is known as side of keeping straight on；The positioning unit is mounted in the rotation and traversing pilot unit；The position detection unit is to institute The displacement state for stating lower platen is detected, and sends the control system for location information；

Drive system is mounted on the rear position of the lower platen after described, and the front drive system is mounted on the lower platen Front position cooperates, can drive in straight-line displacement driving and swing offset and switch between both states；Institute Stating control system is single chip computer device or PLC device or industrial personal computer.

2. the lower platen L shape displacement mechanism that a kind of front and back according to claim 1 independently drives, which is characterized in that described Drive system includes a rotary side rear drive sprocket, a straight trip side rear drive sprocket afterwards；

The rotary side rear drive sprocket is fixedly mounted on the lower platen rear end close to the position of rotary side, pivot center with The length direction central axis of the long guideway；Straight trip side rear drive sprocket is fixedly mounted on the lower platen rear end Close to the position of straight trip side, the length direction central axis of pivot center and the long guideway；The rotary side rear drive sprocket And the straight trip side rear drive sprocket uses the one of which of following two structure: structure one is all what adjustable speed motor drove Driving wheel；Structure two is the driving wheel that the identical constant-seed motor of parameter drives；The rotary side rear drive sprocket and described straight Row side rear drive sprocket and ground face contact, are supported and drive to the rear end of the lower platen；The rotary side rear drive sprocket turns Dynamic maximum tangential velocity is identical as the maximum tangential velocity of the straight trip side rear drive sprocket rotation；It is driven after the rotary side Wheel, the straight trip side rear drive sprocket pivot center be projected on same root straight line.

3. the lower platen L shape displacement mechanism that a kind of front and back according to claim 2 independently drives, which is characterized in that described Front drive system is fixedly mounted on the front position of the lower platen, including a preceding straight walking driver, rotates before one and drive Dynamic device；

The preceding straight walking driver setting is in the rotary side, including preceding driven by craspedodrome wheel, lifting device, preceding rotation are servo-actuated Wheel；The preceding driven by craspedodrome wheel is mounted on vehicle-carrying plate, the length direction central axis of pivot center and the long guideway, Using the one of which of following two structure: structure one, it is identical as the rear structure one of driving wheel of drive system, it is adjustable The driving wheel that speed motor drives；Structure two, be and described after driving identical as the rear structure two of driving wheel of drive system The driving wheel that the identical constant-seed motor of the constant-seed motor parameter of the driving wheel of system drives；The lifting device includes fixing Seat, sliding seat；The fixing seat is securedly mounted on the vehicle-carrying plate of the position of the preceding driven by craspedodrome wheel；The activity Seat can make vertically reciprocating movement relative to the fixing seat；Rotation supporting roller is mounted on the sliding seat before described, is rolled Dynamic direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives the sliding seat to be up displaced, energy Enough make the preceding rotation supporting roller disengaging and ground face contact, the preceding driven by craspedodrome wheel and ground face contact, corresponds to the leave from office The straight-line displacement driving condition of plate；When the lifting device drives the sliding seat toward bottom offset, can make it is described before straight trip drive Driving wheel disengaging and ground face contact, rotate supporting roller and ground face contact before described, correspond to the swing offset driving of the lower platen State；

The preceding rotation drive device setting is in the straight trip side, including lifting device, preceding straight trip supporting roller, preceding rotation driving Wheel；Straight trip supporting roller is mounted on vehicle-carrying plate before described, the length direction central axis of pivot center and the long guideway； The lifting device includes fixing seat, sliding seat；The fixing seat is securedly mounted to close to the position of the preceding straight trip supporting roller Vehicle-carrying plate on；The sliding seat can make vertically reciprocating movement relative to the fixing seat；Rotation driving wheel peace before described On the sliding seat, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives The sliding seat is up displaced, and the preceding rotation driving wheel can be made to be detached from and ground face contact, the preceding straight trip supporting roller and ground Face contact corresponds to the straight-line displacement driving condition of the lower platen；When the lifting device drives the sliding seat toward bottom It moves, the preceding straight trip supporting roller disengaging and ground face contact, the preceding rotation driving wheel and ground face contact can be made, corresponded to described The swing offset driving condition of lower platen.

4. the lower platen L shape displacement mechanism that a kind of front and back according to claim 2 independently drives, which is characterized in that described Front drive system is fixedly mounted on the front position of the lower platen, including a preceding straight walking driver, rotates before one and drive Dynamic device；

The preceding straight walking driver setting is in the straight trip side, including preceding driven by craspedodrome wheel, lifting device, preceding rotation are servo-actuated Wheel；The preceding driven by craspedodrome wheel is mounted on vehicle-carrying plate, the length direction central axis of pivot center and the long guideway, Using the one of which of following two structure: structure one, it is identical as the rear structure one of driving wheel of drive system, it is adjustable The driving wheel that speed motor drives；Structure two, be and described after driving identical as the rear structure two of driving wheel of drive system The driving wheel that the identical constant-seed motor of the constant-seed motor parameter of the driving wheel of system drives；The lifting device includes fixing Seat, sliding seat；The fixing seat is securedly mounted on the vehicle-carrying plate of the position of the preceding driven by craspedodrome wheel；The activity Seat can make vertically reciprocating movement relative to the fixing seat；Rotation supporting roller is mounted on the sliding seat before described, is rolled Dynamic direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives the sliding seat to be up displaced, energy Enough make the preceding rotation supporting roller disengaging and ground face contact, the preceding driven by craspedodrome wheel and ground face contact, corresponds to the leave from office The straight-line displacement driving condition of plate；When the lifting device drives the sliding seat toward bottom offset, can make it is described before straight trip drive Driving wheel disengaging and ground face contact, rotate supporting roller and ground face contact before described, correspond to the swing offset driving of the lower platen State；

The preceding rotation drive device setting is in the rotary side, including lifting device, preceding straight trip supporting roller, preceding rotation driving Wheel；Straight trip supporting roller is mounted on vehicle-carrying plate before described, the length direction central axis of pivot center and the long guideway； The lifting device includes fixing seat, sliding seat；The fixing seat is securedly mounted to close to the position of the preceding straight trip supporting roller Vehicle-carrying plate on；The sliding seat can make vertically reciprocating movement relative to the fixing seat；Rotation driving wheel peace before described On the sliding seat, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives The sliding seat is up displaced, and the preceding rotation driving wheel can be made to be detached from and ground face contact, the preceding straight trip supporting roller and ground Face contact corresponds to the straight-line displacement driving condition of the lower platen；When the lifting device drives the sliding seat toward bottom It moves, the preceding straight trip supporting roller disengaging and ground face contact, the preceding rotation driving wheel and ground face contact can be made, corresponded to described The swing offset driving condition of lower platen.

