CN106437243B - A kind of intelligent stereo garage vehicle clamping device - Google Patents
A kind of intelligent stereo garage vehicle clamping device Download PDFInfo
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- CN106437243B CN106437243B CN201610913449.6A CN201610913449A CN106437243B CN 106437243 B CN106437243 B CN 106437243B CN 201610913449 A CN201610913449 A CN 201610913449A CN 106437243 B CN106437243 B CN 106437243B
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- quarter bend
- whippletree
- clamping device
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- big arm
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- 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
- E04H6/182—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 using car-gripping transfer means
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- Civil Engineering (AREA)
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Abstract
A kind of intelligent stereo garage vehicle clamping device, for realizing the vehicle clamping function of intelligent stereo garage, driver is without accurately parking and waiting handling in place, when vehicle is moved in the robot previous inbound/outbound process of completion, it extracts the car required behind parked one by one again and parks to warehouse compartment and thus saved the time waited in line, the laborious steps for eliminating plain edition garage parking when must accurately be parked in the difficulty and more waiting of the hanging scaffold and shift position that are lifted by pilot steering.This money only needs lifting clamping robot that storage can be completed out and moves parking step, existing parking garage each warehouse compartment is omitted need to have independently to hang and rise and the shortcomings that the complicated structure of traversing power mechanism, cost saved the time waited out and be put in storage.
Description
Technical field
The present invention relates to parking equipment technical fields, and in particular to a kind of intelligent stereo garage vehicle clamping device.
Background technique
In recent years, with the fast development of Domestic Automotive Industry and urbanization, Urban vehicles poputation is continuously increased,
There is the problem of parking difficulty in succession in large, medium and small city.Mechanical solid parking lot library is gradually sent out along with parking difficulty problem
Exhibition get up new industry, be known as solve the problems, such as population, building dense area, common service area parking difficulty preferred means.
Currently, all kinds of research and development main bodys oneself develop a plurality of types of mechanical stereo parking garages, can be with according to the difference in space telescopic direction
It is divided into following several：Lifting cross-sliding type, vertical lift type, Vertical Circulating, horizontal-circulating car, horizontal mobile etc., wherein rising
Drop cross sliding type parking systems be current technology it is the most mature, using most forms.And existing plain edition garage parking must be by
Manually accurately it is parked in the laborious steps when difficulty and more waiting of the hanging scaffold and shift position that are lifted.Even if there is machine at present
People's shutdown system also need to install again transverse-moving mechanism additional on independent warehouse compartment.
Summary of the invention
In order to solve the deficiencies in the prior art, of the 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, the folder
The broadside mechanism that mechanism includes top is held, the broadside mechanism is equipped with pulley, and the clamping device passes through
For pulley along storage track transverse shifting, the clamping device further includes top-support and the big arm fork pawl for clamping vehicle
Mechanism, the big arm Cha Zhao mechanism are hinged on top-support two sides, the big arm Cha Zhao mechanism and top-support it
Between be additionally provided with two-way hydraulic cylinder, the big arm Cha Zhao mechanism is turned by the flexible articulated shaft along top-support of two-way hydraulic cylinder
It is dynamic, realize that the function of vehicle is put down in clamping device crawl.
The big arm Cha Zhao mechanism is made of upper quarter bend and lower clamping jaw, and the lower clamping jaw is plugged in quarter bend,
Second hydraulic cylinder is equipped in the upper quarter bend, the second hydraulic cylinder both ends are respectively at upper quarter bend and the fixed company of lower clamping jaw
It connects, is hinged on top-support two sides at the top of the upper quarter bend, the two-way hydraulic cylinder is connected on the earhole of quarter bend, phase
Cross bar is also connected between the earhole of the adjacent upper quarter bend in left and right two.
The turntable bearing of rotatable movement, the top are additionally provided between the broadside mechanism and top-support
Bracket passes through turntable bearing and broadside mechanism rotatable engagement.
The end of the big arm Cha Zhao mechanism is equipped with the Cha Zhao mechanism for being clamped vehicle tyre, the fork pawl machine
Structure includes quarter bend whippletree, is additionally provided in the big arm Cha Zhao mechanism and pulls the wirerope that quarter bend whippletree is swung, the steel
Cord both ends are connect with quarter bend whippletree, upper quarter bend respectively, and the quarter bend whippletree is hinged on lower clamping jaw end, and the quarter bend is horizontal
Thick stick both ends are equipped with small yoke, are flexibly connected between the small yoke and quarter bend whippletree, the big arm Cha Zhao mechanism
Hydraulic oscillating cylinder is equipped in end, the small yoke is connected by drive.
The quarter bend whippletree upper end is equipped with lifting lug, and the quarter bend whippletree is hinged on the end of lower clamping jaw by lifting lug,
Torsional spring is additionally provided between the lifting lug and lower clamping jaw.
The transmission device includes universal joint, driving gear and driven gear, the driving gear and driven gear
Between be driven cooperation, between the driving gear and a small yoke, driven gear and another small yoke by sprocket wheel company
It connects, realizes the opening and closing of small yoke.
The inside of the quarter bend whippletree and downside are equipped with one for tire is close and quarter bend whippletree contacts to earth position
The range sensor of control signal is provided.
