CN106223687B - 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
- CN106223687B CN106223687B CN201610832906.9A CN201610832906A CN106223687B CN 106223687 B CN106223687 B CN 106223687B CN 201610832906 A CN201610832906 A CN 201610832906A CN 106223687 B CN106223687 B CN 106223687B
- Authority
- CN
- China
- Prior art keywords
- rotary disk
- vehicle
- clamping
- trolley
- wheel
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Toys (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a kind of circular tower formula intelligent three-dimensional garages, the garage parking is multilayer circular tower shape stereochemical structure, wherein first layer includes entrance turntable, outlet, lift and Intelligent carrier, the top of the entrance turntable is equipped with detecting and controlling system, the detecting and controlling system rotates to standard pick-up position for detecting vehicle present position at entrance turntable, and for controlling entrance turntable；The Intelligent carrier be used for entrance turntable between lift and lift to export between carrying vehicle；Other layers in addition to first layer include outer ring parking stall and the big rotary disk of internal layer, and the outer ring parking stall is equipped with lift and several parking stalls, and the big rotary disk of internal layer is equipped at least an Intelligent carrier and several parking stalls.Circular tower formula intelligent three-dimensional garage provided by the invention, has the function of full automatic Transport Vehicle, and using the inside and outside double-layer circular tower structure with interactive operation, space availability ratio is high and construction is succinct.
Description
Technical field
The invention belongs to vehicle storage technical fields, more particularly to a kind of circular tower formula intelligent three-dimensional garage.
Background technology
As the increasing of the density of population and automobile are more and more universal, parking difficulty has become the one of puzzlement urban static traffic
A stubborn problem, circular tower formula intelligent three-dimensional garage can maximumlly utilize the sky with ground on the ground in effective area
Between, it is the most effective means for solving the problems, such as city parking.The confined space can be maximumlly utilized, bicycle parking efficiency is improved, changes
Kind user experience is the key factor for determining three-dimensional parking device development degree.
Invention content
For the above technical problems, the present invention provides a kind of interactive double-round circular tower shape circular tower formula intelligent three-dimensionals
The space availability ratio in garage, this kind of garage parking is high, and vehicle access is efficient, and customer experience effect is good.
The purpose of the present invention is achieved through the following technical solutions：
A kind of circular tower formula intelligent three-dimensional garage, the garage parking are multilayer circular tower shape stereochemical structure, and wherein first layer includes
The top of entrance turntable, outlet, lift and Intelligent carrier, the entrance turntable is equipped with detecting and controlling system, the inspection
It surveys control system and rotates to standard pick-up position for detecting vehicle present position at entrance turntable, and for controlling entrance turntable,
Standard pick-up position be the Intelligent carrier can correct carrying vehicle when the position that should locate of vehicle；The intelligence is carried
Trolley be used for entrance turntable between lift and lift to export between carrying vehicle；Other layer packets in addition to first layer
Outer ring parking stall and the big rotary disk of internal layer are included, the outer ring parking stall is equipped with lift and several parking stalls, and the internal layer returns greatly
Turntable is equipped at least an Intelligent carrier and several parking stalls, and the Intelligent carrier is used on outer ring parking stall, interior
The big carrying vehicle between rotary disk and lift of layer.
Further, the big rotary disk of the internal layer and the entrance turntable can realize 360 degree of bidirectional rotations.
Further, the detecting and controlling system includes camera, processor and controller；The camera is for shooting
The photo of vehicle position at entrance turntable, the processor are picked up the car for comparing vehicle location and the standard in the photo
The position relationship of position, and the angle information that entrance turntable should rotate when vehicle is adjusted to standard pick-up position is accordingly generated, it is described
Controller is rotated for controlling the entrance turntable according to the angle information；The controller is additionally operable to control the intelligence
Energy floor truck is run to entrance turntable, and is adjusted to the carrying of the laggard driving in standard pick-up position in vehicle.
Further, the big rotary disk of the internal layer includes fan-shaped rotary disk frame, drive component, pin wheel component, guiding group
Part, inner ring guide rail, trolley and the revolving support wheel being arranged below annular rotary disk frame；It is described sector rotary disk frame be
It is multigroup and be combined into cyclic structure；
The sector rotary disk frame and inner ring guide rail in its bottom is set by being fixed on the annular rotary disk frame
Drive component on frame is engaged with pin wheel component, makes the annular rotary disk frame by the inner ring guide rail in revolving support wheel
Vehicle is fetched and delivered in upper rotary, realization；
The guidance set has certain spacing with the driving component, is engaged with pin wheel component pin tooth, with driving group
Part is oriented to servo-actuated；
The sector rotary disk frame is powered conveying by trolley.