Technical field

The present invention relates to mechanical parking equipment technical fields, and more particularly to lower platen Forward, which rotates two layers, stops Vehicle device, the type parking apparatus need lower platen i.e. ground floor vehicle-carrying plate, normally stand and move forward on ground floor parking stall The state change and conversion that lane is stood after then rotating, is traversing in lane.

Background technique

With increasing for China's car ownership, to solve the problems, such as parking space deficiency, domestic mechanical parking is set It is standby to be widely used.Before more than ten years, domestic release first " two layers of parking apparatus of upper platen Forward rotation " (is commonly called as " without keeping away Allow "), it is mainly characterized by upper platen and move forward-rotate.Soon later, domestic to release again " two layers of rotation of lower platen Forward Parking apparatus " type is mainly characterized by lower platen and carries out move forward-rotate-traversing (i.e. L shape displacement), is specifically shown in bulletin Technical solution disclosed in number CN200985656Y, title " a kind of advancing rotating avoiding type vehicular apparatus ", the program use motor Motor reducer directly drives two idler wheels that front and back is arranged, and structure is complicated, installs, is difficult in maintenance, and use process is easily damaged, These disadvantages affect the popularization and application of this seed type parking apparatus to a certain extent.

Since two layers of parking apparatus that lower platen Forward rotates two layers parking apparatus comparison other forms has, it is unique, conveniently Therefore place between more than ten years after the advent of lower platen moves forward two layers of parking apparatus of rotation, persistently has in the industry proposition is related to improve Scheme.Initial improvement project, which is mainly reflected in, uses electromagnetic clutch driving to improve driving effect, but lower platen therein Rotation, guide frame are still relative complex, and for the rotary steering of universal wheel there are obstacle, production, maintenance cost are still higher.In the recent period There is further improvement, is mainly reflected in using short lead rail and rotation and traversing pilot unit and increases the auxiliary drive of front end Wheel, wherein just include application No. is 2019108899441, entitled " a kind of parking apparatus lower platen L shape displacement mechanism " and Application No. is a kind of patent applications of 2019108899579 entitled " lower platen L shape displacement mechanisms of no-clutch driving ".But Be, above-mentioned two patent application increased auxiliary drive wheels can only solve the auxiliary drive of lower platen straight-line displacement, under The auxiliary drive of the swing offset of platen has no improvement.The tangential displacement distance as needed for lower platen swing offset and straight line position The straight-line displacement distance of shifting quite, if it is possible to realize the auxiliary drive of lower platen swing offset, then can be significantly improved and be set Standby operational efficiency.

Therefore, how for the lower platen rotary parking apparatus that moves forward a kind of simple, reliable, efficient lower platen L morpheme is provided The problem of moving whole forward and backward driving mechanism, being those skilled in the art's urgent need to resolve.

Summary of the invention

In view of this, the present invention provides a kind of lower platen L shape displacement mechanisms that front and back independently drives, it is therefore intended that overcome The deficiency of current techniques improves existing parking apparatus lower platen driving method, and key means are drive systems after improving (driving wheel for being changed to the rear end that the constant-seed motors of two adjustable speed motors or identical parameters independently drives), increases to be located at and leave office The front drive system of front edge of board is (including an adjustable speed motor or constant speed identical with the constant-seed motor parameter of rear drive system The preceding rotation driving wheel of the front end of the driven by craspedodrome wheel of motor-driven rear end and the driving of an adjustable speed motor), two are System cooperates, and tool is there are two types of switching state: state first is that straight-line displacement driving condition, after the rotary side by rear drive system Driving wheel, straight trip side rear drive sprocket add driving of the preceding driven by craspedodrome wheel of front drive system as lower platen straight-line displacement；Shape State second is that swing offset driving condition, by rear drive system straight trip side rear drive sprocket plus front drive system preceding rotation drive Driving of the driving wheel as lower platen swing offset.Lower platen straight-line displacement, rotation are realized in the conversion of above two driving condition, perfection Indexing moves the forward and backward driving of overall process, simple, reliable, efficient.

To achieve the goals above, the invention adopts the following technical scheme:

A kind of lower platen L shape displacement mechanism that front and back independently drives, including lower platen, rotation and traversing pilot unit, long guideway, Position detection unit, positioning unit；It is characterized in that, further including rear drive system, front drive system, control system；Institute's rheme Detection unit, positioning unit, rear drive system and front drive system is set to be electrically connected with the control system respectively；The leave from office Plate, rotation and traversing pilot unit, long guideway, position detection unit, positioning unit use the prior art.

The lower platen is located on parking stall, and the parking stall is front close to lane side, after being far from lane side Side；The long guideway is located on the left of the parking stall length direction or on the sideline of the wherein side on right side；The rotation And traversing pilot unit setting, in the long guideway side, positioned at the end position close to lane, and place side is known as rotating Side, the other side are known as side of keeping straight on；The positioning unit is mounted in the rotation and traversing pilot unit；The position testing unit Member detects the displacement state of the lower platen, and sends the control system for location information.

Drive system is mounted on the rear position of the lower platen after described, and the front drive system is mounted on the leave from office The front position of plate cooperates, can drive in straight-line displacement driving and swing offset and be cut between both states It changes；The control system is single chip computer device or PLC device or industrial personal computer.

The lower platen is set as rectangle steel structural plan frame, upper plane can bearing automobile, can be led in the length Move forward-rotate against the wherein side sideline in parking stall vehicle commander direction and adjacent lane sideline under rail guiding constraint- It is traversing, i.e. realization L shape displacement.

The Forward refers to that the lower platen makees the straight line position perpendicular to lane center since being stood parking stall position It moves and moves into lane region；After the rotation refers to that the lower platen completes above-mentioned Forward, around the rotation and traversing guiding The centre of gyration of unit is rotated by 90 ° in lane region, so that the lower platen vehicle commander direction center line is parallel with lane center； It is described it is traversing refer to that the lower platen completes above-mentioned rotation after, be parallel to the straight-line displacement of lane center and move to deviation Former parking stall region is stood.