It is additionally provided with adjustable spring between the wirerope and upper quarter bend, the wirerope is fixed on by adjustable spring
In upper quarter bend.
Be equipped with pulley on the lower clamping jaw end and quarter bend whippletree, the wirerope detour lower clamping jaw end with
On the pulley of quarter bend whippletree.
The beneficial effects of the invention are as follows：The present invention provides a kind of intelligent stereo garage vehicle clamping devices, drive
Member when the robots previous inbound/outbound process of completion being waited to move vehicle, then extracts required behind one by one without accurately parking and waiting handling in place
The car parked is parked to warehouse compartment and has thus saved the time waited in line, and eliminating plain edition garage parking must be by artificial accurate
The laborious steps when hanging scaffold lifted and shift position difficulty and more waiting are parked in, this money only needs a lifting clamping
Robot, which can be completed, to be moved vehicle and goes out storage step, and existing parking garage each warehouse compartment, which is omitted, need to answering for traversing power mechanism
The shortcomings that miscellaneous construction, that greatly saves waits out the time being put in storage.
Detailed description of the invention
Fig. 1 is parking systems overall structure diagram of the present invention.
Fig. 2 is the anti-fall mechanism structure schematic diagram of parking systems of the present invention.
Fig. 3 is parking systems of the present invention upright Luo rod type up-down mechanism structural schematic diagram.
Fig. 4 is 1 clamping device structural schematic diagram of the embodiment of the present invention.
Fig. 5 is that 1 clamping device of the embodiment of the present invention holds beam structure schematic diagram.
Fig. 6 is 2 clamping device structural schematic diagram of the embodiment of the present invention.
Fig. 7 is 3 clamping device structural schematic diagram of the embodiment of the present invention.
Fig. 8 is that 3 clamping device of the embodiment of the present invention 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- are horizontal
Track, 21- storage track, 31- platform sling, 32- vertical lift pulley blocks, 33- quarter bend frame, the upright Luo bar of 34-, 41- determines voussoir,
42- dynamic voussoir, 43- back-moving spring, 44- active pin shaft, 45- extension spring, 46- pinch roller, 51- top-support, the big arm of 52-
Cha Zhao mechanism, 53- two-way hydraulic cylinder, 54- hold crossbeam, 55- turntable bearing, 56- quarter bend crossbeam, 57- Cha Zhao mechanism, on 521-
Quarter bend, clamping jaw under 522-, 523- cross bar, 541- hollow steel pipe, 542- connection sealing plate, 543- pulley roller bearing, 544- first are limited
Switch, 545- limit switch compression bar, 561- notch, 562- clamping plate, 571- quarter bend whippletree, the small yoke of 572-, 573- lifting lug, 574-
Universal joint, 75- driving gear, 576- driven gear, 577- range sensor.
Specific embodiment
Now in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, invention is further explained, a kind of intelligence
Parking systems, including landing 1 are provided with several parking warehouse compartments 2, the intelligent three-dimensional on the landing 1
Garage parking further includes the clamping device for vehicle to be moved to specified parking warehouse compartment 2, and the clamping device passes through elevator
Structure realizes vertical lift, is additionally provided with horizontal rail 11 in the horizontal direction on the landing 1, the elevating mechanism can edge
Horizontal rail 11 moves horizontally the function of realizing that clamping device moves horizontally, and is additionally provided on the parking warehouse compartment 2 along garage parking
2 perpendicularly inward storage tracks 21 of position, the clamping device can be moved in each parking warehouse compartment 2 along storage track 21.
Elevating mechanism
The elevating mechanism includes portal frame 3 and a horizontal positioned platform sling 31, and the clamping device, which is mounted on, to be hung
On plate 31, the inside of the column of the portal frame 3 is equipped with vertical lift pulley blocks 32, and the vertical lift pulley blocks 32 are logical
It crosses wirerope to connect with platform sling 31, the elevating mechanism drives vertical lift pulley blocks 32 to realize hanging down for platform sling 31 by motor
Go straight up to drop.Track and pulley arranged at portal frame bottom, pulley respectively by the driving wheel and another driven wheel of variable-frequency motor driving,
There are the more crossbeams for being parallel to library rack-layer face between 3 column of portal frame, library frame top of the upper layer has horizontal grooved rail straight for portal frame 3 again
Found stable pulley guide rails.Pulley is fixed on the side of quarter bend frame 33, then is allowed to connection by two two hollow shafts and is formed
There is solid shafting at one frame-shaped pulley yoke, the both ends of two lateral hollow shafts, and shaft end has refilled pulley, and pulley is in portal frame 3
In the sliding slot of side, laterally to the hollow central siphon of power when the lower part of top sheave axis is furnished with a support non-slipping block job again, while
Wirerope is walked for the interaction that two groups of anti-falling wedge blocks work at the same time to pass through.