Further, the Intelligent carrier by two identical bogie units by intermediate connecting mechanism couples
At each bogie unit is each equipped with clamping device, driving mechanism, guiding mechanism, detecting system and control system, the clamping
Mechanism includes babinet and clamping bar in babinet both sides is arranged, and clamping automobile tire is carried；Driving mechanism is symmetricly set on folder
Mechanism both sides are held, driving mechanism connects control system, drives the walking of bogie unit；Guiding mechanism is symmetricly set on two drivings
The both sides of mechanism ensure that trolley travels in planned orbit；Detecting system is used to feed back the status signal of trolley；Control system root
According to the signal that detecting system is fed back, control trolley works according to pre-set programs；When carrying, the trolley drives into automobile bottom
Portion, clamping automobile tire is carried, and automobile is placed into destination.
Further, the driving mechanism is made of driving wheel, drive shaft, travel driving motor and transmission mechanism I, driving
Wheel is by drive shaft through connection, and travel driving motor connects drive shaft by transmission mechanism I, and drive shaft and driven between centers pass through chain
It takes turns chain to be sequentially connected, travel driving motor drives drive shaft, driven shaft and driving wheel, driven wheel rotation thereon, hoofing part
Motor drives drive shaft and driving wheel rotates thereon, achievees the purpose that vehicle to run；Hoofing part electricity is controlled by control system
Machine positive and negative rotation, twocouese is walked before and after realizing trolley, judges trolley traveling position by the encoder being arranged in travel driving motor
It sets, realizes precisely parking positioning.
Further, the clamping device is two groups, is symmetricly set on babinet both sides；Every group of clamping device includes clamping
Driving motor, worm gear, worm screw, two clamping bars and transmission mechanism II, worm screw is connected and fixed by bearing mounting base and babinet, clamping
Driving motor is symmetrically provided with the screw thread with worm gear by II connecting worm of transmission mechanism, worm screw both ends, and worm gear is matched with worm screw
Transmission is closed, clamping bar is respectively connected on two worm gears, clamping driving motor driving worm screw, worm gear rotation realize that two clamping bars are swung, with folder
Hold or unclamp automobile tire.
Further, the intermediate coupling mechanism is connected and composed by linkwork by two proximate matters, and linkwork is by turning
Dynamic axis pin and split pin composition, two segment type materials are freely rotated around axis pin, and intermediate coupling mechanism is servo-actuated when trolley adjusts wheelbase
It is flexible.
Further, the detecting system includes laser range sensor, encoder and proximity sensor, in bogie unit
On be provided with laser range sensor, be correspondingly arranged reflecting plate on another bogie unit, realize the detection of trolley wheelbase；Hoofing part
Encoder is carried on motor, detects carriage walking distance；The bare terminal end of clamping bar is provided with proximity sensor, detection clamping bar clamping
Whether in place.
Further, the guiding mechanism includes guiding trestle and directive wheel, and the directive wheel is connected on guiding trestle,
It is travelled along planned orbit.Beneficial effects of the present invention are：
Circular tower formula intelligent three-dimensional garage provided by the invention, has the function of full automatic Transport Vehicle, using with interactive mode
The inside and outside double-layer circular tower structure of operation, space availability ratio is high and construction is succinct.
Description of the drawings
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 technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the arrangement schematic diagram of one layer of circular tower formula of embodiment of the present invention intelligent three-dimensional garage；
Fig. 2 is the arrangement schematic diagram of other layers of circular tower formula intelligent three-dimensional garage of the embodiment of the present invention；
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 vertical view of the fan-shaped rotary disk stereo garage of circular tower formula intelligent three-dimensional garage of the embodiment of the present invention；
Fig. 5 is the A-A sectional views in Fig. 4；
Fig. 6 is the partial view of Fig. 5；
Fig. 7 is the structural schematic diagram of the fan-shaped rotary disk frame of circular tower formula intelligent three-dimensional garage of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the drive component of inventive embodiments circular tower formula intelligent three-dimensional garage；
Fig. 9 is the structural schematic diagram of the guidance set of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 10 is the structural schematic diagram of the pin wheel component of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 11 is the partial view of Figure 10；
Figure 12 is the structural schematic diagram of the axis pin clamping plate of inventive embodiments circular tower formula intelligent three-dimensional garage；
Figure 13 is the vertical view of Figure 12；
Figure 14 is the A-A partial sectional views of Figure 13；
Figure 15 is the B-B partial sectional views of Figure 13；
Figure 16 is the structural schematic diagram of circular tower formula intelligent three-dimensional garage Intelligent carrier of the embodiment of the present invention；
Figure 17 is the side view of circular tower formula intelligent three-dimensional garage Intelligent carrier of the embodiment of the present invention.
