CN106223687A - A kind of circular tower formula intelligent three-dimensional garage - Google Patents
A kind of circular tower formula intelligent three-dimensional garage Download PDFInfo
- Publication number
- CN106223687A CN106223687A CN201610832906.9A CN201610832906A CN106223687A CN 106223687 A CN106223687 A CN 106223687A CN 201610832906 A CN201610832906 A CN 201610832906A CN 106223687 A CN106223687 A CN 106223687A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- rotary disk
- intelligent
- circular tower
- rotating disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 241001518079 Plantago minuta Species 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 abstract description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/28—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of turntables or rotary rings for horizontal transport
Abstract
The invention discloses a kind of circular tower formula intelligent three-dimensional garage, described garage parking is multilamellar circular tower shape stereochemical structure, wherein ground floor includes entrance rotating disk, outlet, lift and Intelligent carrier, described entrance rotating disk be arranged over detecting and controlling system, described detecting and controlling system is used for detecting vehicle present position at entrance rotating disk, and is used for controlling entrance turntable rotation and picks up the car position to standard；Described Intelligent carrier between entrance rotating disk to lift and lift to export between carrying vehicle；Other layers in addition to ground floor include parking stall, outer ring and the big rotary disk of internal layer, and parking stall, described outer ring is provided with lift and some parking stalls, and the big rotary disk of described internal layer is provided with at least one Intelligent carrier and some parking stalls.The circular tower formula intelligent three-dimensional garage that the present invention provides, has full automatic Transport Vehicle function, uses the inside and outside double-layer circular tower structure with interactive operation, and space availability ratio is high and structure is succinct.
Description
Technical field
The invention belongs to vehicle storage technical field, particularly relate to a kind of circular tower formula intelligent three-dimensional garage.
Background technology
Along with increasing and the automobile of population density are more and more universal, parking difficulty has become as the one of puzzlement urban static traffic
Individual stubborn problem, circular tower formula intelligent three-dimensional garage can maximized in effective area utilize on the ground and sky on the ground
Between, it is the maximally effective means solving city parking problem.Maximized can utilize the confined space, improve bicycle parking efficiency, change
Kind Consumer's Experience, is the key factor determining three-dimensional parking device development degree.
Summary of the invention
For the technical problem of above-mentioned existence, the invention provides a kind of interactive double-round circular tower shape circular tower formula intelligent three-dimensional
Garage, the space availability ratio in this kind of garage parking is high, and vehicle access efficiency is high, and customer experience is effective.
It is an object of the invention to be achieved through the following technical solutions:
A kind of circular tower formula intelligent three-dimensional garage, described garage parking is multilamellar circular tower shape stereochemical structure, and wherein ground floor includes
Entrance rotating disk, outlet, lift and Intelligent carrier, described entrance rotating disk be arranged over detecting and controlling system, described inspection
Survey control system and be used for detecting vehicle present position at entrance rotating disk, and be used for controlling entrance turntable rotation and pick up the car position to standard,
Described standard pick up the car position be described Intelligent carrier can correctly carrying vehicle time the position that should locate of vehicle；Described intelligence carrying
Dolly between entrance rotating disk to lift and lift to export between carrying vehicle；Other layer bags in addition to ground floor
Including parking stall, outer ring and the big rotary disk of internal layer, parking stall, described outer ring is provided with lift and some parking stalls, and described internal layer returns greatly
Rotating disk is provided with at least one Intelligent carrier and some parking stalls, described Intelligent carrier on parking stall, outer ring, interior
Carrying vehicle between the big rotary disk of layer and lift.
Further, the big rotary disk of described internal layer and described entrance rotating disk can realize 360 degree of bidirectional rotations.
Further, described detecting and controlling system includes photographic head, processor and controller；Described photographic head is used for shooting
Vehicle is the photo of position at entrance rotating disk, and described processor is used for contrasting vehicle location and described standard in described photo and picks up the car
The position relationship of position, and accordingly generate vehicle is adjusted to the angle information that when standard is picked up the car, entrance rotating disk should rotate, described
Controller is used for controlling described entrance rotating disk and rotates according to described angle information；Described controller is additionally operable to control described intelligence
Can run at entrance rotating disk by floor truck, and be adjusted to standard at vehicle and pick up the car the carrying of the laggard driving in position.
Further, the big rotary disk of described internal layer includes fan-shaped rotary disk framework, drives assembly, pin wheel assembly, guiding group
Part, internal ring guide rail, trolley and be arranged on annular rotary disk framework below revolving support wheel；Described fan-shaped rotary disk framework is
Many groups and be combined into circulus；
Described fan-shaped rotary disk framework and the internal ring guide rail being arranged on bottom it are by being fixed on described annular rotary disk frame
Driving assembly on frame engages with pin wheel assembly, makes described annular rotary disk framework be taken turns at revolving support by described internal ring guide rail
Upper rotary, it is achieved fetch and deliver vehicle；
Described guidance set and described driving assembly have certain spacing, engage with pin wheel assembly pin tooth, with driving group
Part guides servo-actuated；
Described fan-shaped rotary disk framework is powered conveying by trolley.
