CN106320772A - Vehicle clamping mechanism for intelligent stereoscopic parking garage - Google Patents

Vehicle clamping mechanism for intelligent stereoscopic parking garage Download PDF

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Publication number
CN106320772A
CN106320772A CN201610913518.3A CN201610913518A CN106320772A CN 106320772 A CN106320772 A CN 106320772A CN 201610913518 A CN201610913518 A CN 201610913518A CN 106320772 A CN106320772 A CN 106320772A
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CN
China
Prior art keywords
clamping
vehicle
support
quarter bend
parking
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Granted
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CN201610913518.3A
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Chinese (zh)
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CN106320772B (en
Inventor
詹永泽
詹有为
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Wenzhou Suiren Intelligent Technology Co Ltd
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Wenzhou Suiren Intelligent Technology Co Ltd
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Priority to CN201610913518.3A priority Critical patent/CN106320772B/en
Publication of CN106320772A publication Critical patent/CN106320772A/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
    • E04H6/182Garages 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 using car-gripping transfer means

Abstract

A vehicle clamping mechanism for an intelligent stereoscopic parking garage is used for realizing a vehicle clamping function of the intelligent stereoscopic parking garage. Drivers are not required to park precisely and wait vehicles to be picked and parked in place, a robot picks to-be-parked vehicles behind one by one and parks the vehicles in parking places when completing moving of a front vehicle entering or exiting the garage, and accordingly, time for waiting in line is saved, complex steps that the vehicles are required to be precisely parked in hoisted trays through manual driving in an ordinary parking garage, position moving is difficult and drivers need to wait for a long time are omitted. The defects of difficulty in position moving and long-time waiting are overcome. The steps of entering and exiting the garage and moving and parking the vehicles can be completed by only one hoisting and clamping robot, the defect that complex structures of an independent hoisting mechanism and an independent transverse power mechanism are required for each parking place of existing parking garages is overcome, and accordingly, the time for waiting for garage entering and exiting is greatly saved.

Description

A kind of intelligent stereo garage vehicle clamping device
Technical field
The present invention relates to parking equipment technical field, be specifically related to a kind of intelligent stereo garage vehicle clamping device.
Background technology
In recent years, along with Domestic Automotive Industry and the fast development of urbanization, being continuously increased of Urban vehicles poputation, The problem that large, medium and small city occurs in that parking difficulty in succession.Storehouse, mechanical solid parking lot is accompanied by parking difficulty problem and progressively sends out The new industry that exhibition is got up, be known as solution population, building dense district, the preferred means of common service area parking difficulty problem. At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, according to the difference in space telescopic direction, permissible It is divided into following several: lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., Qi Zhongsheng Fall cross sliding type parking systems is that current technology is the most ripe, applies most forms.And existing plain edition garage parking must be by Laborious steps when being manually accurately parked in the difficulty of hanging scaffold and the shift position lifted and wait many.Even if having machine at present People's shutdown system also need to install transverse-moving mechanism on independent warehouse compartment again additional.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention provides a kind of intelligent stereo garage vehicle clamping machine Structure.
The technical solution that the present invention uses is: a kind of intelligent stereo garage vehicle clamping device, described folder Holding mechanism and include that the broadside mechanism at top, described broadside mechanism are provided with pulley, described clamping device passes through Pulley is along warehouse-in track transverse shifting, and described clamping device also includes top-support and pitches pawl for clamping the big arm of vehicle Mechanism, described big arm Cha Zhao mechanism is hinged on top-support both sides, described big arm Cha Zhao mechanism and top-support it Between be additionally provided with two-way hydraulic cylinder, described big arm Cha Zhao mechanism is turned by the flexible jointed shaft along top-support of two-way hydraulic cylinder Dynamic, it is achieved clamping device captures the function putting down vehicle.
The turntable bearing of rotatable movement, described top it is additionally provided with between described broadside mechanism and top-support Support is by turntable bearing and broadside mechanism rotatable engagement.
The end of described big arm Cha Zhao mechanism is quarter bend crossbeam, and the middle part of described quarter bend crossbeam is provided with two for wheel The otch of tire screens, described otch is respectively provided on two sides with the clamping plate promoted by hydraulic jack, and described clamping plate pass through hydraulic oil Cylinder clamping wheel prevents car front and back from sliding.
The rear side of described otch is additionally provided with the first limit switch, and the first described limit switch controls two-way hydraulic cylinder and stops Only.
It is additionally provided with back-moving spring between described clamping plate and hydraulic jack.