The section of the long guideway be following two shape one of which: shape one, be hollow recess shape, the two of groove A vertical plane is guiding working face, and the length direction center line of the guiding working face is vertical with lane center；Shape two is Solid convex, two vertical planes of tongue are guiding working face, in the length direction center line and lane of the guiding working face Heart line is vertical.

The directive wheel unit is securedly mounted to the rear end of lower platen close to the long guideway side, including directive wheel one, Directive wheel two, the directive wheel one, the directive wheel two structure be following two one of which:

Structure one, the rotating wheel position of the directive wheel one, the directive wheel two corresponding with the cross sectional shape one of the long guideway In in the groove of the long guideway, the pivot center of the rotating wheel is perpendicular to ground；The directive wheel one includes nut one, core Axis one, mounting plate one, rotating wheel one；The directive wheel two includes nut two, mandrel two, mounting plate two, rotating wheel two；The peace Loading board one and the mounting plate two are fixedly connected with the lower platen；The rotating wheel one passes through the mandrel one, the nut One is mounted on the mounting plate one；The rotating wheel two by mandrel two, the nut two be mounted on the mounting plate two it On；The rotating wheel one, the rotating wheel two are slidably arranged within the groove of the long guideway, to constrain the lower platen Along the long guideway straight-line displacement.

Structure two, the rotation of the directive wheel one, the directive wheel two corresponding with the cross sectional shape two of the long guideway Wheel is located on the solid convex shape section of the long guideway, and the pivot center of the rotating wheel is parallel to ground, and outer rim is machined with The peripheral groove to match with two guiding working faces of the solid convex of the long guideway, the peripheral groove lead the length The solid convex shape section of rail forms clamping, to constrain the lower platen along the long guideway straight-line displacement.

It is obvious that the distance between two rotating wheels on the outermost side size is longer, the effect and stabilization of guiding Property is better.

The rotation and traversing pilot unit are located at the long guideway close to the one end in lane, are mounted on parking stall rotary side On the ground of vehicle commander direction sideline and lane sideline intersection position, including fixing seat, turntable, short lead rail, auxiliary guide rail, auxiliary are led To mandrel.

The fixing seat is securedly mounted to below ground；The turntable is rotatably arranged on fixing seat, and is located at ground Top can be made to horizontally rotate, in turntable revolution perpendicular to the ground when rotating by bearing relative to the fixing seat Heart line is to rotate and the centre of gyration line of traversing pilot unit, while centre of gyration when as the lower platen swing offset Line；

The short lead rail is fastenedly connected with the turntable, is arranged on the turntable, the section of guide-contour is led with the length The section of the guide-contour of rail is identical；The section of the short lead rail is the one of which of following two form: form one, and described The cross sectional shape one of long guideway is corresponding, and the section of the short lead rail is hollow recess shape, and two vertical planes of groove are guiding Working face；Form two, corresponding with the cross sectional shape two of the long guideway, the section of the short lead rail is solid convex, tongue Two vertical planes be guiding working face；The length dimension of the short lead rail be greater than the directive wheel one and the directive wheel two it Between the maximum length size that is formed, so that the guide-contour of the short lead rail is accommodated the directive wheel one and the guiding completely Wheel two.

The auxiliary guide rail is securedly mounted to the lower platen rear end close to the long guideway side, and cross sectional shape is C-shaped, Notch is towards the long guideway side.

The auxiliary is oriented to mandrel at least two, is securedly mounted to the short lead rail close to the lower platen side, axis Match to cross sectional shape and the C-shaped cross sectional shape of the auxiliary guide rail, towards the lower platen side, position and the leave from office The position of the auxiliary guide rail of plate rear end installation is corresponding；When the lower platen from parking stall position toward track direction move forward, When reaching latter end, the auxiliary guiding mandrel is able to enter the C-shaped cross-sectional internal of the auxiliary guide rail, to the leave from office Auxiliary guiding role is played in the straight-line displacement of plate.

The position detection unit is used to detect the displacement state of lower platen, and the position detection unit includes Forward terminal Detecting element rotates end point determination element, traversing end point determination element and moves back end point determination element；The Forward end point determination Element moves forward to track direction from the parking stall position for the lower platen and reaches the position detection of Forward terminal；It is described Rotation end point determination element is rotated by 90 ° the position for reaching rotation terminal for the lower platen after being advanced to up to lane position Detection；The traversing end point determination element for the lower platen since Forward, rotation final position it is traversing and reach end The position detection of point；The end point determination element that moves back is moved back for the lower platen from lane position to the parking stall direction And reach the position detection for moving back terminal.

The above is the most simple configuration of position detection unit.Under the configuration condition, when the lower platen from lane position When the traversing final position set makees reverse traversing, above-mentioned rotation end point determination element is used as the reverse traversing terminal simultaneously Detection；When the lower platen makees counter-rotating from the rotation final position of lane position, above-mentioned Forward end point determination member Part is used as the counter-rotating end point determination simultaneously.

It is obvious that above-mentioned position detection belongs to conventional detection, used detecting element can be common contact The rocker switch of formula or contactless position switch or optoelectronic switch；Rotation detection can also use encoder.

The positioning unit is used for the rotational positioning of the turntable；The rotational positioning of the turntable includes the short lead rail Positioning when the length direction center line and lane center for being oriented to working face are in plumbness and the guiding of the short lead rail The length direction center line and lane center of working face are in positioning when parastate.

The rotational positioning of the turntable belongs to the positioning of routine, simple structure, can use various normal methods.It is relatively simple Single way is: on the turntable setting there are two location hole perhaps the two location holes of locating slot or locating slot it Between differ 90 °, on ground or it is described rotation and traversing pilot unit the fixing seat on installation electromagnetism push-and-pull member Part, the electromagnetism push-and-pull element are provided with telescoping rod, the positioning being arranged on the contouring head of the rod piece and the turntable Hole or locating slot matching, when the length direction center line of the guiding working face of the short lead rail is in vertical with lane center State when, the one of location hole being arranged is inserted on the turntable on the head of the telescoping rod of electromagnetism push-and-pull element Or locating slot；When the length direction center line and lane center of the guiding working face of the short lead rail are in parastate When, another location hole being arranged on turntable or positioning are inserted into the head of the telescoping rod of the electromagnetism push-and-pull element Slot.The compound positioning of mechanical mechanism can also be added using mechanical mechanism positioning or electromagnetism push-and-pull unit.