Further, described Intelligent carrier coupled by intermediate connecting mechanism by two identical bogie unit and
Becoming, each bogie unit is each equipped with clamping device, drive mechanism, guiding mechanism, detecting system and control system, described clamping
Mechanism includes casing and is arranged on the clamping bar of casing both sides, and clamping automobile tire is carried；Drive mechanism is symmetricly set on folder
Hold mechanism both sides, drive mechanism connection control system, drive the walking of bogie unit；Guiding mechanism is symmetricly set on two drivings
The both sides of mechanism, it is ensured that dolly travels in planned orbit；Detecting system is for feeding back the status signal of dolly；Control system root
According to the signal of detecting system feedback, control dolly and be operated according to pre-set programs；During carrying, described dolly sails automobile bottom into
Portion, clamping automobile tire is carried, and automobile is placed into destination.
Further, described drive mechanism is made up of driving wheel, drive shaft, travel driving motor and drive mechanism I, drives
Wheel is run through connection by drive shaft, and travel driving motor connects drive shaft, drive shaft and driven between centers by drive mechanism I and passes through chain
Wheel chain is in transmission connection, and travel driving motor drives drive shaft, driven shaft and upper driving wheel thereof, driven pulley to rotate, hoofing part
Driven by motor drive shaft and upper driving wheel thereof rotate, and reach the purpose of vehicle to run；Hoofing part electricity is controlled by control system
Machine rotating, it is achieved twocouese walking after Plantago minuta, judges dolly traveling position by the encoder arranged in travel driving motor
Put, it is achieved location of precisely stopping.
Further, described clamping device is two groups, is symmetricly set on casing both sides；Often group clamping device all includes clamping
Driving motor, worm gear, worm screw, two clamping bars and drive mechanism II, worm screw is connected fixing by bearing mounting base with casing, clamping
Driving motor by drive mechanism II connecting worm, worm screw two ends symmetry has the screw thread with worm gear, and worm gear is joined with worm screw
Closing transmission, two worm gears are respectively connected with clamping bar, clamping drives motor to drive worm screw, worm gear wheel, it is achieved two clamping bars swing, with folder
Hold or unclamp automobile tire.
Further, described middle coupling mechanism is to be connected and composed by linkwork by two section bars, and linkwork is by turning
Untie-sell axle and split pin composition, two segment type materials are freely rotatable around bearing pin, and middle coupling mechanism is servo-actuated when dolly adjusts wheelbase
Flexible.
Further, described detecting system includes laser range sensor, encoder and proximity transducer, at bogie unit
On be provided with laser range sensor, another bogie unit is correspondingly arranged reflecting plate, it is achieved dolly wheelbase detect；Hoofing part
With encoder on motor, detect carriage walking distance；Bare terminal end at clamping bar is provided with proximity transducer, detection clamping bar clamping
Whether put in place.
Further, described guiding mechanism includes that guiding trestle and directive wheel, described directive wheel are connected on guiding trestle,
Travel along planned orbit.The invention have the benefit that
The circular tower formula intelligent three-dimensional garage that the present invention provides, has full automatic Transport Vehicle function, uses and has interactive mode
The inside and outside double-layer circular tower structure of operation, space availability ratio is high and structure is succinct.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the layout schematic diagram of embodiment of the present invention circular tower formula intelligent three-dimensional garage one layer；
Fig. 2 is the layout schematic diagram of embodiment of the present invention circular tower formula other layers of intelligent three-dimensional garage；
Fig. 3 is the longitudinal profile schematic diagram of the circular tower formula intelligent three-dimensional garage of the embodiment of the present invention；
Fig. 4 is the top view of the fan-shaped rotary disk multi-storied garage of embodiment of the present invention circular tower formula intelligent three-dimensional garage；
Fig. 5 is the A-A sectional view in Fig. 4；
Fig. 6 is the partial view of Fig. 5；
Fig. 7 is the structural representation of the fan-shaped rotary disk framework of embodiment of the present invention circular tower formula intelligent three-dimensional garage；
Fig. 8 is the structural representation driving assembly of inventive embodiments circular tower formula intelligent three-dimensional garage；
Fig. 9 is the structural representation of the guidance set of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 10 is the structural representation of the pin wheel assembly of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 11 is the partial view of Figure 10；
Figure 12 is the structural representation of the bearing pin clamping plate of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 13 is the top view of Figure 12；
Figure 14 is the A-A partial sectional view of Figure 13；
Figure 15 is the B-B partial sectional view of Figure 13；
Figure 16 is the structural representation of embodiment of the present invention circular tower formula intelligent three-dimensional garage Intelligent carrier；
Figure 17 is the side view of embodiment of the present invention circular tower formula intelligent three-dimensional garage Intelligent carrier.
In figure:
100. parking stall, outer ring 200. internal layer big rotary disk 300. lifts
400. Intelligent carriers 500. export 600. entrance rotating disks
201. fan-shaped rotary disk frameworks 202. drive assembly 203. pin wheel assembly
204. guidance set 205. internal ring guide rail 206. trolleys
207. revolving support take turns 208. under(-)chassis 209. vehicle guides,
210. drive pin gear 211. bearing pin 212. gears
213. drive shaft 214. encoder component 215. rolling bearing units seats
216. drive case, 217. electric rotating machine 218. guide finger gears
219. guide casing 220. axis of guide 221. rolling bearing units,
222. bearing pin clamping plate 223. clamping plate connecting plate 224. bolts
225. bolt sleeve
401. drive mechanism 411. driving wheel 412. drive shaft 413. travel driving motor
414. driven pulley 415. driven shaft 402. clamping device 421. casings
422. clamping bar 423. clampings drive motor 424. worm gear 425. worm screw
The 426. middle coupling mechanisms of roller 403. guiding mechanism 404.