The invention has the beneficial effects as follows: the invention provides a kind of intelligent stereo garage vehicle clamping device, drive Member puts in place without accurately parking and wait handling, waits robot to complete previous inbound/outbound process when moving car, then extracts required behind one by one The car parked is parked to warehouse compartment. and thus having saved the time waited in line, eliminating plain edition garage parking must be by artificial accurate Be parked in the hanging scaffold that lifted and the difficulty of shift position and laborious steps when waiting many, this money only needs a lifting clamping Robot can complete to move car and go out to put step in storage, and eliminating each warehouse compartment of existing parking garage need to have answering of traversing actuating unit The shortcoming of miscellaneous structure, the waiting greatly saved goes out the time of warehouse-in.
Accompanying drawing explanation
Fig. 1 is parking systems overall structure schematic diagram of the present invention.
Fig. 2 is parking systems of the present invention anti-fall mechanism structure schematic diagram.
Fig. 3 is parking systems of the present invention upright Luo rod type up-down mechanism structural representation.
Fig. 4 is the embodiment of the present invention 1 clamping device structural representation.
Fig. 5 is that beam structure schematic diagram embraced by the embodiment of the present invention 1 clamping device folder.
Fig. 6 is the embodiment of the present invention 2 clamping device structural representation.
Fig. 7 is the embodiment of the present invention 3 clamping device structural representation.
Fig. 8 is that the embodiment of the present invention 3 clamping device pitches pawl mechanism structure schematic diagram.
1-landing in figure, 2-parking warehouse compartment, 3-portal frame, the anti-fall mechanism of 4-, 5-broadside mechanism, 11-level Track, 21-puts track, 31-boatswain chair, 32-vertical lift assembly pulley, 33-quarter bend framework, 34-upright Luo bar in storage, and 41-determines voussoir, 42-moves voussoir, 43-back-moving spring, 44-active pin shaft, and 45-stretches spring, 46-pinch roller, 51-top-support, the big arm of 52- Cha Zhao mechanism, 53-two-way hydraulic cylinder, 54-folder embraces a crossbeam, 55-turntable bearing, 56-quarter bend crossbeam, and 57-Cha Zhao mechanism, on 521- Quarter bend, jaw under 522-, 523-cross bar, 541-hollow steel pipe, 542-connects shrouding, and 543-pulley roller bearing, 544-first is spacing Switch, 545-limit switch depression bar, 561-otch, 562-clamping plate, 571-quarter bend whippletree, the little yoke of 572-, 573-hanger, 574- Universal joint, 75-driving gear, 576-driven gear, 577-range sensor.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, the present invention is further described, a kind of intelligence Parking systems, including landing 1, described landing 1 is provided with some parking warehouse compartments 2, described intelligent three-dimensional Garage parking also includes that described clamping device passes through elevator for being moved by vehicle to the clamping device specifying parking warehouse compartment 2 Structure realizes vertical lift, and described landing 1 is additionally provided with horizontal rail 11 in the horizontal direction, and described elevating mechanism can edge Horizontal rail 11 moves horizontally and realizes the function that clamping device moves horizontally, and described parking warehouse compartment 2 is additionally provided with along garage parking Position 2 perpendicularly inward warehouse-in tracks 21, described clamping device can move to each parking warehouse compartment 2 along warehouse-in track 21.
Elevating mechanism
Described elevating mechanism includes the boatswain chair 31 of portal frame 3 and a horizontal positioned, and described clamping device is arranged on boatswain chair 31 On, the inner side of the column of described portal frame 3 is provided with vertical lift assembly pulley 32, and described vertical lift assembly pulley 32 passes through steel Cord is connected with boatswain chair 31, and described elevating mechanism realizes the vertical liter of boatswain chair 31 by driven by motor vertical lift assembly pulley 32 Fall.Track and pulley is had, the drivewheel that pulley is driven respectively and another driven pulley, gantry by a frequency conversion motor bottom portal frame The many crossbeams being parallel to rack-layer face, storehouse, storehouse frame top of the upper layer are had to have horizontal grooved rail upright steady for portal frame 3 again between frame 3 column Fixed pulley guide rails.Pulley is fixed on the side of quarter bend framework 33, then by two two hollow shaft be allowed to connect form one Frame-shaped pulley yoke, the two ends of two horizontal hollow shaft have solid shafting, axle head to refill pulley, and pulley is embedded in inside portal frame 3 In chute, the bottom of top sheave axle is furnished with laterally to the hollow central siphon of power when a support non-slipping block works again, the most also for two The steel wire rope of walking alternately that group anti-falling wedge block works simultaneously passes through.