Also dual-purpose platform sling 31 opens the vertical lift pulley blocks 32 shared simultaneously.On there is coasting mechanism in the grooved rail of portal frame 3
Two groups of pulleys of row, two groups of pulleys are connected on rectangular tube by hollow shaft, and platform sling frame is drawn by lifting pulley frame, wirerope one end
It is fixed in 3 upper beam of portal frame, downlink detours in the movable pulley on pulley yoke further around two sides of the upper beam to portal frame 3
Fixed pulley then detours once again down toward the movable pulley of the pulley yoke other side, after and uplink determines cunning on portal frame 3 once again
Wheel, the hole through 3 upper end of portal frame reach 3 downside of portal frame, the volume for being mounted on 3 lower part of portal frame are come downwards to through outside fixed pulley
It raises on machine.It is equipped with the platform sling 31 of horizontal storing together on the axis of vertical lift 32 lower end of pulley blocks, platform sling 31 has hanging ring above
It is fixed on a upper shaft end for pulley blocks, by iron chains or steel cable to reach the requirement of horizontal placement and suspention gravity.In hanger
31 for a long time when not working, and ensconces in certain warehouse compartment in clamp arm, then by another motor winding steel wire rope and multiple pulleys make fitting or
Open horizontal platform sling placement effect.I-shaped steel tank in 3 side of portal frame and library frame layer, which is provided with, vertically and horizontally to be placed
Trolley, is moved for 3 row of portal frame and pulley blocks lifting provides power supply.
3 top and bottom of portal frame is equipped with pulley, and the portal frame 3 is by motor band movable pulley along horizontal
Track 11 moves horizontally.Horizontal comparison junction, which has, increases limit switch and safe spacing safety block, to prevent malfunctioning switch after
Continuous error row is moved, and each power motor has overload protective relay, protects overweight starting.
The inside of the column of the portal frame 3 can also be equipped with upright Luo bar 34, there is Luo mother on the upright Luo bar 34,
The mullion of the inside of the platform sling 31 is fixed on mother Luo upper end, the elevating mechanism by motor drive upright Luo bar 34 with
Mother Luo is driven the vertical lift for realizing platform sling 31.Upright Luo bar 34 on the inside of the groove for being vertically arranged I-steel, upright Luo bar 34 it is upper
The angular wheel shaft that top has the power being connected between power motor and two Luo bars to transmit is connected.There is Luo on upright Luo bar 34
The inside mullion of mother, platform sling 31 are then fixed on mother Luo upper end.Platform sling 31 is then welded by chan frame.There is rack gear under platform sling 31
It is engaged with the arm mounting motor gear on frame that moves laterally, it is mobile to lateral horizontal type.There is small-sized hydraulic on horizontal platform sling
It stands, is used for arm is flexible with clamping hydraulic cylinder offer power.
Anti-fall mechanism
Anti-fall mechanism 4, the anti-fall mechanism 4 are additionally provided between the vertical lift pulley blocks 32 and quarter bend frame 33
Dynamic voussoir 42 including the determines voussoir 41 that is fixed on quarter bend frame 33 and with the sliding cooperation of determines voussoir 41, dynamic voussoir 42 can be by
Aluminium block or open triangles block iron are made.Two voussoir binding faces have guiding
Pin and cotter way, are allowed to be not easy to break away and fall off at work, 42 two sides of the determines voussoir 41 and dynamic voussoir
It is additionally provided with back-moving spring 43 to drag tightly, the determines voussoir 41 and dynamic voussoir 42 are bonded by back-moving spring 43, described
Determines voussoir 41 pass through the active pin shaft 44 that is detachably detached from, be fixed on quarter bend frame 33,44 bottom of active pin shaft
It is connected with extension spring 45, transmission rope is connected in the extension spring 45, described transmission rope one end is connected to vertical liter
Pulley blocks 32 drop, and the vertical lift pulley blocks 32 control transmission rope and extension spring 45 is driven to realize that the disengaging of active pin shaft 44 is fixed
Voussoir 41.
The vertical lift pulley blocks 32 further include the pinch roller 46 of a triangle, one of angle of the pinch roller 46
It is hinged on quarter bend frame 33, another angle of the pinch roller 46 is cooperated by pulley and wirerope, the pinch roller 46
It is connect by transmission rope with extension spring 45 on a remaining angle, the pinch roller 46 of the triangle is in the quiet of stress balance
Only state, described 45 one end of extension spring are fixed on quarter bend frame 33, and the active pin shaft 44 and transmission rope are all connected with
In 45 other end of extension spring, the extension spring 45 is in the state of stress balance.The active pin shaft 44 passes through rope
Rope is flexible coupling with extension spring 45, is set in the elevating mechanism there are two anti-fall mechanism 4, the anti-fall mechanism 4 of described two
Active pin shaft 44 is flexible coupling by rope.When meet hang liter steel rope breaking when, existed by drawing high the pinch roller on pulley side on being mounted on
Under the pulling of brute spring, even the drawstring of spring detent pulls together is loosened, and lock pin is made to be detached from dynamic voussoir.By two voussoir two sides
Back-moving spring effect under, make two voussoirs displacement swelling in the sliding slot of portal frame.A liter rope loosing is hung in view of fracture
Position determines have pinch roller 46 to drag a dynamics unevenness to wirerope or have the drag effects such as wirerope self weight on pulley side, be mounted on
The lock pin of other side voussoir also plays anti-sliding function, two sides voussoir by the wirerope pulling in corresponding hollow central siphon together
Have mutually while serving anti-fall.Under the action of crane gravity, the more swelling of two wedges instantaneously reaches anti-fall effect.