In figure：
100. big 300. lift of rotary disk of 200. internal layer of outer ring parking stall
400. Intelligent carriers 500. export 600. entrance turntables
201. 202. drive component of fan-shaped rotary disk frame, 203. pin wheel component
204. guidance set, 205. inner ring guide rail, 206. trolley
207. revolving support wheel, 208. under(-)chassis, 209. vehicle guide,
210. 211. axis pin of driving pin gear, 212. gear
213. drive shaft, 214. encoder component, 215. rolling bearing units seat
216. drive cases, 217. electric rotating machines 218. are oriented to pin gear
219. are oriented to 220. guiding axis of babinet, 221. rolling bearing units,
222. axis pin clamping plate, 223. clamping plate connecting plate, 224. bolt
225. bolt sleeve
401. driving mechanism, 411. driving wheel, 412. drive shaft, 413. travel driving motor
414. driven wheel, 415. driven shaft, 402. clamping device, 421. babinet
422. 424. worm gear of driving motor, 425. worm screw is clamped in clamping bar 423.
426. idler wheel, 403. guiding mechanism, 404. intermediate coupling mechanism
405. detecting system, 406. control system, 407. drag chain
Specific implementation mode
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 describes, 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.
As shown in Figure 1-Figure 3, circular tower formula intelligent three-dimensional garage of the invention is multilayer circular tower shape stereochemical structure, wherein first
Layer includes that entrance turntable 600, outlet 500, lift 300 and Intelligent carrier 400, the top of the entrance turntable 600 are set
There are detecting and controlling system (not shown), the detecting and controlling system to be used to detect vehicle present position at entrance turntable 600,
And standard pick-up position is rotated to for controlling entrance turntable 600, standard pick-up position is that the Intelligent carrier 400 can
The position that vehicle should be located when correct carrying vehicle；The Intelligent carrier 400 is used to arrive lift 300 in entrance turntable 600
Between and lift 300 to outlet 500 between carrying vehicle；Other layers in addition to first layer include outer ring parking stall 100 and interior
The big rotary disk 200 of layer, the outer ring parking stall 100 are equipped with lift 300 and several parking stalls, the big rotary disk of the internal layer 200
Equipped at least an Intelligent carrier 400 and several parking stalls, the Intelligent carrier 400 is used on outer ring parking stall
100, carrying vehicle between the big rotary disk 200 of internal layer and lift 300.
Specifically, the detecting and controlling system of the present embodiment may include camera, processor and controller；The camera
Photo for shooting vehicle position at entrance turntable, the processor is for comparing in the photo vehicle location and described
The position relationship of standard pick-up position, and accordingly generate the angle letter that entrance turntable should rotate when vehicle is adjusted to standard pick-up position
Breath, the controller are rotated for controlling the entrance turntable according to the angle information, and the angle information includes angle
The size and Orientation information of degree；The controller, which is additionally operable to control the Intelligent carrier, to be run to entrance turntable, and
Vehicle is adjusted to the carrying of the laggard driving in standard pick-up position.
In some embodiments of the present application, as illustrated in figures 4-5, the big rotary disk of the internal layer 200 may include multigroup fan
The loop configuration garage that shape rotary disk frame 201 forms, each fan-shaped rotary disk frame 201 form a parking stall；In described
The big rotary disk of layer 200 further include drive component 202, pin wheel component 203, guidance set 204, inner ring guide rail 205, trolley 206,
Revolving support wheel 207 below fan-shaped rotary disk frame inner and outer ring is set；
Wherein, the fan-shaped rotary disk frame 201 with the inner ring guide rail in fan-shaped 201 bottom of rotary disk frame is set
205 engaging by the drive component 202 that is fixed on the fan-shaped rotary disk frame 201 and pin wheel component 203, make the fan
Shape rotary disk frame 201 is turned round by the inner ring guide rail 205 in revolving support wheel 207, and vehicle is fetched and delivered in realization.
Wherein, the guidance set 204 has certain spacing with the driving component 202, with 203 pin tooth of pin wheel component
Engagement is oriented to servo-actuated with drive component 202；Fan-shaped rotary disk frame 201 is powered conveying by trolley 206.