The most also dual-purpose boatswain chair 31 opens the vertical lift assembly pulley 32 share.On in the grooved rail of portal frame 3, coasting mechanism has Two groups of pulleys of row, two groups of pulleys are connected on rectangular tube by hollow shaft, and boatswain chair frame is drawn by lifting pulley frame, steel wire rope one end Being fixed in portal frame 3 upper beam, the descending movable pulley detoured on pulley yoke is further around two sides of the entablature to portal frame 3 Fixed pulley detours down to the movable pulley of pulley yoke opposite side the most once again, the most up determines cunning on portal frame 3 Wheel, reaches on the downside of portal frame 3 through a hole of portal frame 3 upper end, comes downwards to be arranged on the volume of portal frame 3 bottom through outside fixed pulley Raise on machine.The axle of vertical lift assembly pulley 32 lower end is equipped with boatswain chair 31 that level is put in the lump, above boatswain chair 31, has suspension ring A upper axle head of assembly pulley it is fixed on, with the placement being up to the standard and the requirement of suspention gravity by iron chains or steel cable.At suspension bracket 31 when not working for a long time, in jig arm ensconces certain warehouse compartment, then by another motor hoisting rope and multiple pulley make laminating or Open horizontal boatswain chair placement effect.At the I-shaped steel tank of portal frame 3 side and storehouse frame layer built with vertically and horizontally placing Trolley, moves for portal frame 3 row and assembly pulley lifting provides power supply.
Described portal frame 3 top and bottom is equipped with pulley, and described portal frame 3 passes through driven by motor pulley along level Track 11 moves horizontally.Horizontal comparison junction has increase limit switch and safe spacing safety block, in case malfunctioning switch continues Continuous error row is moved, and each power motor has overload protective relay, protects overweight starting.
The inner side of the column of described portal frame 3 also can be provided with upright Luo bar 34, described upright Luo bar 34 has Luo female, The mullion of the inner side of described boatswain chair 31 is fixed on mother Luo upper end, described elevating mechanism by driven by motor upright Luo bar 34 with Mother's Luo transmission realizes the vertical lift of boatswain chair 31.Upright Luo bar 34 is being vertically arranged inside the groove of I-steel, upright Luo bar 34 upper The angular wheel shaft that top has the power being connected between power motor and two Luo bars to transmit is connected.Luo is had on upright Luo bar 34 Mother, the inner side mullion of boatswain chair 31 is then fixed on mother Luo upper end.Boatswain chair 31 is then welded by chan frame.Boatswain chair has tooth bar 31 times The motor gear moved laterally on frame with arm mounting engages, and moves in order to lateral horizontal type.Small-sized hydraulic is had on horizontal boatswain chair Standing, and clamping hydraulic cylinder flexible for arm provides power to be used.
Anti-fall mechanism
Being additionally provided with anti-fall mechanism 4 between described vertical lift assembly pulley 32 and quarter bend framework 33, described anti-fall mechanism 4 includes Be fixed on quarter bend framework 33 determine voussoir 41 and with determine the dynamic voussoir 42 that voussoir 41 sliding coordinates, dynamic voussoir 42 can be by aluminium block Or open triangles block ferrum makes.Two voussoir binding faces have guiding
Pin and cotter way, be operationally allowed to be difficult to break away and come off, and described determines voussoir 41 and dynamic voussoir 42 both sides
Being additionally provided with back-moving spring 43 and drag tightly, described determine voussoir 41 and dynamic voussoir 42 is fitted by back-moving spring 43, described determines Voussoir 41, by the detachable active pin shaft 44 departed from, is fixed on quarter bend framework 33, connects bottom described active pin shaft 44 There is stretching spring 45, described stretching spring 45 connects and has transmission rope, described transmission rope one end to be connected to vertical lift cunning Wheels 32, described vertical lift assembly pulley 32 control transmission rope drive stretching spring 45 realize active pin shaft 44 depart from determine voussoir 41。
Described vertical lift assembly pulley 32 also includes the pinch roller 46 of a triangle, one of them angle of described pinch roller 46 Being hinged on quarter bend framework 33, another angle of described pinch roller 46 is coordinated with steel wire rope by pulley, described pinch roller 46 Being connected with stretching spring 45 by transmission rope on a remaining angle, the pinch roller 46 of described triangle is in the quiet of stress balance Only state, described stretching spring 45 one end is fixed on quarter bend framework 33, and described active pin shaft 44 and transmission rope are all connected with At stretching spring 45 other end, described stretching spring 45 is in the state of stress balance.Described active pin shaft 44 is by rope Rope is flexible coupling with stretching spring 45, is provided with two anti-fall mechanisms 4 in described elevating mechanism, two described anti-fall mechanisms 4 Active pin shaft 44 is flexible coupling by rope.When meet hang liter steel rope breaking time, the pinch roller drawn high on being arranged on pulley limit exist Under the pulling of brute spring, even the stay cord of spring detent pulls in the lump and gets loose, and makes lock pin depart from dynamic voussoir.By two voussoir both sides Back-moving spring effect under, make two voussoirs displacement swellings in the chute of portal frame.A liter rope loosing is hung in view of rupture Position determines, pulley limit has pinch roller 46 steel wire rope is dragged virial degree inequality or has the drag effects such as steel wire rope deadweight, is arranged on The lock pin of opposite side voussoir is pulled by the steel wire rope in corresponding hollow central siphon and plays anti-sliding function, both sides voussoir the most in the lump Have and mutually play anti-fall effect simultaneously.Under the effect of crane gravity, the more swelling of two wedges, reach anti-fall effect instantaneously.