Appearance and sun-proof aspect：
In library, frame surrounding is equipped with preventing coating protection of the venetian blind to make to car, and inactive each side can be by high wide by each warehouse compartment
Canvas strips are made, there is keel steel wire at canvas strips both ends, and keel steel wire both ends are rolled over again circle, to spring hook, spring one end
The steel wire at canvas end is caught on, the other end, which is caught on, to be tightly attached on the angle bar on library frame side, and inside and outside two avris post on the trestle of library
Two angle bar catch on for two steel wires at canvas end, and two angle bar wherein have the screw flute length hole that can be moved for one, to make hundred
Middle curtain sheet angle adjustment displacement is used.Two springs difference hook at canvas strips end makes on the different location hole of two angle bar
Formation angle tilt, with make shading and ventilation alternate angle distance.Canvas strips can be vertically arranged or horizontal installation, are shone according to live sunlight
Depending on needed for firing angle degree.
The entire door curtain in storage door front is formed by stacking by the multi-disc horizontal curtain of formula that waves out.Door curtain can be by both sides pulley grooved rail conduct
The sliding snapping condition of curtain head, canvas are navigated within a side of leaf curtain by a transverse steel wire, and leaf curtain is hung with droop, under
Wave shape in portion.Equally also there is spring overlap joint at wire both ends, the hook between leaf curtain head and pulley groove, to tense curtain sheet.In curtain
The grooved rail upper and lower ends of head connect again pulls wirerope, moves amplitude to control door curtain row, is guided on motor reel by pulley, in electricity
Make lifting action under the drive of machine.The track upper and lower side of curtain head is respectively provided with limit switch.Can be had according to different warehouse compartment structures
On draw high it is collapsible and decline collapsible and each money of central spindle drum reel formula.Venetian blind can play and docking process sun-proof to car
Function of noise is reduced, is solved the disadvantage that because garage can not sunshade.Breakage is easily torn if when installing additional to the wind with thin plate, if with thickness
Plate is reinforced then because entire library frame area is excessive when meeting high wind, because pedestal condition is limited and the library side Jia great wind-engaging probably connects entire vehicle
Library folding is ruined.And the venetian blind method is used, when meeting high wind, the tilting of curtain can smoothly let in air, and both ends spring equally can also be drawn
The gap between curtain sheet is stretched, it is current to be conducive to wind-force.It can be used outside with the sun-proof noise reduction sound function of wind resistance and as advertisement metope,
Curtain sheet can double-side-turning ad content or replacement curtain sheet.
Clamping device
This scheme mentions before vehicle need to sail to warehouse compartment by vehicle, the ground parking area that Shi Jia vehicle robot is got at, or by
Time is stopped storage vehicle and is transplanted in front of warehouse compartment by Yi Che robot, then is hung and risen in warehouse compartment by Jia Che robot.
Embodiment 1
The clamping device includes the broadside mechanism 5 at top, and the broadside mechanism 5 is equipped with pulley,
There are four wheel shafts slided in grooved rail, four pulleys can move laterally under the driving of rack gear and motor, reach by folder car
It can push in warehouse compartment and clamping proposes vehicle outbound.The clamping device further includes top-support 51 and for clamping the big of vehicle
Arm Cha Zhao mechanism 52, the big arm Cha Zhao mechanism 52 are hinged on 51 two sides of top-support, and the big arm pitches pawl machine
Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, the big arm Cha Zhao mechanism 52 passes through two-way hydraulic cylinder 53
The flexible articulated shaft along top-support 51 rotates, and can be used as telescopic slide, realizes that the function of vehicle is put down in clamping device crawl.
The turntable bearing 55 of rotatable movement is additionally provided between the broadside mechanism 5 and top-support 51, it is described
Top-support 51 by turntable bearing 55 and 5 rotatable engagement of broadside mechanism, change angle feed with make clamped vehicle
It is used.
The big arm Cha Zhao mechanism 52 is made of upper quarter bend 521 and lower clamping jaw 522,522 grafting of lower clamping jaw
In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 and lower clamping jaw 522.It is equipped in the upper quarter bend 521
Second hydraulic cylinder, the second hydraulic cylinder both ends are fixedly connected respectively at upper quarter bend 521 with lower clamping jaw 522, the upper square
51 two sides of top-support are hinged at the top of pipe 521, the two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent
The upper quarter bend 521 in left and right two earhole between be also connected with cross bar 523.