405. detecting system 406. control system 407. drag chains
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
As shown in Figure 1-Figure 3, the circular tower formula intelligent three-dimensional garage of the present invention is multilamellar circular tower shape stereochemical structure, wherein first
Layer includes entrance rotating disk 600, outlet 500, lift 300 and Intelligent carrier 400, and the top of described entrance rotating disk 600 sets
Detecting and controlling system (not shown), described detecting and controlling system is had to be used for detecting vehicle present position at entrance rotating disk 600,
And be used for controlling entrance rotating disk 600 and rotate to standard and pick up the car position, described standard position of picking up the car is that described Intelligent carrier 400 can
The position that during correct carrying vehicle, vehicle should be located；Described Intelligent carrier 400 is at entrance rotating disk 600 to lift 300
Between and lift 300 to carrying vehicle between outlet 500；Other layers in addition to ground floor include parking stall, outer ring 100 and interior
The big rotary disk 200 of layer, parking stall, described outer ring 100 is provided with lift 300 and some parking stalls, the big rotary disk of described internal layer 200
Being provided with at least one Intelligent carrier 400 and some parking stalls, described Intelligent carrier 400 is on parking stall, outer ring
100, carrying vehicle between the big rotary disk of internal layer 200 and lift 300.
Concrete, the detecting and controlling system of the present embodiment can include photographic head, processor and controller；Described photographic head
For shooting vehicle photo of position at entrance rotating disk, described processor is used for contrasting in described photo vehicle location and described
Standard is picked up the car the position relationship of position, and accordingly generates vehicle is adjusted to the angle letter that when standard is picked up the car, entrance rotating disk should rotate
Breath, described controller is used for controlling described entrance rotating disk and rotates according to described angle information, and described angle information includes angle
The size and Orientation information of degree；Described controller is additionally operable to control described Intelligent carrier and runs to entrance rotating disk, and
Vehicle is adjusted to standard and picks up the car the carrying of the laggard driving in position.
In some embodiments of the application, as illustrated in figures 4-5, the big rotary disk of described internal layer 200 can include organizing fan more
The loop configuration garage of shape rotary disk framework 201 composition, each fan-shaped rotary disk framework 201 forms a parking stall；In described
The big rotary disk 200 of layer also include driving assembly 202, pin wheel assembly 203, guidance set 204, internal ring guide rail 205, trolley 206,
It is arranged on the revolving support wheel 207 below fan-shaped rotary disk framework inner and outer ring；
Wherein, described fan-shaped rotary disk framework 201 and the internal ring guide rail being arranged on bottom described fan-shaped rotary disk framework 201
205 drive engaging of assembly 202 and pin wheel assembly 203 by be fixed on described fan-shaped rotary disk framework 201, make described fan
Shape rotary disk framework 201 is turned round at revolving support wheel 207 by described internal ring guide rail 205, it is achieved fetch and deliver vehicle.
Wherein, described guidance set 204 has certain spacing, with pin wheel assembly 203 pin tooth with described driving assembly 202
Engagement, guides servo-actuated with driving assembly 202；Fan-shaped rotary disk framework 201 is powered conveying by trolley 206.
Seeing Fig. 7 and combine Fig. 4, each fan-shaped rotary disk framework 201 assembles after using shaped steel welding and is formed, by bottom
Framework 208 and vehicle guide 209 are welded, and under(-)chassis 208 is sector structure, by adjusting spiral shell between under(-)chassis 208
Bar is adjusted position, described under(-)chassis 208 arranging trolley track 209, track from the outward flange of under(-)chassis parallel to
Inward flange extends, from under(-)chassis 208 upper end fixed drive assembly；Assembly 202 and pin wheel assembly 203 is driven to use pin tooth to pass
Dynamic；Pin wheel assembly 203 engages with guidance set 202 pin tooth, it is achieved guide；The inner ring of fan-shaped rotary disk framework is fixed on internal ring and leads
On rail 205；Internal ring guide rail 205 is divided into and is put revolving support wheel 207；Revolving support wheel is set under the outer ring of under(-)chassis 208 equally
207, revolving support wheel 207 supports wheel, revolving support wheel 207 employing iron core polyurethane material for same material；Pin wheel assembly 203
Fix with outer column；The revolving support of inner ring and outer ring is taken turns and is fixed with outer column with inner column respectively；Revolving support wheel 207 passes through
Screw rod adjusts height, and then meets the height of interior outside track；Interior loop orbit and under(-)chassis be combined into outer ring guide rail synchronous rotary,
Internal ring guide rail uses H profile steel, and the outer race track that internal ring guide rail is formed with fan-shaped rotary disk framework 201 is coaxial, and by revolution
Support wheel 207 support.