Outward appearance and sun-proof aspect:
In storehouse frame surrounding equipped with blind with the preventing coating protection making car, each limit of inertia can be made by by each warehouse compartment height width Canvas strips, canvas strips two has Os Draconis steel wire, Os Draconis steel wire two ends to roll over and have circle, and in order to spring hook, spring one end catches on The steel wire of canvas end, the other end catches on the angle bar being close to frame limit, storehouse, and on the trestle of storehouse, inside and outside two avris all post two Angle bar catches on for two steel wires of canvas end, two angle bar wherein one have the screw flute length hole that can move, to make curtain in hundred Sheet angle adjustment displacement is used.The hook respectively of two springs of canvas strips end, on the diverse location hole of two angle bar, is allowed to shape It is in the tilted angle, to make shading and ventilation alternate angle distance.Canvas strips can be vertically arranged or horizontal installation, according to on-the-spot sunlight illumination angle Depending on degree is required.
Go out to put in storage the whole door curtain in door front to be formed by stacking by the multi-disc horizontal curtain of formula that waves.Door curtain can be by both sides pulley grooved rail conduct The slip snapping condition of curtain head, canvas is navigated within a side of leaf curtain by a transverse steel wire, and leaf curtain hangs with droop, under Wave shape in portion.Wire two ends the most also have spring to overlap, and hook between leaf curtain head and pulley groove, to strain curtain sheet.At curtain The upper and lower two ends of grooved rail of head connect and pull steel wire rope, to control door curtain row shifting amplitude, guide on motor reel by pulley, at electricity Lifting action is made under the drive of machine.The track upper and lower side of curtain head is respectively provided with limit switch.Can have according to different warehouse compartment structures On draw high collapsible and decline the collapsible and each money of shaft core drum reel formula.Blind can play and docking process sun-proof to car Reduce function of noise, solve because garage cannot the shortcoming of sunshade.If install chance wind additional with thin plate, easily tearing is damaged, if with thick Plate is reinforced then because whole storehouse frame area is excessive when meeting high wind, because pedestal condition is limited and Jia great side, storehouse wind-engaging probably connects whole car Storehouse folding is ruined.And use this blind method, when meeting high wind, the tilting of curtain can let in air smoothly, and two ends spring the most also can draw Stretch the gap between curtain sheet, beneficially wind-force current.It is used having outside wind resistance sun-proof noise-reducing function and advertisement metope can be doubled as, Curtain sheet can double-side-turning ad content or replacing curtain sheet.
Clamping device
This scheme carries before car need to sail to warehouse compartment by vehicle, the ground parking area that Shi Jia car robot gets at, or by moving car Robot stops putting vehicle in storage time and is transplanted in front of warehouse compartment, then is hung by Jia Che robot and rise in warehouse compartment.
Embodiment 1
Described clamping device includes that the broadside mechanism 5 at top, described broadside mechanism 5 are provided with pulley, grooved rail Inside having four wheel shafts slided, four pulleys can move laterally under the driving of tooth bar and motor, reaching to be pressed from both sides car can push away Car outbound is proposed with clamping in delivering to warehouse compartment.Described clamping device also includes top-support 51 and for clamping the big arm of vehicle Cha Zhao mechanism 52, described big arm Cha Zhao mechanism 52 is hinged on top-support 51 both sides, described big arm Cha Zhao mechanism 52 And being additionally provided with two-way hydraulic cylinder 53 between top-support 51, described big arm Cha Zhao mechanism 52 is stretched by two-way hydraulic cylinder 53 Jointed shaft along top-support 51 rotates, and can be used as telescopic slide, it is achieved clamping device captures the function putting down vehicle.
The turntable bearing 55 of rotatable movement it is additionally provided with between described broadside mechanism 5 and top-support 51, described Top-support 51 by turntable bearing 55 and broadside mechanism 5 rotatable engagement, feed making the angle of changing of held vehicle It is used.