The end of the big arm Cha Zhao mechanism 52 is to hold crossbeam 54, and the crossbeam 54 that holds is hinged on lower clamping jaw
522 ends, the described crossbeam 54 that holds includes two hollow steel pipes 541 arranged in parallel, and between two hollow pipes and there are between certain
Away from for tire detent.The both ends of two hollow steel pipes 541 are equipped with connection sealing plate 542, set among the connection sealing plate 542
There is articulated shaft, the crossbeam 54 that holds is hinged on lower 522 end of clamping jaw, the company by connecting the articulated shaft of sealing plate 542
It connects and is additionally provided with torsional spring between the articulated shaft of sealing plate 542 and lower clamping jaw 522, make to connect sealing plate in parallel close to one direction of arm, with
Reach compact appearance.In the case where arm makes widely known state, crossbeam connects sealing plate and arm in same direction or slightly degree of tilt, and guarantees
The pulley tube axis of clamping tire side contacts to earth by inboard and first.Several skids are arranged on the hollow steel pipe 541 of the inside
Wheel.Pulley roller bearing 543 is additionally provided between the hollow steel pipe 541 arranged in parallel of described two, the pulley roller bearing 543 passes through company
Bar is movably articulated between connection sealing plate 542 and hollow steel pipe 541, and 543 upper and lower surface of pulley roller bearing respectively has a spring leaf, plays
Small roller groups are unlikely to slack and undisciplined tenesmus shape when arm is made widely known, and guarantee has structure neatly compact sense.On the pulley roller bearing 543 also
Equipped with the first limit switch 544, first limit switch 544 is equipped with limit switch compression bar 545, the limit switch
Compression bar 545 is located at 543 top of pulley roller bearing, the first limit switch 544 control two-way hydraulic cylinder 53 stopping and second
Hydraulic cylinder extension drives lower clamping jaw 522 to be lifted.The bottom of the lower clamping jaw 522 is additionally provided with the second limit switch 523, described
Second limit switch 523 controls the flexible of second hydraulic cylinder, to keep at a distance from ground.
When needing to clamp vehicle, upper quarter bend 521 two-way hydraulic cylinder 53 act under make arm make widely known outward and under
The decline of clamping jaw 522 is contacted to earth until holding crossbeam 54., enter vehicle tyre under arm clamping action straight on hollow steel pipe 541
To the limit switch compression bar 545 for contacting the first limit switch 544, arm is embraced at this time under the action of the first limit switch 544
Tight pause in action then promotes hollow steel pipe 541 and car one end tire by the second hydraulic cylinder being mounted in upper quarter bend 521
10CM or more, pulley roller bearing 543 sinks under by the effect of folder vehicle weight at this time, and wheel is made to be stuck in two hollow steel pipe of crossbeam
Between 541.If vehicle rear cabinet has weight or parking brake not in place, causes other end wheel not while entering arm lower beam two
In hollow steel pipe 541, at this time another arm and fork beam continue to hold tightly, on enter after making a axis car tire also easily into
Enter to pitch in pawl crossbeam.Fork joist steel pipe clamp because being introduced into tire side lives wheel and has in addition promoted certain height, is introduced into
Side tire will not because it is rear enter tire side to power to wheel it is offside due to jump out mounting board position between two steel pipes.It is held tightly in arm dynamic
It acts on down on the hollow steel pipe 541 for also having entered another group, starting work with identical limit pass promotes arm in time, vehicle
Wheel has also sticked into two steel pipes of another fork beam, hangs a liter purpose to reach.Two steel pipes have multiple roll sleeves by inboard one both ends,
Two slightly larger slidings that are used to contact to earth of diameter are used, and are blocked by slightly smaller the sliding for vehicle tyre of mid diameter.
When the decline of big arm Cha Zhao mechanism 52 is close to ground, the second limit switch 523 is to the motor liquid in lower clamping jaw 522
Compressing cylinder valve provides switching signal, so that arm is not overweight and contacts to earth, and is maintained at a certain distance with ground always, and make
Last arm length is constantly shunk in clamping process by big arm Cha Zhao mechanism 52, until holding crossbeam 54 and holding tire tightly.
Discharge loosen car when, the pulley roller bearing 543 held in crossbeam 54 lifting when contacting ground of arm end
Tire is allowed to maintain an equal level with hollow steel pipe 541, is stuck in wheel in hollow steel pipe 541 and is not easy unloading.
Embodiment 2
The clamping device includes the broadside mechanism 5 at top, and the broadside mechanism 5 is equipped with pulley,
There are four wheel shafts slided in grooved rail, four pulleys can move laterally under the driving of rack gear and motor, reach by folder car
It can push in warehouse compartment and clamping proposes vehicle outbound.The clamping device further includes top-support 51 and for clamping the big of vehicle
Arm Cha Zhao mechanism 52, the big arm Cha Zhao mechanism 52 are hinged on 51 two sides of top-support, and the big arm pitches pawl machine
Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, the big arm Cha Zhao mechanism 52 passes through two-way hydraulic cylinder 53
The flexible articulated shaft along top-support 51 rotates, and can be used as telescopic slide, realizes that the function of vehicle is put down in clamping device crawl.
The turntable bearing 55 of rotatable movement is additionally provided between the broadside mechanism 5 and top-support 51, it is described
Top-support 51 by turntable bearing 55 and 5 rotatable engagement of broadside mechanism, change angle feed with make clamped vehicle
It is used.
The big arm Cha Zhao mechanism 52 is made of upper quarter bend 521 and lower clamping jaw 522,522 grafting of lower clamping jaw
In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 and lower clamping jaw 522.It is equipped in the upper quarter bend 521
Second hydraulic cylinder, the second hydraulic cylinder both ends are fixedly connected respectively at upper quarter bend 521 with lower clamping jaw 522, the upper square
51 two sides of top-support are hinged at the top of pipe 521, the two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent
The upper quarter bend 521 in left and right two earhole between be also connected with cross bar 523.