Referring to Fig. 7 combination Fig. 4, each fan-shaped rotary disk frame 201 after shaped steel welding using formation is assembled, by bottom
Frame 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, is arranged trolley track 209 on the under(-)chassis 208, the outer edge of track from under(-)chassis it is parallel to
Inward flange extends, and drive component is fixed from 208 upper end of under(-)chassis；Drive component 202 is passed with pin wheel component 203 using pin tooth
It is dynamic；Pin wheel component 203 is engaged with 202 pin tooth of guidance set, is realized and is oriented to；The inner ring of fan-shaped rotary disk frame is fixed on inner ring and leads
On rail 205；Inner ring guide rail 205, which is divided into put back into, turns support wheel 207；Revolving support wheel is equally set under the outer ring of under(-)chassis 208
207, revolving support wheel 207 is same material support wheel, and revolving support wheel 207 uses iron core polyurethane material；Pin wheel component 203
It is fixed with outer column；Inner ring and the revolving support wheel of outer ring are fixed with inner column and outer column respectively；Revolving support wheel 207 passes through
Screw rod adjustment height, and then meet the height of interior outside track；Inner ring raceway and the be combined into outer ring guide rail synchronous rotary of under(-)chassis,
Inner ring guide rail uses H profile steel, and it is coaxial that inner ring guide rail and fan-shaped rotary disk frame 201 are formed by outer race track, and is propped up by revolution
207 support of support wheel.
Referring to Fig. 7, in the embodiment of the present invention, under(-)chassis 208 is bolted with drive component 202, and drive component 202 is according to one
Fixed circular degree is distributed on under(-)chassis 208, and circular degree is 120 °.
Likewise, under(-)chassis 208 is bolted with guidance set 203, guidance set 203 is distributed according to certain circular degree
On under(-)chassis 208, circular degree is 120 °.Drive component 202 has certain interval with guidance set 203, and one is played drive
Action is used, another plays the role of guiding.
As fan-shaped under(-)chassis 208, the central angle size for meeting parking stall space can be made as needed
It is fan-shaped, it is preferred that be evenly distributed on inner ring guide rail 205 according to certain circular degree, circular degree is 30 °.
Referring to Fig. 9, the drive component 202 in the present invention includes driving 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 are mounted on drive case
On 216, the gear that electric rotating machine 217 is installed by its output shaft end is engaged with driving pin gear 210, passes through electric rotating machine 217
The driving pin gear 210 is driven to rotate, drive rotates together with fan-shaped rotary disk frame 201.Encoder component 214 and gear
212 engagement codings.
Pin gear is driven by motor, pin tooth is engaged with pin gear makes fan-shaped rotary disk frame turn round, and encoder is compiled
Code revolution, makes fan-shaped rotary disk frame stop in specified parking stall.
Referring to Fig. 8, guidance set 204 include be arranged be oriented to babinet 219 on guiding pin gear 218, guiding axis 220,
Rolling bearing units 221, guiding axis 220, which is coordinated with rolling bearing units 221 by deep groove ball bearing, to be installed, and fan-shaped rotary disk frame is passed through
201 rotations, drive and are oriented to pin gear 218, are oriented to realize.
Shown in Figure 10 combinations Figure 11-15, pin wheel component 203 includes multiple axis pins 211, multiple axis pin clamping plates 222, more
A clamping plate connecting plate 223 and the multiple bolts 224 to match and bolt sleeve 225, axis pin clamping plate 222 are connected by clamping plate
Plate 223 is connected as a circle, and pin wheel component 203 is located by connecting by clamping plate connecting plate 223, and the axis pin 211 is inserted into axis pin
It in the hole of clamping plate 222, is distributed on axis pin clamping plate 222, the bolt 224 and 225 fitting of bolt sleeve, axis pin folder is inserted into after fitting
In 222 hole of plate, it is also distributed about on axis pin clamping plate 222.
Wherein, it is connected by gasket between axis pin clamping plate, controls positional precision；Pass through intermediate adjustment plate between axis pin clamping plate
And jackscrew, screw rod are adjusted position；Clamping plate connecting plate uses 225 fitting of bolt sleeve with pin wheel clamping plate, and is consolidated by bolt 224
It is fixed.
When in use, as shown in fig. 7, electric rotating machine 217 drives fan-shaped revolution disc spins, driving group on drive component 202
Encoder component 214 encodes on part 202, so that 212 sets of sector rotary disk frames is fixed in specified parking stall, fan-shaped slewing frame 201
The revolution of the rotary disk formed is powered by trolley 206, ensures power supply duration.