Seeing Fig. 7, in the embodiment of the present invention, under(-)chassis 208 bolts with driving assembly 202, drives assembly 202 according to one
Fixed circular degree is distributed on under(-)chassis 208, and circular degree is 120 °.
Same, under(-)chassis 208 bolts with guidance set 203, and guidance set 203 is distributed according to certain circular degree
On under(-)chassis 208, circular degree is 120 °.Driving assembly 202 and guidance set 203 to have certain interval, one is played and drives
Action use, another plays the effect of guiding.
As fan-shaped under(-)chassis 208, the central angle size meeting space, a parking stall can be made as required
Fan-shaped, it is preferred that being evenly distributed on internal ring guide rail 205 according to certain circular degree, circular degree is 30 °.
Seeing Fig. 9, the driving assembly 202 in the present invention includes drive pin gear 210, gear 212, drive shaft 213, coding
Device assembly 214, rolling bearing units seat 215, drive case 216 and electric rotating machine 217, electric rotating machine 217 is arranged on drive case
On 216, the gear that electric rotating machine 217 is installed by its output shaft end engages with drive pin gear 210, by electric rotating machine 217
Drive described drive pin gear 210 to rotate, drive and rotate together with fan-shaped rotary disk framework 201.Encoder component 214 and gear
212 engagement codings.
By motor drive pin gear, pin tooth engages with pin gear and makes fan-shaped rotary disk framework revolution, and encoder is compiled
Code revolution, makes fan-shaped rotary disk framework specify parking stall to stop.
See Fig. 8, guidance set 204 include being arranged on guide on casing 219 guide finger gear 218, the axis of guide 220,
Rolling bearing units 221, the axis of guide 220 coordinates installation with rolling bearing units 221 by deep groove ball bearing, by fan-shaped rotary disk framework
201 rotate, and drive guide finger gear 218, thus realize guiding.
Seeing Figure 10 and combine shown in Figure 11-15, pin wheel assembly 203 includes multiple bearing pin 211, multiple bearing pin clamping plate 222, many
Individual clamping plate connecting plate 223 and the multiple bolts 224 matched and bolt sleeve 225, bearing pin clamping plate 222 are connected by clamping plate
Plate 223 is connected as a circle, and pin wheel assembly 203 is located by connecting by clamping plate connecting plate 223, and described bearing pin 211 is inserted into bearing pin
In the hole of clamping plate 222, it is distributed on bearing pin clamping plate 222, described bolt 224 and bolt sleeve 225 fit, after fit, inserts bearing pin folder
In plate 222 hole, it is also distributed about on bearing pin clamping plate 222.
Wherein, connected by pad between bearing pin clamping plate, control positional precision；By middle tone imposite between bearing pin clamping plate
And jackscrew, screw rod are adjusted position；Clamping plate connecting plate uses bolt sleeve 225 fit with pin wheel clamping plate, and is consolidated by bolt 224
Fixed.
In use, as it is shown in fig. 7, drive electric rotating machine 217 on assembly 202 to drive fan-shaped rotary disk to rotate, driving group
On part 202, encoder component 214 encodes, and makes 212 set sector rotary disk frameworks specify parking stall to fix, fan-shaped slewing frame 201
The revolution of the rotary disk formed is powered by trolley 206, it is ensured that power supply persistence.
In some embodiments of the application, as shown in figs. 16-17, described Intelligent carrier 400 can be by two phases
Same bogie unit is formed by intermediate connecting mechanism connection, and each bogie unit is each equipped with clamping device 402, drive mechanism
401, guiding mechanism 403, detecting system 405 and control system 406, described clamping device 402 includes casing 421 and is arranged on case
The clamping bar 422 of body 421 both sides, clamping automobile tire is carried；Drive mechanism 401 is symmetricly set on clamping device 402 both sides,
Drive mechanism 401 connection control system 406, drives the walking of bogie unit；Guiding mechanism 403 is symmetricly set on two driving machines
The both sides of structure 401, it is ensured that dolly travels in planned orbit；Detecting system 405 is for feeding back the status signal of dolly；Control system
System 406, according to the signal of detecting system feedback, controls dolly and is operated according to pre-set programs；During carrying, described dolly sails into
To bottom of car, clamp automobile tire by clamping bar 422 and carry, and automobile is placed into destination；
Further, described drive mechanism 401 is by driving wheel 411, drive shaft 412, driven pulley 414, driven shaft 415, OK
Walking to drive motor 413 and drive mechanism I composition, driving wheel 411 is run through connection by drive shaft 412, and travel driving motor 413 is passed through
Drive mechanism I connects drive shaft 412, is in transmission connection by sprocket wheel chain between drive shaft 412 and driven shaft 415, hoofing part electricity
Machine 413 drives drive shaft 412, driven shaft 415 and upper driving wheel 411 thereof, driven pulley 414 to rotate, and reaches the purpose of vehicle to run；
Control travel driving motor 413 rotating by control system 406, it is achieved twocouese walking after Plantago minuta, pass through hoofing part
The encoder arranged on motor 413 judges dolly advanced positions, it is achieved location of precisely stopping.
Described travel driving motor 413 uses servomotor, can with regard to walking states and control system 406 real-time, interactive, and
High position precision is realized in conjunction with encoder.