Described big arm Cha Zhao mechanism 52 is made up of with lower jaw 522 upper quarter bend 521, described lower jaw 522 grafting In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 with lower jaw 522.It is provided with in described upper quarter bend 521 Second hydraulic cylinder, the second described hydraulic cylinder two ends are respectively at upper quarter bend 521 and the fixing connection of lower jaw 522, described upper square Pipe 521 top is hinged on top-support 51 both sides, and described two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent The upper quarter bend 521 in two, left and right earhole between be also associated with cross bar 523.
The end of described big arm Cha Zhao mechanism 52 embraces a crossbeam 54 for folder, and described folder is embraced crossbeam 54 and is hinged on lower jaw 522 ends, described folder embraces crossbeam 54 and includes two hollow steel pipes 541 arranged in parallel, between two hollow pipes and leave certain between Away from, for tire screens.The two ends of two hollow steel pipes 541 are provided with connection shrouding 542, set in the middle of described connection shrouding 542 There are jointed shaft, described folder to embrace crossbeam 54 and are hinged on lower jaw 522 end, described company by connecting the jointed shaft of shrouding 542 Connect and be additionally provided with torsion spring between the jointed shaft of shrouding 542 and lower jaw 522, make connection shrouding abreast close to arm one direction, with Reach compact appearance.Under arm makes widely known state, crossbeam connects shrouding and arm at same direction or slightly degree of tilt, and ensures The pulley tube axle of clamping tire side by inboard and first contacts to earth.It is arranged with some skids on the hollow steel pipe 541 of described inner side Wheel.Being additionally provided with pulley roller bearing 543 between two described hollow steel pipes 541 arranged in parallel, described pulley roller bearing 543 is by even Bar is movably articulated between connection shrouding 542 and hollow steel pipe 541, and pulley roller bearing 543 upper and lower surface is respectively arranged with a spring leaf, plays When arm is made widely known, little roller groups is unlikely to slack and undisciplined tenesmus shape, it is ensured that have the clean and tidy compact sense of structure.On described pulley roller bearing 543 also Being provided with the first limit switch 544, the first described limit switch 544 is provided with limit switch depression bar 545, described limit switch Depression bar 545 is positioned at above pulley roller bearing 543, and the first described limit switch 544 controls two-way hydraulic cylinder 53 and stops and second Hydraulic cylinder extension drives lower jaw 522 lifting.The bottom of described lower jaw 522 is additionally provided with the second limit switch 523, described Second limit switch 523 controls the flexible of the second hydraulic cylinder, thus keeps the distance with ground.
When needs clamping vehicle time, upper quarter bend 521 two-way hydraulic cylinder 53 act under make arm outwards make widely known and under Jaw 522 declines until pressing from both sides an armful crossbeam 54 and contacting to earth., make vehicle tyre enter on hollow steel pipe 541 under arm clamping action straight To the limit switch depression bar 545 contacting the first limit switch 544, under the effect of the first limit switch 544, now arm is embraced Tight pause in action, is promoted hollow steel pipe 541 and car one end tire by the second hydraulic cylinder being arranged in upper quarter bend 521 then More than 10CM, now pulley roller bearing 543 sinks under by folder vehicle weight effect, makes wheel be stuck in crossbeam two hollow steel pipe Between 541.If vehicle rear cabinet has weight or parking brake not in place, other end wheel is caused not to be simultaneously into arm sill two In hollow steel pipe 541, now another arm and fork beam continue to hold tightly, and on the axle entered after making, car tire the most easily enters Enter to pitch in pawl crossbeam.Live wheel the most promoted certain height because being introduced into the fork joist steel pipe clamp of tire side, be introduced into Side tire will not because of rear entrance tire side to power to wheel is offside and mounting board position between two steel pipes of jumping out.Hold tightly dynamic at arm Act on down on the hollow steel pipe 541 also into another group, start with identical spacing pass and make arm promote in time, car Wheel has also sticked in two steel pipes of another fork beam, to reach to hang a liter purpose.Two steel pipes have multiple roll sleeve by the two ends of inboard, Slightly larger two of the diameter sliding that is used for contacting to earth is used, by mid diameter slightly smaller for vehicle tyre sliding card.
When big arm Cha Zhao mechanism 52 declines close to ground, the motor liquid in lower jaw 522 given by the second limit switch 523 Compressing cylinder valve provides switching signal, makes arm be unlikely overweight and contacts to earth, and be maintained at a certain distance with ground all the time, makes again The mechanism of arm Cha Zhao greatly 52 constantly shrinks last arm length in clamping process, till a folder armful crossbeam 54 holds tire tightly.
When discharge gets loose car, pulley roller bearing 543 lifting when contacting ground in crossbeam 54 embraced by the folder of arm end Tire is allowed to maintain an equal level with hollow steel pipe 541, does not make wheel be stuck in hollow steel pipe 541 and is difficult to shirk.