Preferably, in a kind of above-mentioned lower platen L shape displacement mechanism that front and back independently drives, it is described after drive system include One rotary side rear drive sprocket, a straight trip side rear drive sprocket.

The rotary side rear drive sprocket is fixedly mounted on the lower platen rear end close to the position of rotary side, rotation axis The length direction central axis of line and the long guideway；Straight trip side rear drive sprocket is fixedly mounted on the lower platen rear Position of the end close to straight trip side, the length direction central axis of pivot center and the long guideway；The rotary side rear-guard Driving wheel and the straight trip side rear drive sprocket use the one of which of following two structure: structure one is all adjustable speed motor band Dynamic driving wheel；Structure two is the driving wheel that the identical constant-seed motor of parameter drives；The rotary side rear drive sprocket and institute Straight trip side rear drive sprocket and ground face contact are stated, the rear end of the lower platen is supported and is driven；It is driven after the rotary side The maximum tangential velocity for taking turns rotation is identical as the maximum tangential velocity of the straight trip side rear drive sprocket rotation；The rotary side rear-guard Driving wheel, the straight trip side rear drive sprocket pivot center be projected on same root straight line.

The rotary side rear drive sprocket, straight trip side rear drive sprocket can use existing electri forklift driven by craspedodrome wheel (nothing Need to have turning function).Alternatively, referring to electri forklift driven by craspedodrome wheel otherwise designed, production.

Preferably, in a kind of above-mentioned lower platen L shape displacement mechanism that front and back independently drives, the front drive system is fixed It is mounted on the front position of the lower platen, including a preceding straight walking driver, a preceding rotation drive device.

The preceding straight walking driver setting in the rotary side, including preceding driven by craspedodrome wheel, lifting device, preceding rotation with Driving wheel；The preceding driven by craspedodrome wheel is mounted on vehicle-carrying plate, and the length direction center line of pivot center and the long guideway hangs down Directly, using the one of which of following two structure: structure one, it is identical as the rear structure one of driving wheel of drive system, be The driving wheel that adjustable speed motor drives；Structure two, with it is described after the structure two of driving wheel of drive system it is identical, for it is described after The driving wheel that the identical constant-seed motor of the constant-seed motor parameter of the driving wheel of drive system drives；The lifting device includes Fixing seat, sliding seat；The fixing seat is securedly mounted on the vehicle-carrying plate of the position of the preceding driven by craspedodrome wheel；It is described Sliding seat can make vertically reciprocating movement relative to the fixing seat；It is described before rotation supporting roller be mounted on the sliding seat it On, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives the sliding seat toward upper Move, can make it is described before rotation supporting roller be detached from ground face contact, the preceding driven by craspedodrome wheel and ground face contact, correspond to described The straight-line displacement driving condition of lower platen；When the lifting device drives the sliding seat toward bottom offset, can make it is described before it is straight The disengaging of row driving wheel and ground face contact, rotate supporting roller and ground face contact, correspond to the swing offset of the lower platen before described Driving condition.

The preceding rotation drive device setting is in the straight trip side, including lifting device, preceding straight trip supporting roller, preceding rotation drive Driving wheel；Straight trip supporting roller is mounted on vehicle-carrying plate before described, and the length direction center line of pivot center and the long guideway hangs down Directly；The lifting device includes fixing seat, sliding seat；The fixing seat is securedly mounted to close to the position of the preceding straight trip supporting roller On the vehicle-carrying plate set；The sliding seat can make vertically reciprocating movement relative to the fixing seat；Driving wheel is rotated before described It is mounted on the sliding seat, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives The sliding seat is moved up to be displaced, can make it is described before rotation driving wheel be detached from ground face contact, it is described before straight trip supporting roller with Ground face contact corresponds to the straight-line displacement driving condition of the lower platen；When the lifting device drives the sliding seat down Displacement can make the preceding straight trip supporting roller disengaging and ground face contact, the preceding rotation driving wheel and ground face contact, correspond to institute State the swing offset driving condition of lower platen.

Rotation driving wheel, preceding driven by craspedodrome wheel can be using existing electri forklift driven by craspedodrome wheels (without tool before described Standby turning function).Alternatively, referring to electri forklift driven by craspedodrome wheel otherwise designed, production.

Due to the straight trip side rear drive sprocket and the preceding rotation drive device of the front drive system of the rear drive system Preceding rotation driving wheel is used as rotation driving simultaneously when lower platen swing offset, so, drive system is straight when described after The installation site of the maximum gauge and the preceding rotation driving wheel of row side rear drive sprocket and the preceding rotation driving wheel determines it Afterwards, the rotating ratio of the straight trip side rear drive sprocket of the rear drive system and the preceding rotation driving wheel is a determining constant, And the preceding rotation driving wheel is driven by adjustable speed motor, it therefore, only need to be with the straight trip side rear drive sprocket of the rear drive system The preceding rotation is demarcated on the basis of the revolving speed of aggressive device using the preceding rotation driving wheel as slave unit for aggressive device The revolving speed of driving wheel issues signal by the control system and is driven, can meet the swing offset demand of the lower platen. For example, if the distance of lower platen rotation center extremely straight trip side rear drive sprocket is having a size of 2000mm, lower platen rotation center to preceding rotation Turn the distance of driving wheel having a size of 5000mm, and side rear drive sprocket of keeping straight on is identical as the preceding rotation maximum gauge of driving wheel, then directly The rotating ratio of row side rear drive sprocket and preceding rotation driving wheel should be 1:2.5(i.e. speedup), when so that lower platen swing offset driving The maximum line velocity of preceding rotation driving wheel is 2.5 times of the maximum line velocity of straight trip side rear drive sprocket.The slave of adjustable speed motor Belong to general technology with the relevant control that fixed speed ratio follows host to rotate, does not repeat here.