Described drive mechanism I includes the sprocket wheel being separately positioned in travel driving motor 412 output shaft and drive shaft 412,
Chain is connected on two sprocket wheels.
Described clamping device 402 is two groups, is symmetricly set on casing 421 both sides；Often group clamping device 402 all includes clamping
Driving motor 423, worm gear 424,425, two clamping bars 422 of worm screw and drive mechanism II, worm screw 425 is by bearing mounting base and case
Body 421 connects fixing, clamping drive motor 423 by drive mechanism II connecting worm 425, worm screw 425 two ends symmetry have with
The screw thread that worm gear 424 coordinates, worm gear 424 coordinates transmission with worm screw 425, and two worm gears 424 are respectively connected with clamping bar 422, and clamping is driven
Galvanic electricity machine 423 drives worm screw 425, worm gear 424 to rotate, it is achieved two clamping bars 422 swing, to clamp or to unclamp automobile tire；Its folder
Holding force square and clamp position real-time feedback control system 406.
Described clamping bar 422 is strip weldment, is being provided with nylon roller 426 with wheel contact position, is reducing and vapour
Friction between vehicle tyre, carrying effect is more preferable.Described clamping drive motor 423 use servomotor, can with regard to clamp position with
Control system 406 real-time, interactive.Described drive mechanism II includes that being separately positioned on clamping drives motor 423 output shaft and worm screw
Sprocket wheel on 425, two sprocket wheels are connected by chain drive.
Described middle coupling mechanism 404 is to be connected and composed by linkwork by two section bars, and linkwork is by rotating pin
Forming with split pin, two segment type materials are freely rotatable around bearing pin, and middle coupling mechanism 404 is servo-actuated when dolly adjusts wheelbase to be stretched
Contracting.
Described detecting system 405 includes laser range sensor, encoder and proximity transducer, arranges on bogie unit
There is laser range sensor, another bogie unit is correspondingly arranged reflecting plate, it is achieved dolly wheelbase detects；In travel driving motor
With encoder, detect carriage walking distance；Bare terminal end at clamping bar 422 is provided with proximity transducer, and detection clamping bar 422 clamps
Whether put in place.
Described guiding mechanism 403 includes that guiding trestle and directive wheel, described directive wheel are connected on guiding trestle, along predetermined
Rail running.
Described control system uses existing structure, is made up of servo controller and PLC, dolly shape detecting system fed back
State signal is analyzed judgement, thus makes suitable adjustment, makes dolly be operated according to default program.
In drag chain 407, cable is set, is connected on Intelligent carrier, cable and described Intelligent carrier can be realized
Retinue motion, Transport Vehicle process is reciprocal movement process.
It should be noted that the Intelligent carrier of the present embodiment is placed on rotary machinery, realize car by rotary machinery
Transport；Specifically, at detecting and controlling system, vehicle being adjusted to standard and pick up the car behind position, Intelligent carrier is by both orbit determination
Road enters the bottom of vehicle, has removed vehicle by clamping device, and the vehicle removed directly is delivered to by rotary machinery lifting
Ladder, and vehicle is placed directly in lift；When vehicle is sent to other layer, the Intelligent carrier of other layers further through
Vehicle in lift has been removed by same mode, and is transported to corresponding parking stall by rotary machinery；
At detecting and controlling system, vehicle is adjusted to standard and picks up the car behind position, by gripper mechanism grips vehicle tyre, directly
The vehicle removed is delivered to lift, and vehicle is placed directly in lift；When vehicle is sent to other layer, other layers
Intelligent carrier can be directly entered in lift by clamping device again and vehicle has been removed and has been transported to stop accordingly
Position；So, can arrange special carrier in lift, mode of transport is more flexible, simplifies the carrying of vehicle
Process, decreases down time.
In some detailed description of the invention of the application, the big rotary disk of described internal layer 200 and described entrance rotating disk 600 can enter
360 degree of bidirectional rotations of row.
In other detailed description of the invention of the application, when described entrance rotating disk 600 is multiple, multiple described entrances turn
Dish 600 is disposed adjacent, and described lift 300 is close to described entrance rotating disk 600 and arranges.
As a example by 300 parking stalls, 1-2 Intelligent carrier can be set at one layer, certainly, in order to avoid lift
Waiting time, it is simple to quickly by the vehicles drive at entrance rotating disk to lift, and quickly the vehicle in lift is delivered to out
Mouthful, the quantity of the described Intelligent carrier of a layer can be correspondingly arranged with the quantity of described lift；The internal layer of other layers returns greatly
Intelligent carrier described in 1-2 platform can be set on rotating disk, or, the Intelligent carrier on the big rotary disk of internal layer of other layers
Quantity also can be consistent with the quantity of lift.
Or as a example by 300 parking stalls, 2-4 described entrance rotating disk, 10-15 described outlet, 1-4 institute can be set
State lift；Specifically, described entrance rotating disk can be 3, and described lift can be 2, be separately positioned on 3 adjacent enter
The both sides of mouth rotating disk, described outlet can be 11.