In some embodiments of the present application, as shown in figs. 16-17, the Intelligent carrier 400 can be by two phases
Same bogie unit is coupled by intermediate connecting mechanism, and each bogie unit is each equipped with clamping device 402, driving mechanism
401, guiding mechanism 403, detecting system 405 and control system 406, the clamping device 402 include babinet 421 and are arranged in case
The clamping bar 422 of 421 both sides of body, clamping automobile tire are carried；Driving mechanism 401 is symmetricly set on 402 both sides of clamping device,
Driving mechanism 401 connects 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 ensure that trolley travels in planned orbit；Detecting system 405 is used to feed back the status signal of trolley；Control system
The signal that system 406 is fed back according to detecting system, control trolley work according to pre-set programs；When carrying, the trolley drives into
To bottom of car, automobile tire is clamped by clamping bar 422 and is carried, and automobile is placed into destination；
Further, the driving mechanism 401 is by driving wheel 411, drive shaft 412, driven wheel 414, driven shaft 415, row
It walks driving motor 413 and transmission mechanism I forms, by drive shaft 412 through connection, travel driving motor 413 passes through driving wheel 411
Transmission mechanism I connects drive shaft 412, is sequentially connected 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 driving wheel 411, driven wheel 414 rotate thereon, achievees the purpose that vehicle to run；
413 positive and negative rotation of travel driving motor is controlled by control system 406, twocouese is walked before and after realizing trolley, passes through hoofing part
The encoder being arranged on motor 413 judges trolley advanced positions, realizes precisely parking positioning.
The travel driving motor 413 use servo motor, can with regard to walking states and 406 real-time, interactive of control system, and
High position precision is realized in conjunction with encoder.
The transmission mechanism I includes the sprocket wheel being separately positioned in 412 output shaft of travel driving motor and drive shaft 412,
Chain is connected on two sprocket wheels.
The clamping device 402 is two groups, is symmetricly set on 421 both sides of babinet；Every group of clamping device 402 includes clamping
Driving motor 423, worm gear 424,425, two clamping bars 422 of worm screw and transmission mechanism II, worm screw 425 pass through bearing mounting base and case
Body 421 is connected and fixed, clamping driving motor 423 by II connecting worm 425 of transmission mechanism, 425 both ends of worm screw be symmetrically provided with
The screw thread that worm gear 424 coordinates, worm gear 424 are driven with the cooperation of worm screw 425, and clamping bar 422 is respectively connected on two worm gears 424, and clamping is driven
Dynamic motor 423 drives worm screw 425, worm gear 424 to rotate, and realizes that two clamping bars 422 are swung, to be clamped or unclamp automobile tire；It is pressed from both sides
Holding force square and clamp position real-time feedback control system 406.
The clamping bar 422 is strip weldment, and nylon roller 426, reduction and vapour are being equipped with wheel contact position
It is more preferable to carry effect for friction between wheel tire.The clamping driving motor 423 use servo motor, can with regard to clamp position with
406 real-time, interactive of control system.The transmission mechanism II includes being separately positioned on clamping 423 output shaft of driving motor and worm screw
Sprocket wheel on 425, two sprocket wheels are connected by chain drive.
The intermediate coupling mechanism 404 is connected and composed by linkwork by two proximate matters, and linkwork is by rotating pin
It is formed with split pin, two segment type materials are freely rotated around axis pin, and intermediate coupling mechanism 404 is servo-actuated when trolley adjusts wheelbase to be stretched
Contracting.
The detecting system 405 includes laser range sensor, encoder and proximity sensor, is arranged on bogie unit
There is laser range sensor, reflecting plate is correspondingly arranged on another bogie unit, realizes the detection of trolley wheelbase；In travel driving motor
With encoder, carriage walking distance is detected；The bare terminal end of clamping bar 422 is provided with proximity sensor, detection clamping bar 422 is clamped
Whether in place.
The guiding mechanism 403 includes guiding trestle and directive wheel, and the directive wheel is connected on guiding trestle, along predetermined
Rail running.
The control system uses existing structure, is made of servo controller and PLC, the trolley shape that detecting system is fed back
State signal is analyzed and determined, to make adjustment appropriate, trolley is made to work according to preset program.
Cable is set in drag chain 407, is connected on Intelligent carrier, it can be achieved that cable and the Intelligent carrier
Retinue movement, Transport Vehicle process are reciprocal movement process.