The end of the big arm Cha Zhao mechanism 52 is quarter bend crossbeam 56, and the middle part of the quarter bend crossbeam 56 is equipped with two
A notch 561 for tire detent, 561 two sides of notch are respectively equipped with the clamping plate 562 pushed by hydraulic cylinder, described
Clamping plate 562 prevents car front and back from sliding by hydraulic cylinder clamping wheel.When tire in place after, two cutting for tire detent
The clamping plate 562 that the hydraulic cylinder of 561 two sides of mouth pushes clamps tire under hydraulic cylinder effect, and being allowed to will not be to car front and back
Side's sliding.
The rear side of the notch 561 is additionally provided with the first limit switch 544, and first limit switch 544 controls double
Stop to hydraulic cylinder 53.
Reset spring is additionally provided between the clamping plate 562 and hydraulic cylinder.
It is each equal close to position with clamped vehicle, ground and warehouse compartment institute in portal frame, big arm Cha Zhao mechanism 52 etc.
It is equipped with range sensor or limit switch, vehicle is accurately clamped when reaching work and makees row and moves control action.
Embodiment 3
The clamping device includes the broadside mechanism 5 at top, and the broadside mechanism 5 is equipped with pulley,
There are four wheel shafts slided in grooved rail, four pulleys can move laterally under the driving of rack gear and motor, reach by folder car
It can push in warehouse compartment and clamping proposes vehicle outbound.The clamping device further includes top-support 51 and for clamping the big of vehicle
Arm Cha Zhao mechanism 52, the big arm Cha Zhao mechanism 52 are hinged on 51 two sides of top-support, and the big arm pitches pawl machine
Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, the big arm Cha Zhao mechanism 52 passes through two-way hydraulic cylinder 53
The flexible articulated shaft along top-support 51 rotates, and can be used as telescopic slide, realizes that the function of vehicle is put down in clamping device crawl.
The turntable bearing 55 of rotatable movement is additionally provided between the broadside mechanism 5 and top-support 51, it is described
Top-support 51 by turntable bearing 55 and 5 rotatable engagement of broadside mechanism, change angle feed with make clamped vehicle
It is used.
The big arm Cha Zhao mechanism 52 is made of upper quarter bend 521 and lower clamping jaw 522,522 grafting of lower clamping jaw
In upper quarter bend 521, there is elbow joint set in the junction of upper quarter bend 521 and lower clamping jaw 522.It is equipped in the upper quarter bend 521
Second hydraulic cylinder, the second hydraulic cylinder both ends are fixedly connected respectively at upper quarter bend 521 with lower clamping jaw 522, the upper square
51 two sides of top-support are hinged at the top of pipe 521, the two-way hydraulic cylinder 53 is connected on the earhole of quarter bend 521, adjacent
The upper quarter bend 521 in left and right two earhole between be also connected with cross bar 523.There is telescopic lower clamping jaw 522 in upper quarter bend 521,
There are two nylon slide blocks between upper quarter bend 521 and lower clamping jaw 522, respectively have a groove among sliding block, respectively for the Cha Zhao mechanism of lower part
57 hydraulic oil pipelines swung and the wirerope for pulling whippletree swing pass through.
The end of the big arm Cha Zhao mechanism 52 is equipped with the Cha Zhao mechanism 57 for being clamped vehicle tyre, the fork
Pawl mechanism 57 includes quarter bend whippletree 571, is additionally provided in the big arm Cha Zhao mechanism 52 and pulls the steel that quarter bend whippletree 571 is swung
Cord, the wirerope both ends are connect with quarter bend whippletree 571, upper quarter bend 521 respectively, and the quarter bend whippletree 571 is hinged on
Lower 522 end of clamping jaw, 571 both ends of quarter bend whippletree are equipped with small yoke 572, the small yoke 572 and quarter bend whippletree
It is flexibly connected between 571, hydraulic oscillating cylinder is equipped in the end of the big arm Cha Zhao mechanism, the small yoke 572 passes through
Drive connection.571 upper end of quarter bend whippletree is equipped with lifting lug 573, and the quarter bend whippletree 571 passes through lifting lug
573 are hinged on the end of lower clamping jaw 522, are additionally provided with torsional spring between the lifting lug 573 and lower clamping jaw 522.The tension of torsional spring makes
Small 572 whippletree of yoke is tightly attached on the outside of lower 522 end of clamping jaw, need to make small yoke 572 horizontal when dropping obvolvent vehicle tyre under an arm
Thick stick, which follows closely, to be shown.Thus a wirerope need to be dragged because of the decline of arm inner arm by the wirerope in last arm.Because needing mentioning for wirerope
For elongatedness, that is, axle base in the truckle group between 571 middle part of lower 522 end of clamping jaw and quarter bend whippletree of furthering releases
Steel wire disk declines for interior arm around length and stretches rope capacity.Truck position is looked for then in the decline of big arm Cha Zhao mechanism 52
It is completed by being mounted on sensor and the robotic vision system at each position.Small yoke 572 precisely aligns tire can be by limiting
Switch or sensor position, when four small yoke 572 clamping tire in place when big arm Cha Zhao mechanism 52 make enhancing action.