The application is by using detecting and controlling system, and the standard that can be adjusted to by the vehicle at entrance rotating disk is picked up the car position, side
Just Intelligent carrier has been removed vehicle rapidly and has been conveyed in lift with correct attitude, thus realizes quickly stopping
Car；Meanwhile, the application has the Intelligent carrier of clamping device by employing, has removed vehicle by clamping device, and has passed through
The vehicle removed directly is delivered to lift by transport carriage, and when other layer stops, the Intelligent carrier of other layers is the most permissible
Directly in lift, vehicle is removed, and be transported to corresponding parking stall by transport carriage, thus saved in lift
Arranging carrier, mode of transport is more flexible, simplifies the handling process of vehicle, decreases down time, decreases simultaneously and stop
The input cost in garage.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. a circular tower formula intelligent three-dimensional garage, it is characterised in that: described garage parking is multilamellar circular tower shape stereochemical structure, Qi Zhong
One layer includes entrance rotating disk, outlet, lift and Intelligent carrier, and the detection that is arranged over of described entrance rotating disk controls system
System, described detecting and controlling system is used for detecting vehicle present position at entrance rotating disk, and is used for controlling entrance turntable rotation to mark
Standard is picked up the car position, described standard pick up the car position be described Intelligent carrier can correctly carrying vehicle time the position that should locate of vehicle；Institute
State Intelligent carrier between entrance rotating disk to lift and lift to outlet between carrying vehicle；In addition to ground floor
Other layers include parking stall, outer ring and the big rotary disk of internal layer, parking stall, described outer ring is provided with lift and some parking stalls, institute
Stating the big rotary disk of internal layer and be provided with at least one Intelligent carrier and some parking stalls, described Intelligent carrier is in outer ring
Parking stall, carrying vehicle between the big rotary disk of internal layer and lift.
Circular tower formula intelligent three-dimensional garage the most according to claim 1, it is characterised in that: the big rotary disk of described internal layer and described in enter
Mouth rotating disk can realize 360 degree of bidirectional rotations.
Circular tower formula intelligent three-dimensional garage the most according to claim 1, it is characterised in that: described detecting and controlling system includes shooting
Head, processor and controller；Described photographic head is for shooting vehicle photo of position at entrance rotating disk, and described processor is used for
Contrast vehicle location and described standard in described photo to pick up the car the position relationship of position, and accordingly generate and vehicle is adjusted to standard takes
The angle information that during parking stall, entrance rotating disk should rotate, described controller is used for controlling described entrance rotating disk according to described angle information
Rotate；Described controller is additionally operable to control described Intelligent carrier and runs to entrance rotating disk, and is adjusted at vehicle
Standard is picked up the car the carrying of the laggard driving in position.
Circular tower formula intelligent three-dimensional garage the most according to claim 1, it is characterised in that: the big rotary disk of described internal layer includes sector
Rotary disk framework, drive assembly, pin wheel assembly, guidance set, internal ring guide rail, trolley and be arranged on annular rotary disk framework under
The revolving support wheel of side；Described fan-shaped rotary disk framework is many groups and is combined into circulus；
Described fan-shaped rotary disk framework and the internal ring guide rail being arranged on bottom it are by being fixed on described annular rotary disk framework
Driving assembly engage with pin wheel assembly, make described annular rotary disk framework take turns last time by described internal ring guide rail at revolving support
Turn, it is achieved fetch and deliver vehicle；
Described guidance set and described driving assembly have certain spacing, engage with pin wheel assembly pin tooth, lead with driving assembly
To servo-actuated；
Described fan-shaped rotary disk framework is powered conveying by trolley.
Circular tower formula intelligent three-dimensional garage the most according to claim 1, it is characterised in that: described Intelligent carrier is by two phases
Same bogie unit is formed by intermediate connecting mechanism connection, and each bogie unit is each equipped with clamping device, drive mechanism, leads
To mechanism, detecting system and control system, described clamping device includes casing and is arranged on the clamping bar of casing both sides, clamps automobile
Tire is carried；Drive mechanism is symmetricly set on clamping device both sides, drive mechanism connection control system, drives bogie unit
Walking；Guiding mechanism is symmetricly set on the both sides of two drive mechanisms, it is ensured that dolly travels in planned orbit；Detecting system
For feeding back the status signal of dolly；The signal that control system is fed back according to detecting system, controls dolly and enters according to pre-set programs
Row work；During carrying, described dolly sails bottom of car into, and clamping automobile tire is carried, and automobile is placed into purpose
Ground.
Circular tower formula intelligent three-dimensional garage the most according to claim 5, it is characterised in that: described drive mechanism by driving wheel, drive
Moving axis, travel driving motor and drive mechanism I form, and driving wheel is run through connection by drive shaft, and travel driving motor passes through transmission
Mechanism I is connected drive shaft, drive shaft and driven between centers and is in transmission connection by sprocket wheel chain, travel driving motor drive drive shaft,
Driven shaft and upper driving wheel, driven pulley rotation, travel driving motor drives drive shaft and upper driving wheel thereof to rotate, reaches vehicle
The purpose of walking；Travel driving motor rotating is controlled, it is achieved twocouese walking after Plantago minuta, by walking by control system
The encoder arranged on motor is driven to judge dolly advanced positions, it is achieved location of precisely stopping.