Straight walking driver and the lifting device of preceding rotation drive device belong to conventional mechanical structure before the above, It can be in such a way that traditional motor speed reducer drives threaded spindle cap nut lifting or hydraulic mechanism driving lifting；It can be with Driving lifting is carried out using push rod/pull rod band moving cam or link mechanism.

Preferably, in a kind of above-mentioned lower platen L shape displacement mechanism that front and back independently drives, the front drive system is fixed It is mounted on the front position of the lower platen, including a preceding straight walking driver, a preceding rotation drive device.

The preceding straight walking driver setting in the straight trip side, including preceding driven by craspedodrome wheel, lifting device, preceding rotation with Driving wheel；The preceding driven by craspedodrome wheel is mounted on vehicle-carrying plate, and the length direction center line of pivot center and the long guideway hangs down Directly, using the one of which of following two structure: structure one, it is identical as the rear structure one of driving wheel of drive system, be The driving wheel that adjustable speed motor drives；Structure two, with it is described after the structure two of driving wheel of drive system it is identical, for it is described after The driving wheel that the identical constant-seed motor of the constant-seed motor parameter of the driving wheel of drive system drives；The lifting device includes Fixing seat, sliding seat；The fixing seat is securedly mounted on the vehicle-carrying plate of the position of the preceding driven by craspedodrome wheel；It is described Sliding seat can make vertically reciprocating movement relative to the fixing seat；It is described before rotation supporting roller be mounted on the sliding seat it On, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives the sliding seat toward upper Move, can make it is described before rotation supporting roller be detached from ground face contact, the preceding driven by craspedodrome wheel and ground face contact, correspond to described The straight-line displacement driving condition of lower platen；When the lifting device drives the sliding seat toward bottom offset, can make it is described before it is straight The disengaging of row driving wheel and ground face contact, rotate supporting roller and ground face contact, correspond to the swing offset of the lower platen before described Driving condition.

The preceding rotation drive device setting is in the rotary side, including lifting device, preceding straight trip supporting roller, preceding rotation drive Driving wheel；Straight trip supporting roller is mounted on vehicle-carrying plate before described, and the length direction center line of pivot center and the long guideway hangs down Directly；The lifting device includes fixing seat, sliding seat；The fixing seat is securedly mounted to close to the position of the preceding straight trip supporting roller On the vehicle-carrying plate set；The sliding seat can make vertically reciprocating movement relative to the fixing seat；Driving wheel is rotated before described It is mounted on the sliding seat, rotating direction is consistent with the rolling tangential direction of the lower platen；When the lifting device drives The sliding seat is moved up to be displaced, can make it is described before rotation driving wheel be detached from ground face contact, it is described before straight trip supporting roller with Ground face contact corresponds to the straight-line displacement driving condition of the lower platen；When the lifting device drives the sliding seat down Displacement can make the preceding straight trip supporting roller disengaging and ground face contact, the preceding rotation driving wheel and ground face contact, correspond to institute State the swing offset driving condition of lower platen.

Rotation driving wheel, preceding driven by craspedodrome wheel can be using existing electri forklift driven by craspedodrome wheels (without tool before described Standby turning function).Alternatively, referring to electri forklift driven by craspedodrome wheel otherwise designed, production.

Due to the straight trip side rear drive sprocket and the preceding rotation drive device of the front drive system of the rear drive system Preceding rotation driving wheel is used as rotation driving simultaneously when lower platen swing offset, so, drive system is straight when described after The installation site of the maximum gauge and the preceding rotation driving wheel of row side rear drive sprocket and the preceding rotation driving wheel determines it Afterwards, the rotating ratio of the straight trip side rear drive sprocket of the rear drive system and the preceding rotation driving wheel is a determining constant, And the preceding rotation driving wheel is driven by adjustable speed motor, it therefore, only need to be with the straight trip side rear drive sprocket of the rear drive system The preceding rotation is demarcated on the basis of the revolving speed of aggressive device using the preceding rotation driving wheel as slave unit for aggressive device The revolving speed of driving wheel issues signal by the control system and is driven, can meet the swing offset demand of the lower platen. For example, if the distance of lower platen rotation center extremely straight trip side rear drive sprocket is having a size of 2000mm, lower platen rotation center to preceding rotation Turn the distance of driving wheel having a size of 4000mm, and side rear drive sprocket of keeping straight on is identical as the preceding rotation maximum gauge of driving wheel, then directly The rotating ratio of row side rear drive sprocket and preceding rotation driving wheel should be 1:2(i.e. speedup) so that before when lower platen swing offset drives The maximum line velocity of rotation driving wheel is 2 times of the maximum line velocity of straight trip side rear drive sprocket.The slave of adjustable speed motor is with solid The relevant control that fixed speed ratio follows host to rotate belongs to general technology, does not repeat here.

Straight walking driver and the lifting device of preceding rotation drive device belong to conventional mechanical structure before the above, It can be in such a way that traditional motor speed reducer drives threaded spindle cap nut lifting or hydraulic mechanism driving lifting；It can be with Driving lifting is carried out using push rod/pull rod band moving cam or link mechanism.

Technical solution of the present invention is further described below.

The displacement of lower platen includes straight-line displacement and swing offset.

Straight-line displacement includes Forward from parking stall position toward track direction and from lane position toward parking stall direction It moves back, further includes positive traversing and reverse traversing on lane；Drive system after the straight-line displacement of lower platen needs The rotation direction and lower platen of the preceding driven by craspedodrome wheel of rotary side rear drive sprocket, straight trip side rear drive sprocket and front drive system Straight-line displacement direction is identical and maximum line velocity is identical；Rotary side rear drive sprocket, straight trip side rear drive sprocket, preceding driven by craspedodrome wheel are same When rotate forward, so that lower platen be driven to realize Forward or positive traversing；Rotary side rear drive sprocket, straight trip drive behind side Wheel, preceding driven by craspedodrome wheel simultaneously rotate backward, thus drive lower platen realization move back or reversely it is traversing.Therefore, work as forerunner Rotation driving wheel and preceding rotation supporting roller are detached from the contact with ground before two lifting devices of dynamic system make, so that preceding straight Row driving wheel and preceding straight trip supporting roller and ground face contact, rotary side rear drive sprocket, straight trip side rear drive sprocket, preceding driven by craspedodrome wheel Motor rotation, driving lower platen make straight-line displacement.