Embodiment 2
Described clamping device includes that the broadside mechanism 5 at top, described broadside mechanism 5 are provided with pulley, grooved rail Inside having four wheel shafts slided, four pulleys can move laterally under the driving of tooth bar and motor, reaching to be pressed from both sides car can push away Car outbound is proposed with clamping in delivering to warehouse compartment.Described clamping device also includes top-support 51 and for clamping the big arm of vehicle Cha Zhao mechanism 52, described big arm Cha Zhao mechanism 52 is hinged on top-support 51 both sides, described big arm Cha Zhao mechanism 52 And being additionally provided with two-way hydraulic cylinder 53 between top-support 51, described big arm Cha Zhao mechanism 52 is stretched by two-way hydraulic cylinder 53 Jointed shaft along top-support 51 rotates, and can be used as telescopic slide, it is achieved clamping device captures the function putting down vehicle.
The turntable bearing 55 of rotatable movement it is additionally provided with between described broadside mechanism 5 and top-support 51, described Top-support 51 by turntable bearing 55 and broadside mechanism 5 rotatable engagement, feed making the angle of changing of held vehicle It is used.
Described big arm Cha Zhao mechanism 52 is made up of with lower jaw 522 upper quarter bend 521, described lower jaw 522 grafting In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 with lower jaw 522.It is provided with in described upper quarter bend 521 Second hydraulic cylinder, the second described hydraulic cylinder two ends are respectively at upper quarter bend 521 and the fixing connection of lower jaw 522, described upper square Pipe 521 top is hinged on top-support 51 both sides, and described two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent The upper quarter bend 521 in two, left and right earhole between be also associated with cross bar 523.
The end of described big arm Cha Zhao mechanism 52 is quarter bend crossbeam 56, and the middle part of described quarter bend crossbeam 56 is provided with two The individual otch 561 for tire screens, described otch 561 is respectively provided on two sides with the clamping plate 562 promoted by hydraulic jack, described Clamping plate 562 prevent car front and back from sliding by hydraulic jack clamping wheel.After tire puts in place, two cutting for tire screens The clamping plate 562 that the hydraulic jack of mouth 561 both sides promotes, under hydraulic jack effect, clamp tire, and being allowed to will not be before and after car Slide in side.
The rear side of described otch 561 is additionally provided with the first limit switch 544, and the first described limit switch 544 controls double Stop to hydraulic cylinder 53.
It is additionally provided with back-moving spring between described clamping plate 562 and hydraulic jack.
In portal frame, big arm Cha Zhao mechanism 52 etc., each is equal close to position with held vehicle, ground and warehouse compartment institute It is equipped with range sensor or limit switch, accurately clamps vehicle during to reach work and make row shifting control action.
Embodiment 3
Described clamping device includes that the broadside mechanism 5 at top, described broadside mechanism 5 are provided with pulley, grooved rail Inside having four wheel shafts slided, four pulleys can move laterally under the driving of tooth bar and motor, reaching to be pressed from both sides car can push away Car outbound is proposed with clamping in delivering to warehouse compartment.Described clamping device also includes top-support 51 and for clamping the big arm of vehicle Cha Zhao mechanism 52, described big arm Cha Zhao mechanism 52 is hinged on top-support 51 both sides, described big arm Cha Zhao mechanism 52 And being additionally provided with two-way hydraulic cylinder 53 between top-support 51, described big arm Cha Zhao mechanism 52 is stretched by two-way hydraulic cylinder 53 Jointed shaft along top-support 51 rotates, and can be used as telescopic slide, it is achieved clamping device captures the function putting down vehicle.
The turntable bearing 55 of rotatable movement it is additionally provided with between described broadside mechanism 5 and top-support 51, described Top-support 51 by turntable bearing 55 and broadside mechanism 5 rotatable engagement, feed making the angle of changing of held vehicle It is used.
Described big arm Cha Zhao mechanism 52 is made up of with lower jaw 522 upper quarter bend 521, described lower jaw 522 grafting In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 with lower jaw 522.It is provided with in described upper quarter bend 521 Second hydraulic cylinder, the second described hydraulic cylinder two ends are respectively at upper quarter bend 521 and the fixing connection of lower jaw 522, described upper square Pipe 521 top is hinged on top-support 51 both sides, and described two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent The upper quarter bend 521 in two, left and right earhole between be also associated with cross bar 523.Telescopic lower jaw 522 is had in upper quarter bend 521, There are two nylon slide blocks between upper quarter bend 521 and lower jaw 522, are respectively arranged with a groove in the middle of slide block, respectively for the Cha Zhao mechanism of bottom The steel wire rope that 57 hydraulic oil pipelines swung and pulling whippletree swing passes through.
