CN106223687B - A kind of circular tower formula intelligent three-dimensional garage - Google Patents

A kind of circular tower formula intelligent three-dimensional garage Download PDF

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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
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China
Prior art keywords
clamping
vehicle
rotary disk
trolley
driving
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CN201610832906.9A
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CN106223687A (en
Inventor
杨洋
苏刚
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Beijing berbo Robot Technology Co., Ltd.
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Beijing Berbo Robot Technology Co Ltd
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Priority to CN201610832906.9A priority Critical patent/CN106223687B/en
Publication of CN106223687A publication Critical patent/CN106223687A/en
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages 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
    • E04H6/28Garages 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 the use of turntables or rotary rings for horizontal transport

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

A kind of circular tower formula intelligent three-dimensional garage
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.
CN201610832906.9A 2016-09-19 2016-09-19 A kind of circular tower formula intelligent three-dimensional garage Active CN106223687B (en)

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CN111021802B (en) * 2019-12-06 2021-07-13 中国海洋大学 Double-annular stereo garage with single-drive control and multi-layer turnplates capable of rotating independently

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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 Automobile electric carrying trolley for mechanical stereoscopic garage
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CN101915003A (en) * 2010-04-21 2010-12-15 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
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