When gripper need to be made to clamp vehicle movement, big arm Cha Zhao mechanism 52 is gradually declined by original maximum angle of making widely known
Make holding movement, when declining holding and acting to half way, big arm Cha Zhao mechanism 52 makees stretching inner arm under hydraulic cylinder effect
Movement.It hooks the wirerope and adjustable spring 524 covered in upper 521 upper end of quarter bend to change with 52 length of big arm Cha Zhao mechanism, ensconce
Steel wire in big arm Cha Zhao mechanism 52 is constantly tensioned, and leaves quarter bend whippletree 571 gradually and 52 end of big arm Cha Zhao mechanism
The parallel surface for holding outside constantly magnifies the angle with big arm Cha Zhao mechanism 52 outside, quarter bend whippletree 571 close to and big arm
When end is at right angles orthogonal, big arm Cha Zhao mechanism 52 makees to clamp the movement of obvolvent vehicle tyre.It is not parallel in quarter bend whippletree 571
It when close to ground, is contacted to earth by being mounted on the universal wheel ball below 571 joint pin shaft of quarter bend whippletree, until quarter bend whippletree 571 is close
The angle of ground or diminution and ground.The condition that can make small yoke 572 and reach clamping tire is being obtained with ground distance sensor
When, small yoke 572 opens mounting board before and after tire, that is, completes holding action.Small yoke 572 is slightly longer, and clamps tire, and
Only loosely hook is lived.270 degree of hydraulic oscillating cylinders of upper 521 lower end of quarter bend have limited swing angle, and have locking function, small
Type hydraulic oscillating cylinder power small in size is big, completely competent clamping torsion.
The transmission device includes universal joint 574, driving gear 575 and driven gear 576, the driving gear
Be driven cooperation between 575 and driven gear 576, the driving gear 575 and one small yoke 572, driven gear 576 with separately
It is connected between one small yoke 572 by sprocket wheel, realizes the opening and closing of small yoke 572.
The inside and downside of the quarter bend whippletree 571 are equipped with one for close to tire and quarter bend whippletree 571 to touch
Position provides the range sensor 577 of control signal.
It is additionally provided with adjustable spring 524 between the wirerope and upper quarter bend 521, the wirerope passes through adjustable spring
524 are fixed in quarter bend 521.It is equipped with pulley on 572 end of small yoke and quarter bend whippletree 571, is turned round for cooperating
Spring makees small yoke 572 and being used around wirerope for the dynamic structure being bonded is opened by big arm Cha Zhao mechanism 52.Wirerope passes through two
Pulley between group truckle group is made repeatedly to detour, then goes upward to the adjustable spring 524 on 521 top of quarter bend and be connected, and stretch bullet
Another upper end of spring 524, which hooks, to be covered on a pin.Adjustable spring 524 plays tense wire rope and does not disengage it from pulley blocks slot position, and logical
It crosses wirerope and lower 522 whippletree of clamping jaw is pulled as flexibility.
Because two small yoke 572 is tightly attached to quarter bend lower part in parallel, when folding, which need to stagger the time, is made widely known and closed action, is thus needed
Make have the pendulum delay of spline sky Lai wrong between the gear in speed ratio transmission and driven shaft and central spindle by active, the gear of driven shaft and sprocket wheel
Open small gripper opening and closing movement.Angular travel consumed by dallying in central spindle and gear then compensates angle according to two sprocket wheel size speed ratios
Stroke is spent, time difference needed for thus having reached unlatching, closure and angle are accurate.
Such as：The rotational angle needed for gripper on the outside of the tire before and after car is 270 degree, principal and subordinate's movable sprocket speed ratio 1：1, i.e.,
24 tooth sprockets are than 24 tooth sprockets.The angle of the rotation needed for the gripper of the tire side at the middle part of car is driven shaft gear than master
Moving axis gear lacks 3 teeth, then by the driven sprocket of drive sprocket and end under driven shaft is 24 teeth than 23 teeth, thereby produces two
The angle that small gripper is swung is 270 degree and 315 degree.But driven shaft gripper has more 45 degree need to be by having between driven gear central spindle and gear
Sky puts 45 degree of strokes to consume.The gripper that two small gripper opening time differences are transmitted by driving shaft around here is first to show, driven
Axis institute's rotational angle is formed and is successively opened because producing after being free swinging to cause small gripper.But it need to be by driven shaft in return
The hand unguiculus morning return of one end, then by circle or whirl in the air with the wheel for even taking turns one pendulum and the storage power of the torsional spring institute hasp on the sprocket wheel of quarter bend end
So that it is shifted to an earlier date return, reaches swing effect of staggering the time.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of intelligent stereo garage vehicle clamping device, which is characterized in that the clamping device includes the side at top
To coasting mechanism（5）, the broadside mechanism（5）It is equipped with pulley, the clamping device is by pulley along storage rail
Road（21）Transverse shifting, the clamping device further include top-support（51）With the big arm Cha Zhao mechanism for clamping vehicle
（52）, the big arm Cha Zhao mechanism（52）It is hinged on top-support（51）Two sides, the big arm Cha Zhao mechanism（52）