It should be noted that the Intelligent carrier of the present embodiment is placed on rotary machinery, vehicle is realized by rotary machinery
Transport；Specifically, after vehicle being adjusted to standard pick-up position in detecting and controlling system, Intelligent carrier passes through both orbit determination
Road enters the bottom of vehicle, has removed vehicle by clamping device, and directly send the vehicle removed to lifting by rotary machinery
Ladder, and vehicle is placed directly in lift；When vehicle is sent to other layers, the Intelligent carrier of other layers further through
Same mode has removed the vehicle in lift, and is transported to corresponding parking stall by rotary machinery；
After vehicle is adjusted to standard pick-up position by detecting and controlling system, by gripper mechanism grips vehicle tyre, directly
The vehicle removed is sent to lift, and vehicle is placed directly in lift；When vehicle is sent to other layers, other layers
Intelligent carrier can be directly entered again by clamping device vehicle has been removed in lift and has been transported to corresponding parking
Position；In this way, special carrier may not necessarily be arranged in lift, mode of transport is more flexible, simplifies the carrying of vehicle
Process reduces down time.
In some specific implementation modes of the application, the big rotary disk 200 of the internal layer and the entrance turntable 600 can be into
360 degree of bidirectional rotations of row.
In other specific implementation modes of the application, when the entrance turntable 600 is multiple, multiple entrances turn
Disk 600 is disposed adjacent, and the lift 300 is arranged close to the entrance turntable 600.
By taking 300 parking stalls as an example, 1-2 Intelligent carrier can be set at one layer, certainly, in order to avoid lift
Stand-by period convenient for quickly by the vehicles drive at entrance turntable to lift, and is quickly sent the vehicle in lift to going out
Mouthful, the quantity of one layer of the Intelligent carrier can be correspondingly arranged with the quantity of the lift；The internal layer of other layers returns greatly
Intelligent carrier described in 1-2 platforms can be set on turntable, alternatively, the Intelligent carrier on the big rotary disk of the internal layer of other layers
Quantity also can be consistent with the quantity of lift.
Or by taking 300 parking stalls as an example, the 2-4 entrance turntables, the 10-15 outlets, 1-4 institute can be set
State lift；Specifically, the entrance turntable can be 3, and the lift can be 2, be separately positioned on 3 it is adjacent enter
The both sides of mouth turntable, the outlet can be 11.
Vehicle at entrance turntable can be adjusted to standard pick-up position by the application by using detecting and controlling system, side
Just Intelligent carrier has rapidly been removed vehicle and has been conveyed in lift with correct posture, quickly stops to realize
Vehicle；Meanwhile the application has removed vehicle, and pass through by using the Intelligent carrier with clamping device by clamping device
Transport carriage directly send the vehicle removed to lift, and when stopping at other layers, the Intelligent carrier of other layers again can be with
Directly vehicle has been removed in lift, and corresponding parking stall is transported to by transport carriage, to save in lift
Carrier is set, and mode of transport is more flexible, simplifies the handling process of vehicle, reduces down time, while reducing and stopping
The input cost in garage.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (9)
1. a kind of circular tower formula intelligent three-dimensional garage, it is characterised in that：The garage is multilayer circular tower shape stereochemical structure, wherein first
Layer includes entrance turntable, outlet, lift and Intelligent carrier, and the top of the entrance turntable is equipped with detecting and controlling system,
The detecting and controlling system rotates to standard for controlling entrance turntable and takes for detecting vehicle present position at entrance turntable
Parking stall, standard pick-up position be the Intelligent carrier can correct carrying vehicle when the position that should locate of vehicle；The intelligence
Can floor truck be used for entrance turntable between lift and lift to export between carrying vehicle；Its in addition to first layer
His layer includes outer ring parking stall and the big rotary disk of internal layer, and the outer ring parking stall is equipped with lift and several parking stalls, described interior
The big rotary disk of layer is equipped at least an Intelligent carrier and several parking stalls, and the Intelligent carrier is used to stop in outer ring
Carrying vehicle between position, the big rotary disk of internal layer and lift；The big rotary disk of internal layer and the entrance turntable can realize 360 degree
Bidirectional rotation.
2. stereo garage according to claim 1, it is characterised in that：The detecting and controlling system includes camera, processor
And controller；The camera is used to shoot the photo of vehicle position at entrance turntable, and the processor is described for comparing
The position relationship of vehicle location and standard pick-up position in photo, and accordingly generate when that vehicle is adjusted to standard pick-up position and enter
The angle information that mouth turntable should rotate, the controller are revolved for controlling the entrance turntable according to the angle information
Turn；The controller, which is additionally operable to control the Intelligent carrier, to be run to entrance turntable, and is adjusted to standard in vehicle and is taken
The carrying of the laggard driving in parking stall.