The swing offset of lower platen is firstly the need of meeting locality condition: after lower platen is moved to the rotary side of rear drive system Driving wheel, keep straight on side rear drive sprocket pivot center line projection be located at rotation and traversing pilot unit the centre of gyration it On.

When meeting above-mentioned locality condition, two lifting devices of control system instruction control front drive system make preceding straight trip Driving wheel and preceding straight trip supporting roller are detached from the contact with ground, so that preceding rotation driving wheel and preceding rotation supporting roller and ground Contact, the motor rotation of straight trip side rear drive sprocket, preceding rotation driving wheel, so that lower platen makees swing offset.

There is X deflection angle during installation in the preceding rotation driving wheel of the front drive system of technical solution of the present invention.The water Flat deflection angle can be by mapping or being calculated.Specifically: by rotation and traversing pilot unit center and being parallel to institute State turn of the extended line of lower platen vehicle commander's direction center line and the rotary side rear drive sprocket of rear drive system, straight trip side rear drive sprocket Shaft line line is crossed to form an intersection point in floor projection, makes from the contact point that the intersection point rotates forward driving wheel and ground The angle that the vehicle width direction center line on a piece straight line, the straight line and parking stall is formed rotates the water of driving wheel during installation before being Flat deflection angle；So that the rotating direction of preceding rotation driving wheel is consistent with the rolling tangential direction of the lower platen.Skill of the present invention There is X deflection angle in the preceding rotation supporting roller of the front drive system of art scheme, which can refer to during installation Above-mentioned determination；So that the rotating direction of preceding rotation supporting roller is consistent with the rolling tangential direction of the lower platen.

The guiding constraint of lower platen displacement is described below.

When lower platen is stood in parking stall position, directive wheel one, directive wheel two are located at long guideway far from lane side, by The constraint of the guiding working face of long guideway；The guiding work of the length direction center line and long guideway of the guiding working face of short lead rail The length direction center line in face is overlapped, and is equivalent to effective extension of long guideway.

When lower platen moves forward to from parking stall position toward track direction the Forward final position in lane, the guiding of guide wheel Wheel one, directive wheel two move entirely into short lead rail, and the constraint of working face is oriented to by short lead rail.

Start to be rotated by 90 ° when lower platen moves final position in the past, reaches the final position of rotation, the guiding work of short lead rail The length direction center line in face is parallel with lane center, is rotated by 90 ° after being advanced to up to lane position for lower platen at this time Reach the position of rotation terminal.

When since lower platen positive traversing rotating final position, short lead rail is securedly mounted to close to the auxiliary of lower platen side The assistant director of a film or play enters the C-shaped section for being securedly mounted to the auxiliary guide rail of the close long guideway side in lower platen rear end to mandrel, to lower platen Straight-line displacement play auxiliary guiding role, even if so that the directive wheel one of guide wheel, directive wheel two leave leading for short lead rail Constraint to working face, it is also possible that lower platen obtains the guiding of the straight-line displacement of auxiliary guiding mandrel and auxiliary guide rail formation Positioning, until lower platen reaches traversing final position.

When lower platen makees reverse traversing operation from traversing final position, directive wheel one, the directive wheel two of guide wheel will be first The guiding working face region for entering short lead rail afterwards, plays auxiliary guiding role to the straight-line displacement of lower platen, so that auxiliary guiding Mandrel successively leaves the constraint of auxiliary guide rail, it is also possible that lower platen obtains the straight of directive wheel one, directive wheel two and short lead rail The guide-localization of displacement of the lines, until lower platen reaches the final position of reverse traversing operation, which is again simultaneously lower platen Rotate final position.

Make counter-rotating from rotation final position when lower platen and run 90 °, until reaching the terminal position of counter-rotating operation It sets, which is the Forward final position of lower platen again simultaneously；At this point, the length direction center line of the guiding working face of short lead rail It is overlapped with the length direction center line of the guiding working face of long guideway.

It is moved back when lower platen moves final position in the past toward parking stall direction, i.e., reverse Forward, the directive wheel one of guide wheel, Directive wheel two moves entirely into long guideway, and the constraint of working face is oriented to by long guideway, until lower platen moves back position to terminal, The position is the Forward starting position of lower platen again simultaneously, moves back the position of terminal for arrival at this time.

It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of front and backs independently to drive Dynamic lower platen L shape displacement mechanism, key means are that drive system (is changed to two adjustable speed motors or identical parameters after improving The driving wheel of rear end that independently drives of constant-seed motor), increase and be located at the front drive system of leave from office front edge of board (including one adjustable Speed motor or constant-seed motor identical with the constant-seed motor parameter of rear drive system driving front end preceding driven by craspedodrome wheel with And the preceding rotation driving wheel of the front end of adjustable speed motor driving), two systems cooperate, and there are two types of switching states for tool: State first is that straight-line displacement driving condition, by the rotary side rear drive sprocket of rear drive system, straight trip side rear drive sprocket add before Driving of the preceding driven by craspedodrome wheel of drive system as lower platen straight-line displacement；State second is that swing offset driving condition, by The straight trip side rear drive sprocket of drive system adds drive of the preceding rotation driving wheel of front drive system as lower platen swing offset afterwards It is dynamic.

The rear drive system and front drive system of technical solution of the present invention cooperate, the straight-line displacement and rotation of lower platen Displacement overall process is all forward and backward driving, and high-speed smooth, steering is accessible, and perfection realizes that lower platen Forward-rotation-is traversing, i.e., L shape displacement.

Technical solution of the present invention is clearly distinguishable from current lower platen Forward two layers of parking apparatus phase of rotation on key structure The other technologies scheme of pass, and there is following remarkable advantage: structure is simple, reliable, whole forward and backward independent driving, the speed of service Fastly, to stablize, production, installation overall cost are low, and it is practical, durable, it is easy to maintain.Therefore, before technical solution of the present invention is to lower platen The popularization and application for moving two layers of parking apparatus of rotation will play strong facilitation.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.