Along top-support（51）Articulated shaft rotation, realize that the function of vehicle is put down in clamping device crawl, the big arm pitches pawl machine
Structure（52）With top-support（51）Between be additionally provided with two-way hydraulic cylinder（53）, the big arm Cha Zhao mechanism（52）By two-way
Hydraulic cylinder（53）It stretches along top-support（51）Articulated shaft rotation, realize that the function of vehicle is put down in clamping device crawl, it is described
Big arm Cha Zhao mechanism（52）By upper quarter bend（521）With lower clamping jaw（522）Composition, the lower clamping jaw（522）It is plugged on
Quarter bend（521）Interior, described upper quarter bend（521）Interior to be equipped with second hydraulic cylinder, the second hydraulic cylinder both ends are respectively at upper square
Pipe（521）With lower clamping jaw（522）It is fixedly connected, the upper quarter bend（521）Top is hinged on top-support（51）Two sides, it is described
Two-way hydraulic cylinder（53）It is connected to quarter bend（521）Earhole on, the upper quarter bend in adjacent left and right two（521）Earhole between
It is also connected with cross bar（523）, the big arm Cha Zhao mechanism（52）End be equipped with fork pawl machine for clamping vehicle tyre
Structure（57）, the Cha Zhao mechanism（57）Including quarter bend whippletree（571）, the big arm Cha Zhao mechanism（52）Inside it is additionally provided with drawing
Drag quarter bend whippletree（571）The wirerope of swing, the wirerope both ends respectively with quarter bend whippletree（571）, upper quarter bend（521）Even
It connects, the quarter bend whippletree（571）It is hinged on lower clamping jaw（522）End, the quarter bend whippletree（571）Both ends are equipped with small fork
Arm（572）, the small yoke（572）With quarter bend whippletree（571）Between be flexibly connected, the end of the big arm Cha Zhao mechanism
Hydraulic oscillating cylinder, the small yoke are equipped in end（572）It is connected by drive.
2. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that described
Broadside mechanism（5）With top-support（51）Between be additionally provided with the turntable bearing of rotatable movement（55）, the top branch
Frame（51）Pass through turntable bearing（55）With broadside mechanism（5）Rotatable engagement.
3. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that the square
Pipe whippletree（571）Upper end is equipped with lifting lug（573）, the quarter bend whippletree（571）Pass through lifting lug（573）It is hinged on lower clamping jaw
（522）End, the lifting lug（573）With lower clamping jaw（522）Between be additionally provided with torsional spring.
4. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that the biography
Dynamic device includes universal joint（574）, driving gear（575）And driven gear（576）, the driving gear（575）With it is driven
Gear（576）Between be driven cooperation, the driving gear（575）With a small yoke（572）, driven gear（576）With it is another
One small yoke（572）Between by sprocket wheel connect, realize small yoke（572）Opening and closing.
5. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that the square
Pipe whippletree（571）Inside and downside be equipped with one for tire is close and quarter bend whippletree（571）Contact to earth position provide control
The range sensor of signal processed（577）.
6. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that the steel
Cord and upper quarter bend（521）Between be additionally provided with adjustable spring（524）, the wirerope passes through adjustable spring（524）It navigates within
Upper quarter bend（521）It is interior.
7. a kind of intelligent stereo garage vehicle clamping device according to claim 1, which is characterized in that under described
Clamping jaw（522）End and quarter bend whippletree（571）On be equipped with pulley, the wirerope detours in lower clamping jaw（522）End with
Quarter bend whippletree（571）Pulley on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913449.6A CN106437243B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent stereo garage vehicle clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913449.6A CN106437243B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent stereo garage vehicle clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106437243A CN106437243A (en) | 2017-02-22 |
| CN106437243B true CN106437243B (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610913449.6A Active CN106437243B (en) | 2016-10-20 | 2016-10-20 | A kind of intelligent stereo garage vehicle clamping device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208584542U (en) * | 2018-05-29 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Installing mechanism and robot |
| CN108643638A (en) * | 2018-07-06 | 2018-10-12 | 浙江工业大学 | Vehicle device is grabbed when rotary garage moves vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202006001406U1 (en) * | 2006-01-30 | 2006-04-06 | Maha Maschinenbau Haldenwang Gmbh & Co. Kg | Parking platform for motor vehicles |
| CN201141216Y (en) * | 2007-11-08 | 2008-10-29 | 季均儒 | Three-dimensional garage |
| CN105484536A (en) * | 2014-10-11 | 2016-04-13 | 渠仁书 | Novel track type parking device |
| CN104847144A (en) * | 2015-04-30 | 2015-08-19 | 镇江市高等专科学校 | Multistory parking garage with elevator and rolling band |
| CN105862606B (en) * | 2016-05-22 | 2017-04-26 | 罗明帅 | Beam transportation device for bridge erecting machine |
| CN206128755U (en) * | 2016-10-20 | 2017-04-26 | 温州燧人智能科技有限公司 | Vehicle fixture for intelligent stereo garage |
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Denomination of invention: A vehicle clamping mechanism for an intelligent three-dimensional parking garage Effective date of registration: 20220906 Granted publication date: 20181130 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Wenzhou Pingyang Wanquan small and micro enterprise franchise sub branch Pledgor: WENZHOU SUIREN INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2022330002140 |