3. stereo garage according to claim 1, it is characterised in that：The big rotary disk of internal layer includes fan-shaped rotary disk frame
Frame, drive component, pin wheel component, guidance set, inner ring guide rail, trolley and the revolution being arranged below annular rotary disk frame
Support wheel；The sector rotary disk frame is multigroup and is combined into cyclic structure；
The sector rotary disk frame and the inner ring guide rail in its bottom is set by being fixed on the annular rotary disk frame
Drive component engaged with pin wheel component, make the annular rotary disk frame by the inner ring guide rail in revolving support wheel last time
Turn, vehicle is fetched and delivered in realization；
The guidance set has certain spacing with the driving component, engages with pin wheel component pin tooth, is led with drive component
To servo-actuated；
The sector rotary disk frame is powered conveying by trolley.
4. stereo garage according to claim 1, it is characterised in that：The Intelligent carrier is by two identical trolley lists
Member is coupled by intermediate connecting mechanism, and each bogie unit is each equipped with clamping device, driving mechanism, guiding mechanism, inspection
Examining system and control system, the clamping device include babinet and clamping bar in babinet both sides are arranged, and clamping automobile tire carries out
It carries；Driving mechanism is symmetricly set on clamping device both sides, and driving mechanism connects control system, drives the walking of bogie unit；
Guiding mechanism is symmetricly set on the both sides of two driving mechanisms, ensures that trolley travels in planned orbit；Detecting system is for anti-
Present the status signal of trolley；The signal that control system is fed back according to detecting system, control trolley work according to pre-set programs；
When carrying, the trolley drives into bottom of car, and clamping automobile tire is carried, and automobile is placed into destination.
5. stereo garage according to claim 4, it is characterised in that：The driving mechanism is driven by driving wheel, drive shaft, walking
Dynamic motor and transmission mechanism I form, and by drive shaft through connection, travel driving motor is connected by transmission mechanism I and driven driving wheel
Moving axis, drive shaft and driven between centers are sequentially connected by sprocket wheel chain, and travel driving motor drives drive shaft, driven shaft and thereon
Driving wheel, driven wheel rotation, travel driving motor drives drive shaft and driving wheel rotates thereon, achievees the purpose that vehicle to run；
Travel driving motor positive and negative rotation is controlled by control system, twocouese is walked before and after realizing trolley, by travel driving motor
The encoder of setting judges trolley advanced positions, realizes precisely parking positioning.
6. stereo garage according to claim 4, it is characterised in that：The clamping device is two groups, is symmetricly set on babinet
Both sides；Every group of clamping device includes clamping driving motor, worm gear, worm screw, two clamping bars and transmission mechanism II, and worm screw passes through axis
Mounting base is held to be connected and fixed with babinet, clamping driving motor by II connecting worm of transmission mechanism, worm screw both ends be symmetrically provided with
The screw thread of worm gear, the cooperation of worm gear and worm screw are driven, and are respectively connected with clamping bar on two worm gears, clamping driving motor driving worm screw,
Worm gear rotates, and realizes that two clamping bars are swung, to be clamped or unclamp automobile tire.
7. stereo garage according to claim 4, it is characterised in that：The intermediate connecting mechanism is to be passed through to be hinged by two proximate matters
Mechanism connects and composes, and linkwork is made of rotating pin and split pin, and two segment type materials are freely rotated around axis pin, centre connection
Mechanism follow-up telescoping when trolley adjusts wheelbase.
8. stereo garage according to claim 4, it is characterised in that：The detecting system includes laser range sensor, compiles
Code device and proximity sensor, laser range sensor is provided on bogie unit, reflection is correspondingly arranged on another bogie unit
Plate realizes the detection of trolley wheelbase；Encoder is carried in travel driving motor, detects carriage walking distance；In the bare terminal end of clamping bar
It is provided with proximity sensor, whether in place the clamping of detection clamping bar.