Circular tower formula intelligent three-dimensional garage the most according to claim 5, it is characterised in that: described clamping device is two groups, symmetrical
It is arranged on casing both sides；Often group clamping device all includes that clamping drives motor, worm gear, worm screw, two clamping bars and drive mechanism II,
Worm screw is connected fixing by bearing mounting base with casing, and clamping drives motor by drive mechanism II connecting worm, worm screw two ends
Symmetry has the screw thread with worm gear, and worm gear coordinates transmission with worm screw, and two worm gears are respectively connected with clamping bar, and clamping drives motor
Drive worm screw, worm gear wheel, it is achieved two clamping bars swing, to clamp or to unclamp automobile tire.
Circular tower formula intelligent three-dimensional garage the most according to claim 5, it is characterised in that: described middle coupling mechanism is by amphitypy
Material is connected and composed by linkwork, and linkwork is made up of rotating pin and split pin, and two segment type materials freely turn around bearing pin
Dynamic, middle coupling mechanism follow-up telescoping when dolly adjusts wheelbase.
Circular tower formula intelligent three-dimensional garage the most according to claim 5, it is characterised in that: described detecting system includes laser ranging
Sensor, encoder and proximity transducer, be provided with laser range sensor on bogie unit, corresponding on another bogie unit
Reflecting plate is set, it is achieved dolly wheelbase detects；With encoder in travel driving motor, detect carriage walking distance；At clamping bar
Bare terminal end be provided with proximity transducer, whether detection clamping bar clamping puts in place.
Circular tower formula intelligent three-dimensional garage the most according to claim 5, it is characterised in that: described guiding mechanism includes guiding
Frame and directive wheel, described directive wheel is connected on guiding trestle, travels along planned orbit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610832906.9A CN106223687B (en) | 2016-09-19 | 2016-09-19 | A kind of circular tower formula intelligent three-dimensional garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610832906.9A CN106223687B (en) | 2016-09-19 | 2016-09-19 | A kind of circular tower formula intelligent three-dimensional garage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106223687A true CN106223687A (en) | 2016-12-14 |
| CN106223687B CN106223687B (en) | 2018-10-09 |
Family
ID=58075648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610832906.9A Active CN106223687B (en) | 2016-09-19 | 2016-09-19 | A kind of circular tower formula intelligent three-dimensional garage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106223687B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106948633A (en) * | 2017-05-12 | 2017-07-14 | 中国电子科技集团公司第三十八研究所 | The cantilever design of turntable is installed in multi-storied garage |
| CN106958375A (en) * | 2017-05-12 | 2017-07-18 | 中国电子科技集团公司第三十八研究所 | The mounting structure of multi-storied garage intermediate station |
| CN106978929A (en) * | 2017-05-12 | 2017-07-25 | 中国电子科技集团公司第三十八研究所 | The steel structures coating of the multi-storied garage of parallelization Transport Vehicle |
| CN107083853A (en) * | 2017-05-12 | 2017-08-22 | 中国电子科技集团公司第三十八研究所 | Modularization multi-storied garage and its installation method |
| CN108952274A (en) * | 2018-06-01 | 2018-12-07 | 北京邮电大学世纪学院 | Mechanical conveying system and parking facility for vehicle |
| CN111021802A (en) * | 2019-12-06 | 2020-04-17 | 中国海洋大学 | Double-annular stereo garage with single-drive control and multi-layer turnplates capable of rotating independently |
| CN114370193A (en) * | 2021-12-17 | 2022-04-19 | 西安艾润物联网技术服务有限责任公司 | Vehicle storing and taking method and device of stereo garage |
| CN114482657A (en) * | 2021-12-30 | 2022-05-13 | 江苏金三角钢结构有限公司 | Tandem lifting longitudinal-walking intelligent parking equipment |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH686382A5 (en) * | 1992-12-29 | 1996-03-15 | Round Palis Technology Ag | System for parking of motor vehicles. |
| CN101915003B (en) * | 2010-04-21 | 2012-07-11 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN102071824A (en) * | 2010-12-28 | 2011-05-25 | 东莞市伟创东洋自动化设备有限公司 | Intelligent conveying trolley for mechanical garage |
| CN202866357U (en) * | 2012-08-27 | 2013-04-10 | 王曰明 | Intelligent tower type three-dimensional garage |
| CN103397802B (en) * | 2013-08-09 | 2016-06-01 | 中冶南方工程技术有限公司 | A kind of rotation bicycle parking loop device for multi-storied garage |
| CN104612443A (en) * | 2014-12-22 | 2015-05-13 | 中冶南方（武汉）自动化有限公司 | Stereo garage carrying system and control method thereof |
| CN105715087B (en) * | 2016-03-11 | 2018-08-31 | 武汉卡洛斯智能车泊设备有限公司 | A kind of mechanical type three-dimensional parking garage motorcar electric conveying trolley |
| CN206429022U (en) * | 2016-09-19 | 2017-08-22 | 北京首钢城运机器人科技有限公司 | A kind of circular tower formula intelligent three-dimensional garage |
-
2016