Fig. 1 attached drawing is schematic diagram of the lower platen in parking stall static condition in the present invention；

Fig. 2 attached drawing is the enlarged drawing in the portion A in Fig. 1；

Fig. 3 attached drawing is the enlarged drawing in the portion B in Fig. 1；

Fig. 4 attached drawing is schematic diagram of the lower platen in parking stall when preceding shifting state in the present invention；

Fig. 5 attached drawing is that lower platen is in schematic diagram when stopping straight-line displacement state in the present invention；

Fig. 6 attached drawing is that lower platen prepares to rotate counterclockwise the schematic diagram of displacement in the present invention；

Fig. 7 attached drawing be the present invention in lower platen toward rotate counterclockwise displacement pilot process state when schematic diagram；

Fig. 8 attached drawing is the enlarged drawing in the portion C in Fig. 6；

Fig. 9 attached drawing is the enlarged drawing in the portion D in Fig. 7；

Figure 10 attached drawing is that lower platen is in schematic diagram when stopping rotating displacement state in the present invention；

Figure 11 attached drawing is schematic diagram when lower platen reaches home location status toward left side straight-line displacement in the present invention；

Figure 12 attached drawing is the enlarged drawing in the portion E in Figure 10；

Figure 13 attached drawing is the enlarged drawing in the portion F in Figure 11；

In figure: 1 lower platen；2 parking stalls；3-1 straight trip side rear drive sprocket；3-2 rotary side rear drive sprocket；4 bearing blocks；5 straight trip sides Shaft；7-1 long guideway；7-2 short lead rail；7-3 auxiliary guide rail；7-4 auxiliary guiding mandrel one；7-5 auxiliary guiding mandrel two；8-1 Directive wheel one；8-2 directive wheel two；Driving wheel is rotated before 11-1；Supporting roller is rotated before 11-2；12 lanes；12-1 lane center； The lane 12-2 sideline；It keeps straight on before 13-1 supporting roller；Driven by craspedodrome wheel before 13-2；14-1 rotating direction one；14-2 rotating direction two； 14-3 rotating direction three；14-4 rotating direction four；14-5 rotating direction five.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand For limitation of the present invention.In addition, term " one ", " two " etc. are used for description purposes only, it is not understood to indicate or imply phase To importance or implicitly indicate the quantity of indicated technical characteristic.In the description of the present invention, unless otherwise indicated, " more It is a " it is meant that two or more.

In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical" It has to fully horizontally, but can be slightly tilted.

In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of term in the present invention.

The embodiment of the invention discloses a kind of lower platen L shape displacement mechanisms that front and back independently drives.

Fig. 1 to embodiment illustrated in fig. 13 front drive system setting are as follows: it is servo-actuated by preceding rotation driving wheel 11-1, preceding straight trip Rotation drive device before 13-1 is formed is taken turns, driven by craspedodrome dress before being made of preceding driven by craspedodrome wheel 13-2, preceding rotation supporting roller 11-2 It sets.For clarity, Fig. 1 to Figure 13 only shows lower platen 1, long guideway 7-1, rotation and traversing guiding in a schematic manner Unit, guide wheel, rear drive system, front drive system, and position detection unit, positioning unit have no display.

As shown in Figure 1 and refer to Fig. 2, Fig. 3: lower platen 1 rests on the ground on parking stall 2.The left side on parking stall 2 Fastening is equipped with the long guideway 7-1 that guide-contour is groove on line；Diagram left side is rotary side, and right side is straight trip side.It leaves office The left side of the posterior end of plate 1 is equipped with auxiliary guide rail 7-3 close to the fastening of the position long guideway 7-1.

The rear end of lower platen 1 is equipped with rear drive system, and left side is rotary side rear drive sprocket 3-2, and right side is after keeping straight on side Driving wheel 3-1.

The front position of lower platen 1 is equipped with rear drive system, and left side is servo-actuated by preceding driven by craspedodrome wheel 13-2, preceding rotation Straight walking driver before 11-2 is formed is taken turns, right side is rotation before being made of preceding rotation driving wheel 11-1, preceding straight trip supporting roller 13-1 Driving device.

It follows from the foregoing that: the maximum gauge of straight trip the side rear drive sprocket 3-1 and rotary side rear drive sprocket 3-2 of rear drive system Size is identical, with ground face contact；Under state shown in Fig. 1, when the preceding straight walking driver of front drive system and preceding rotation drive The lifting device driving sliding seat of dynamic device is up displaced, and rotates driving wheel 11-1, preceding rotation supporting roller 11-2 before driving respectively It is up displaced, is detached from the contact with ground, so that preceding driven by craspedodrome wheel 13-2, preceding straight trip supporting roller 13-1 and ground face contact；In It is that straight trip side rear drive sprocket 3-1, rotary side rear drive sprocket 3-2 and preceding driven by craspedodrome wheel 13-2, preceding straight trip supporting roller 13-1 are total Straight-line displacement driving is carried out to lower platen 1 with support lower platen, and jointly.

In conjunction with Fig. 2, the upper left corner fastening on parking stall 2 is equipped with turntable 9, and it is recessed that the top of turntable 9, which is provided with guide-contour, The short lead rail 7-2 of slot.From the foregoing, it can be seen that the guide-contour size phase of short lead rail 7-2 guide-contour therein and long guideway 7-1 Together.As it can be seen that short lead rail 7-2 fastening is equipped with auxiliary guiding one 7-4 of mandrel and auxiliary guiding two 7-5 of mandrel, under in figure The direction of platen 1.

Under state shown in Fig. 1, the guide-contour center line of short lead rail 7-2 and the guide-contour center line of long guideway 7-1 On same straight line.The length dimension of effective guide-contour of short lead rail 7-2 is greater than one 8-1 of directive wheel, directive wheel two The maximum length size formed between 8-2, so that when one 8-1 of directive wheel, two 8-2 of directive wheel are fully entered on short lead rail 7-2 When, effective guide-contour of short lead rail 7-2 can accommodate two 8-2 of one 8-1 of directive wheel and directive wheel completely.

Lower platen 1 shown in Fig. 1 is in the state that parking stall 2 is stood, when parking equipment control system instructs control straight trip The motor of side rear drive sprocket 3-1 and rotary side rear drive sprocket 3-2 and preceding driven by craspedodrome wheel 13-2 rotate in the forward direction, i.e. driving is left office Plate 1 forward move by orientation；In displacement process, preceding straight trip supporting roller 13-1 is servo-actuated to be rolled, and the deformation trace of lower platen 1 passes through guiding Take turns a 8-1, two 8-2 of directive wheel is constrained by long guideway 7-1, persistently keep straight running condition.