The end of described big arm Cha Zhao mechanism 52 is provided with the Cha Zhao mechanism 57 for clamping vehicle tyre, described fork Pawl mechanism 57 includes quarter bend whippletree 571, is additionally provided with and pulls the steel that quarter bend whippletree 571 swings in described big arm Cha Zhao mechanism 52 Cord, described steel wire rope two ends are connected with quarter bend whippletree 571, upper quarter bend 521 respectively, and described quarter bend whippletree 571 is hinged on Lower jaw 522 end, described quarter bend whippletree 571 two ends are equipped with little yoke 572, described little yoke 572 and quarter bend whippletree Being flexibly connected between 571, be provided with hydraulic oscillating cylinder in the end of described big arm Cha Zhao mechanism, described little yoke 572 passes through Drive connects.Described quarter bend whippletree 571 upper end is provided with hanger 573, and described quarter bend whippletree 571 passes through hanger 573 ends being hinged on lower jaw 522, are additionally provided with torsion spring between described hanger 573 and lower jaw 522.The tension force of torsion spring makes Little yoke 572 whippletree is close to outside lower jaw 522 end, little yoke 572 need to be made horizontal under an arm during fall obvolvent vehicle tyre Thick stick follows closely to be shown.Thus need to be dragged a steel wire rope by the steel wire rope in last arm because arm inner arm declines.Because needing carrying of steel wire rope For elongatedness, in the middle part of i.e. further lower jaw 522 end and quarter bend whippletree 571 between truckle group on axle base, i.e. discharge Steel wire disk, around length, declines for interior arm and stretches rope capacity.Declining in big arm Cha Zhao mechanism 52 looks for truck position then Completed by the sensor and robotic vision system being arranged on each position.Little yoke 572 is accurately directed at tire can be by spacing Switch or sensor position, and make enhancing action when four little yokes 572 clamp big arm Cha Zhao mechanism 52 when tire puts in place.
When paw need to make to clamp vehicle action, big arm Cha Zhao mechanism 52 is progressively declined by original maximum angle of making widely known Holding action tightly, when decline holds action tightly to half way, big arm Cha Zhao mechanism 52 i.e. stretches out inner arm under hydraulic cylinder effect Action.Hook and be enclosed within the steel wire rope of quarter bend 521 upper end and coil tension spring 524 with the length change of big arm Cha Zhao mechanism 52, ensconce Steel wire in the mechanism of arm Cha Zhao greatly 52 is constantly tensioned, and makes quarter bend whippletree 571 gradually leave and big arm Cha Zhao mechanism 52 end Parallel surface outside end, constantly magnify with big arm Cha Zhao mechanism 52 outside angle, quarter bend whippletree 571 close to big arm End rectangular orthogonal time, big arm Cha Zhao mechanism 52 i.e. makees clamping obvolvent vehicle tyre action.The most parallel at quarter bend whippletree 571 During close to ground, the universal wheel ball being arranged on below the bearing pin of quarter bend whippletree 571 joint contact to earth, until quarter bend whippletree 571 is close Ground or reduce the angle with ground.Reach to clamp the condition of tire little yoke 572 can be made with the acquisition of ground distance sensor Time, little yoke 572 i.e. opens mounting board before and after tire, i.e. completes holding action.Little yoke 572 is slightly longer, and clamps tire, and Card catches on the most loosely.270 degree of hydraulic oscillating cylinders of upper quarter bend 521 lower end have limited pendulum angle, and with locking function, little The little power of type hydraulic oscillating cylinder volume is big, completely competent clamping torsion.
Described actuating device includes universal joint 574, driving gear 575 and driven gear 576, described driving gear 575 He Between driven gear 576, transmission coordinates, described driving gear 575 and little yoke 572, driven gear 576 and another Connected by sprocket wheel between little yoke 572, it is achieved the opening and closing of little yoke 572.
The inner side of described quarter bend whippletree 571 and downside are equipped with one and touch for and quarter bend whippletree 571 close to tire Position provides the range sensor 577 of control signal.
Being additionally provided with coil tension spring 524 between described steel wire rope and upper quarter bend 521, described steel wire rope passes through coil tension spring 524 are fixed in quarter bend 521.It is equipped with pulley on described little yoke 572 end and quarter bend whippletree 571, is used for coordinating torsion Little yoke 572 made by spring and being used around steel wire rope of dynamic structure of laminating is opened by big arm Cha Zhao mechanism 52.Steel wire rope passes through two Pulley between group truckle group repeatedly detours, then the coil tension spring 524 going upward to quarter bend 521 top is connected, flexible bullet Another upper end of spring 524 hooks and is enclosed within a pin.Coil tension spring 524 plays tense wire rope and does not disengage it from assembly pulley groove position, and logical Cross steel wire rope lower jaw 522 whippletree is pulled as flexibility.