- 2016-09-19 CN CN201610832906.9A patent/CN106223687B/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106948633A (en) * | 2017-05-12 | 2017-07-14 | 中国电子科技集团公司第三十八研究所 | The cantilever design of turntable is installed in multi-storied garage |
| CN106958375A (en) * | 2017-05-12 | 2017-07-18 | 中国电子科技集团公司第三十八研究所 | The mounting structure of multi-storied garage intermediate station |
| CN106978929A (en) * | 2017-05-12 | 2017-07-25 | 中国电子科技集团公司第三十八研究所 | The steel structures coating of the multi-storied garage of parallelization Transport Vehicle |
| CN107083853A (en) * | 2017-05-12 | 2017-08-22 | 中国电子科技集团公司第三十八研究所 | Modularization multi-storied garage and its installation method |
| CN106978929B (en) * | 2017-05-12 | 2022-09-23 | 安徽博微联控科技有限公司 | Steel structure system of stereo garage for parallelly storing and taking cars |
| CN108952274A (en) * | 2018-06-01 | 2018-12-07 | 北京邮电大学世纪学院 | Mechanical conveying system and parking facility for vehicle |
| CN111021802A (en) * | 2019-12-06 | 2020-04-17 | 中国海洋大学 | Double-annular stereo garage with single-drive control and multi-layer turnplates capable of rotating independently |
| CN114370193A (en) * | 2021-12-17 | 2022-04-19 | 西安艾润物联网技术服务有限责任公司 | Vehicle storing and taking method and device of stereo garage |
| CN114482657A (en) * | 2021-12-30 | 2022-05-13 | 江苏金三角钢结构有限公司 | Tandem lifting longitudinal-walking intelligent parking equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106223687B (en) | 2018-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106223687B (en) | A kind of circular tower formula intelligent three-dimensional garage | |
| CN206429022U (en) | A kind of circular tower formula intelligent three-dimensional garage | |
| CN106522618A (en) | Trackless vehicle handling equipment and handling method of the same | |
| CN101050670B (en) | Intelligent stereo garage | |
| CN104895369B (en) | Intelligent robot capable of moving automobiles in side directions | |
| CN104308861B (en) | A kind of rail mounted robot ambulation route changing apparatus and its implementation | |
| JP2021535869A (en) | Intelligent parking lot and its work-intensive transfer robot | |
| CN203795916U (en) | Lifting system for mechanical parking system | |
| CN206368570U (en) | A kind of AGV transfer robots | |
| CN110407030A (en) | A kind of intelligent textile manufacturing system based on AGV trolley | |
| CN208377728U (en) | The RGV trolley of the automatic programme path of energy | |
| CN206053459U (en) | Multi-storied garage | |
| CN205935860U (en) | But intelligent carrier loader of automatic adjustment access car | |
| CN206606278U (en) | A kind of towed AGV dollies | |
| CN206053460U (en) | A kind of car carrying dolly | |
| CN202882494U (en) | Rotary lifter | |
| CN206360438U (en) | Trackless vehicle conveying equipment | |
| CN211447974U (en) | Cluster transfer robot and vehicle transfer device | |
| CN106351485B (en) | High-efficient solid shutdown system | |
| CN106320773A (en) | Bidirectional mobile intelligent parking garage car moving robot | |
| CN106088733B (en) | A kind of hanging vertical motion tunnel stacking multi-storied garage | |
| CN107472783A (en) | A kind of shuttle | |
| CN109372295A (en) | Up-down rotary type bicycle automatic stopping device | |
| CN206128769U (en) | Vertical lifting stereo garage's slewer | |
| CN110482142B (en) | Transfer and conveying device for railway vehicle bogie |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170221 Address after: 100076 Beijing City, Daxing District Rongchang economic and Technological Development Zone of Beijing Street No. 6 Building No. 1 room 6605A Applicant after: BEIJING SHOUGANG CHENGYUN ROBOT TECHNOLOGY CO.,LTD. Address before: At 110168 Shenyang Road, Liaoning Province Hunnan New District No. 8-1 Applicant before: SHENYANG GENERAL ROBOT TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180426 Address after: No. 16-3, Hunnan District, Liaoning, Shenyang, Liaoning Applicant after: Shenyang virtuous science and technology partnership (L.P.) Address before: 100076 room 1, building 1, Rongchang East Street, Beijing economic and Technological Development Zone, Daxing District, Beijing, 6605A Applicant before: BEIJING SHOUGANG CHENGYUN ROBOT TECHNOLOGY CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180531 Address after: 100029 room 105, 5 building, 11 De Sheng Men street, Xicheng District, Beijing. Applicant after: BEIJING BOBAO ROBOT TECHNOLOGY Co.,Ltd. Address before: No. 16-3, Hunnan District, Liaoning, Shenyang, Liaoning Applicant before: Shenyang virtuous science and technology partnership (L.P.) |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Round tower type intelligent three-dimensional garage Effective date of registration: 20200422 Granted publication date: 20181009 Pledgee: Liaojiao Jianxin (Liaoning) Fund Management Co.,Ltd. Pledgor: BEIJING BOBAO ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2020210000011 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231129 Address after: Room 0302, No. 197 Nanjing South Street, Heping District, Shenyang City, Liaoning Province, 110166 Patentee after: Liaoning Trading Investment Co.,Ltd. Address before: 100029 room 105, 5 building, 11 De Sheng Men street, Xicheng District, Beijing. Patentee before: BEIJING BOBAO ROBOT TECHNOLOGY Co.,Ltd. |