Fig. 4 shows lower platen 1 toward the pilot process of front straight-line displacement.As it can be seen that the rolling of straight trip side rear drive sprocket 3-1 in figure Dynamic direction is one 14-1 of rotating direction, and the rotating direction of preceding straight trip supporting roller 13-1 is four 14-4 of rotating direction, preceding driven by craspedodrome The rotating direction for taking turns 13-2 is five 14-5 of rotating direction；For clarity, the rotating direction of rotary side rear drive sprocket 3-2 is not shown Show (should be consistent with the straight trip rotating direction of side rear drive sprocket 3-1).

When lower platen 1 toward front straight-line displacement to keep straight on side rear drive sprocket 3-1 and rotary side rear drive sprocket 3-2 center line The projection of the extended line of line passes right through the center of turntable 9, and parking equipment control system instruction control stops each motor operation, Lower platen 1 stops straight-line displacement.

Fig. 5 shows that lower platen 1 is in stopping straight-line displacement state above-mentioned.

In the state shown in fig. 5, the preceding straight walking driver of control system instruction control front drive system and preceding rotation The lifting device of driving device drives sliding seat toward bottom offset, rotates driving wheel 11-1, preceding rotation supporting roller 11- before driving respectively 2 toward bottom offset, and ground face contact, and driven by craspedodrome wheel 13-2, preceding straight trip supporting roller 13-1 are up displaced before making, be detached from The contact in face, preceding rotation driving wheel 11-1, preceding rotation supporting roller 11-2, straight trip side rear drive sprocket 3-1 and rotary side after drive It takes turns 3-2 and support is formed to lower platen 1.Current rotation driving wheel 11-1, straight trip side rear drive sprocket 3-1 driving lower platen 1 rotate position When shifting, rotation side drive wheel 3-2 is not rotated, and preceding rotation supporting roller 11-2 makees servo-actuated rolling, plays booster action.

The related preparatory action that Fig. 6 display lower platen 1 rotates counterclockwise displacement has been completed；It can be clear in conjunction with Fig. 8 The positional relationship of the clear turntable 9 for finding out rotary steering center, one 8-1 of short lead rail 7-2 and directive wheel, two 8-2 of directive wheel.

Under state shown in Fig. 6, the motor of control system instruction control straight trip side rear drive sprocket 3-1 is rotated in the forward direction；Meanwhile Rotation is followed at the appropriate speed with rotation driving wheel 11-1 before the revolving speed calibration for the side rear drive sprocket 3-1 that keeps straight on；Rotary side driving Wheel 3-2 is not rotated, and preceding rotation supporting roller 11-2 makees servo-actuated rolling, and driving lower platen 1 is toward diagram in an anticlockwise direction about in turntable 9 Heart rotation；In the rotation process of lower platen 1, preceding driven by craspedodrome wheel 13-2, preceding straight trip supporting roller 13-1 are connect because being detached from ground It touches and does not work.The rotation tangential direction of straight trip side rear drive sprocket 3-1 is one 14-1 direction of rotating direction；Preceding rotation is driven The rotation tangential direction of driving wheel 11-1 is two 14-2 direction of rotating direction；The rolling tangential direction of preceding rotation supporting roller 11-2 For three 14-3 direction of rotating direction.

Fig. 7 shows that lower platen 1 rotates counterclockwise the pilot process of displacement toward diagram.As it can be seen that straight trip side rear-guard in figure The rotating direction of driving wheel 3-1 is one 14-1 of rotating direction, and the rotating direction of preceding rotation driving wheel 11-1 is two 14-2 of rotating direction, The rotating direction of preceding rotation supporting roller 11-2 is three 14-3 of rotating direction.

90 ° are displaced when lower platen 1 is rotated counterclockwise under Fig. 6 state toward diagram, at this time rotary side rear drive sprocket 3-2 It is just overlapped, stops with the guide-contour center line of long guideway 7-1 with the extended line of the center line line of straight trip side rear drive sprocket 3-1 It is out of service that the instruction of vehicle device control system controls each motor, and lower platen 1 stops rotating displacement.

Figure 10 shows that lower platen 1 is in the displacement state above-mentioned that stops rotating.

Under state shown in Figure 10, the preceding straight walking driver of control system instruction control front drive system and preceding rotation The lifting device driving sliding seat of driving device is up displaced, and rotates driving wheel 11-1, preceding rotation supporting roller 11- before driving respectively 2 are up displaced, and are detached from the contact with ground, so that preceding driven by craspedodrome wheel 13-2, preceding straight trip supporting roller 13-1 and ground face contact.So Afterwards, the motor of instruction control straight trip side rear drive sprocket 3-1 and rotary side rear drive sprocket 3-2 and preceding driven by craspedodrome wheel 13-2 is positive Rotation, i.e. driving lower platen 1 displacement toward on the left of illustrating；In displacement process, preceding straight trip supporting roller 13-1 is servo-actuated to be rolled, lower platen 1 deformation trace is constrained by short lead rail 7-2 by one 8-1 of directive wheel, two 8-2 of directive wheel and by auxiliary guiding one 7- of mandrel 4, auxiliary guiding two 7-5 of mandrel is constrained by auxiliary guide rail 7-3, persistently keeps straight running condition (can refer to Figure 13).It can in figure See, the rotating direction of straight trip side rear drive sprocket 3-1 is one 14-1 of rotating direction, and the rotating direction of preceding straight trip supporting roller 13-1 is rolling Dynamic four 14-4 of direction, the rotating direction of preceding driven by craspedodrome wheel 13-2 is five 14-5 of rotating direction；For clarity, rotary side rear-guard The rotating direction of driving wheel 3-2 does not show (should be consistent with the straight trip rotating direction of side rear drive sprocket 3-1).

When the straight-line displacement in lower platen 1 toward diagram left side is reached home position, parking equipment control system instruction control is each Motor stalls, lower platen 1 stop straight-line displacement.

Figure 11 shows that lower platen 1 is reached home position toward diagram left side straight-line displacement.

Figure 11 to Fig. 1 is the inverse operation of Fig. 1 to Figure 11, can demonstrate lower platen 1 and stand operation on lane 12 to parking The overall process stood on position 2.Relevant action can refer to it is aforementioned obtain, do not repeat here.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part It is bright.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.