Because two little yokes 572 are close to quarter bend bottom abreast, need to stagger the time during folding and make widely known and closed action, thus need Made between the gear on speed ratio transmission and driven shaft and shaft core, have the pendulum time delay of spline sky to come wrong by active, the gear of driven shaft and sprocket wheel Open little paw opening and closing movement.The angular travel consumed in shaft core and gear idle running then compensates angle according to two sprocket wheel size speed ratios Degree stroke, time difference and angle needed for thus having reached unlatching, Guan Bi are accurate.
Such as: be 270 degree by rotational angle needed for paw outside the tire before and after car, principal and subordinate movable sprocket speed ratio 1:1, i.e. 24 tooth sprockets are than 24 tooth sprockets.By car middle part tire side paw needed for the angle that rotates be driven shaft gear than main Few 3 teeth of moving axis gear, then by the driven sprocket of the drive sprocket under driven shaft with end be 24 teeth than 23 teeth, thereby produce two The angle that little paw swings is 270 degree and 315 degree.But driven shaft paw has more 45 degree need to be had by between driven gear shaft core and gear 45 degree of strokes of empty pendulum consume.The two little paw opening times poor paw transmitted by driving shaft is for first to show around here, driven Axle institute rotational angle, because there being free swinging to produce after causing little paw, is i.e. formed and successively opens.But need to be by driven shaft when return The hands unguiculus of one end early return, then put and storage power by circling or whirl in the air with the even wheel of wheel one of the torsion spring institute hasp on quarter bend end sprocket wheel Make it shift to an earlier date return, reach swing effect of staggering the time.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned enforcement Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that, for the art Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications are also Should be regarded as protection scope of the present invention.

Claims (5)

1. an intelligent stereo garage vehicle clamping device, it is characterised in that described clamping device includes the side at top To coasting mechanism (5), described broadside mechanism (5) is provided with pulley, and described clamping device is by pulley edge warehouse-in rail Road (21) transverse shifting, described clamping device also includes top-support (51) and for clamping the big arm Cha Zhao mechanism of vehicle (52), described big arm Cha Zhao mechanism (52) is hinged on top-support (51) both sides, described big arm Cha Zhao mechanism (52) Jointed shaft along top-support (51) rotates, it is achieved clamping device captures the function putting down vehicle, described big arm fork pawl machine The end of structure (52) is quarter bend crossbeam (56), and the middle part of described quarter bend crossbeam (56) is provided with two otch for tire screens (561), described otch (561) is respectively provided on two sides with the clamping plate (562) promoted by hydraulic jack, and described clamping plate (562) lead to Crossing hydraulic jack clamping wheel prevents car front and back from sliding.
A kind of intelligent stereo garage vehicle clamping device the most according to claim 1, it is characterised in that described is big Two-way hydraulic cylinder (53) it is additionally provided with, described big arm Cha Zhao mechanism between arm Cha Zhao mechanism (52) and top-support (51) (52) rotated by the flexible jointed shaft along top-support (51) of two-way hydraulic cylinder (53), it is achieved clamping device captures and puts down vehicle Function.
A kind of intelligent stereo garage vehicle clamping device the most according to claim 1, it is characterised in that described Being additionally provided with the turntable bearing (55) of rotatable movement between broadside mechanism (5) and top-support (51), described top is propped up Frame (51) is by turntable bearing (55) and broadside mechanism (5) rotatable engagement.
A kind of intelligent stereo garage vehicle clamping device the most according to claim 1, it is characterised in that described cuts The rear side of mouth (561) is additionally provided with the first limit switch (544), and described the first limit switch (544) controls two-way hydraulic cylinder (53) stop.
A kind of intelligent stereo garage vehicle clamping device the most according to claim 1, it is characterised in that described folder It is additionally provided with back-moving spring between plate (562) and hydraulic jack.
CN201610913518.3A 2016-10-20 2016-10-20 A kind of intelligent stereo garage vehicle clamping device Active CN106320772B (en)

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CN108643648A (en) * 2018-04-08 2018-10-12 黄秋 The car bearing platform and its application method of rotary stereo garage
CN111993319A (en) * 2020-09-21 2020-11-27 安徽金力泵业科技有限公司 Efficient electric pump tool clamp and using method

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CN202882489U (en) * 2012-09-29 2013-04-17 东北大学 Multi-drive triaxial leakage grabbing type parking garage
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CN111993319A (en) * 2020-09-21 2020-11-27 安徽金力泵业科技有限公司 Efficient electric pump tool clamp and using method

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