9. stereo garage according to claim 4, it is characterised in that：The guiding mechanism includes guiding trestle and directive wheel,
The directive wheel is connected on guiding trestle, is travelled 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 CN106223687A (en) | 2016-12-14 |
| CN106223687B true 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) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106958375B (en) * | 2017-05-12 | 2022-09-23 | 安徽博微联控科技有限公司 | Mounting structure of revolving stage in stereo garage |
| CN106948633B (en) * | 2017-05-12 | 2023-04-21 | 安徽博微联控科技有限公司 | The cantilever structure of the turntable installed in the three-dimensional garage |
| 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 |
| CN111021802B (en) * | 2019-12-06 | 2021-07-13 | 中国海洋大学 | A double-ring three-dimensional garage with a single-drive control multi-layer turntable to rotate independently |
| CN111270890A (en) * | 2020-03-30 | 2020-06-12 | 江苏泊威智能科技股份有限公司 | A green energy-saving intelligent steel structure three-dimensional garage |
| 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 | A method and device for accessing a car in a three-dimensional garage |
| CN114482657B (en) * | 2021-12-30 | 2023-05-02 | 江苏金三角钢结构有限公司 | Tandem lifting longitudinally-moving intelligent parking equipment |
| CN114639249A (en) * | 2022-03-31 | 2022-06-17 | 广东科陆智泊信息科技有限公司 | Business turn over device and system for parking area |
| CN114776109B (en) * | 2022-04-29 | 2025-08-19 | 广东科陆智泊信息科技有限公司 | Parking lot efficient departure system and method based on automobile carrier |
| CN117759084B (en) * | 2023-10-23 | 2024-11-19 | 青岛齐星车库有限公司 | Annular stacked vehicle storage equipment and method for vertical taking and placing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1090905A (en) * | 1992-12-29 | 1994-08-17 | 朗帕利斯有限公司 | Parking facilities for vehicles |
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot gripper |
| CN102071824A (en) * | 2010-12-28 | 2011-05-25 | 东莞市伟创东洋自动化设备有限公司 | A mechanical garage intelligent handling trolley |
| CN202866357U (en) * | 2012-08-27 | 2013-04-10 | 王曰明 | Intelligent tower type three-dimensional garage |
| CN103397802A (en) * | 2013-08-09 | 2013-11-20 | 中冶南方工程技术有限公司 | Rotating vehicle parking ring device used for stereo 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 |
| CN105715087A (en) * | 2016-03-11 | 2016-06-29 | 武汉卡洛斯智能车泊设备有限公司 | A kind of automobile electric handling trolley for mechanical three-dimensional parking garage |
| 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
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1090905A (en) * | 1992-12-29 | 1994-08-17 | 朗帕利斯有限公司 | Parking facilities for vehicles |
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot gripper |
| CN102071824A (en) * | 2010-12-28 | 2011-05-25 | 东莞市伟创东洋自动化设备有限公司 | A mechanical garage intelligent handling trolley |
| CN202866357U (en) * | 2012-08-27 | 2013-04-10 | 王曰明 | Intelligent tower type three-dimensional garage |
| CN103397802A (en) * | 2013-08-09 | 2013-11-20 | 中冶南方工程技术有限公司 | Rotating vehicle parking ring device used for stereo 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 |
| CN105715087A (en) * | 2016-03-11 | 2016-06-29 | 武汉卡洛斯智能车泊设备有限公司 | A kind of automobile electric handling trolley for mechanical three-dimensional parking garage |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106223687A (en) | 2016-12-14 |
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 | |
| CN206368570U (en) | A kind of AGV transfer robots | |
| CN106522618A (en) | Trackless vehicle handling equipment and handling method of the same | |
| CN104631892B (en) | A high-rise intelligent three-dimensional garage with a carrier and a car access method | |
| CN105133894A (en) | Non-avoidance stereo parking garage | |
| CN104521434A (en) | Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method | |
| CN103603529A (en) | Tire clamping type automobile carrier applied to stereo garage | |
| CN204715827U (en) | A kind of can the intelligent robot of side direction carrier vehicle | |
| CN107675913A (en) | Accessible aerocycle storehouse | |
| CN212927228U (en) | Device capable of realizing automatic reversing of vehicle in parking system | |
| CN207177385U (en) | Accessible aerocycle storehouse | |
| CN205025159U (en) | Do not have and dodge stereo garage | |
| CN204001907U (en) | Three layers of vertical shift rotation and lifting garage parking | |
| CN211447974U (en) | Cluster transfer robot and vehicle transfer device | |
| CN108560973A (en) | A kind of parking apparatus slewing equipment and parking apparatus | |
| CN210918410U (en) | Parking transfer mechanism and lifting platform thereof | |
| CN202148708U (en) | Rotation-functional transporting trolley for mechanical and stereoscopic garage | |
| CN108149986A (en) | A kind of rotary vehicle transportation device swing-around trajectory | |
| CN215107757U (en) | Oval manipulator type parking equipment | |
| CN107792609B (en) | Electric trolley for straight rail or circular arc rail | |
| CN108560975A (en) | A kind of parking apparatus | |
| CN108166817A (en) | A kind of rotary vehicle transportation device | |
| CN110778192A (en) | Vehicle auxiliary transportation device for stereo garage | |
| CN215331780U (en) | Oval comb-tooth type parking equipment |
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. |