CN205875850U - Novel three -dimensional parking garage - Google Patents

Abstract

The utility model discloses a novel three -dimensional parking garage aims at providing a convenient and reliable novel three -dimensional parking garage. It includes the columniform sky parking building, sets up in the capstan head hoisting device at cylindrical sky parking building middle part to and transfer robot, the sky parking building includes circular heel post and flat slab floor, capstan head hoisting device is including setting up in the annular load rail of lower extreme, holds in the palm the capstan head of wheel bearing on annular load rail through the load, drive capstan head pivoted active force step motor, the elevator lifting machine on the capstan head is installed to two parallel symmetries, installs the elevator traction motor at capstan head lower part, drive elevator lifting machine, two symmetries set up in elevator lifting machine both sides to the heavy rim body to and install in the multiunit elastic rubber wheel on pylon upper portion. The utility model discloses can greatly improve the efficiency of parking.

Description

A kind of novel solid garage parking

Technical field

This utility model relates to parking facility technical field, especially relates to a kind of novel solid garage parking.

Background technology

It is known that the public parking problem in China current city, mainly by roadside line parking stall and exclusively under Parking lot solves, and everything can not meet far away the demand of urban development.At present except traditional underground parking and special Outside parking lot, solid parking mode is the best approach solving parking difficulty problem, wherein circular sky parking be again efficiency High a kind of mode.Circular sky parking mainly has following several till now: 1, abroad mostly use elevation and subsidence mechanical arm Mode；2, the domestic peripheral elevator of many employings promotes and adds inner ring traffic cycle mode；3, recent year also has single elevator inward turning The sky parking turning mode occurs.But, above several solid parking modes it will be argued that: 1, the external whirler used Mechanical arm mode, it is high that this mode manufactures maintenance cost, has the weight of vehicle and size and compares strict requirements, necessary during bicycle parking It is to move backward into position；2, the peripheral elevator lifting of domestic employing adds the mode of traffic cycle, as long as the shortcoming of which maximum is exactly Accessing a car, be necessary for rotating the traffic cycle placing tens cars, additionally the every first floor of the program all must be installed Parking traffic cycle, but also special head end operation dish to be installed, the design higher economy of floor height is poor；3, single elevator adds Interior elevator rotates and upgrades mode, and the disadvantage of the method is exactly, only one elevator work, the once whole parking of fault Must close in field, and be assembled with mechanical driving device below its each parking stall, adds substantial amounts of sensor etc., Each of which increases maintenance cost, so service efficiency is low.

Utility model content

This utility model overcomes shortcoming of the prior art, it is provided that a kind of safety height, good economy performance, convenient and reliable Novel solid garage parking.

In order to solve above-mentioned technical problem, this utility model is achieved through the following technical solutions:

A kind of novel solid garage parking, including cylindrical spatial parking building, is arranged in the middle part of cylindrical solid parking building Capstan head lifting device, and transfer robot；Described spatial parking building includes circular load-bearing pillar and girderless floor；Described capstan head Lifting device includes the annular load-carrying rail being arranged at lower end, is supported on the capstan head on annular load-carrying rail by load-carrying support roller, Drive the active force motor of turret rotated, the elevator hoisting machine that two Parallel Symmetrics are installed on capstan head, be arranged on capstan head Bottom, the elevator hoisting motor of driving elevator hoisting machine, two counterweight hoop bodies being symmetricly set in elevator hoisting machine both sides, with And it is installed on many groups gum elastic wheel on pylon top.

Preferably, described transfer robot includes door frame, is installed on the robot directive wheel of door frame lower end, is installed on door The robot drivewheel of frame lower end, the robotically-driven servomotor of driven machine people's drivewheel and robotically-driven right angle planet Reductor, and four groups of armful clamp assemblies being installed on door frame.

Preferably, described armful of clamp assembly includes two slide bars being horizontally installed on door frame and be parallel to each other by flange Axle, a flat spin silk being horizontally installed on door frame, screwing between two sliding pole axis and on it horizontal lead screw nut Bar, drives horizontal lead screw reductor and the horizontal lead screw servomotor of flat spin screw mandrel, fixes with horizontal lead screw nut and is connected And embrace clamping bar foundry goods bearing with sliding pole axis is slidably matched, one vertically rotates to be installed on and embraces the vertical of clamping bar foundry goods bearing center Helical screw, is installed on embracing clamping bar lift servo motor and embracing clamping bar lifting decelerator, two cunnings of vertical spin screw mandrel upper end The dynamic elevating lever spline column embracing on clamping bar foundry goods bearing and being positioned at vertical spin screw mandrel both sides that is installed on, rotation is installed on embraces folder The lengthening sleeve pipe engaged on bar foundry goods bearing and with elevating lever spline column top, and drive armful clamping bar servo lengthening sleeve pipe Motor and armful clamping bar planetary reducer, be installed on armful clamping bar of elevating lever spline column lower end by embracing clamping bar corner seating, Gu Dingan County is loaded on the locating ring on elevating lever spline column, and be installed on vertical spin screw mandrel by down-feed screw nut and with The up and down balance system block that two elevating lever spline columns are slidably matched；Described up and down balance system block is positioned at lower section and and the locating ring of locating ring Contact.

Preferably, described robotically-driven right angle planetary reducer and robot drivewheel are by capstan drive sprocket wheel And capstan drive chain drive connects.

Compared with prior art, this utility model has the advantage that

Disclosed in this utility model, double elevator hoisting machine inner cupola formula sky parking scheme, have employed double elevator hoisting machine The scheme of symmetrical axis left-right layout.8 groups every layer amount to 16 parking stalls, often design angle 45 degree between group car, and parking stall can lead to Before and after crossing double elevator hoisting machine through.Parking lot design height overall 16 layers, wherein Stall devises 16 preparation parking stalls, and remaining is 15 years old Layer can stop 240.Elevator hoisting machine can promote in rotation, it is also possible to rotates in lifting, because elevator hoisting machine top Traction motor newly designed and laid one layer of elevator hoist motor-pumped well side symmetry, thoroughly eliminate the double elevator hoist head of capstan head The misgivings that weight foot is light.Additionally transfer robot disclosed in this utility model, very big for increasing substantially the contribution of car carrying efficiency, Adding the appearance embracing clamp assembly, solve over owing to vehicle is complicated, the automobile that wheelspan and wheelbase difference produce relatively greatly is removed Transport inefficient problem.

This utility model is cylindrical tower structure, uses double elevator hoisting machine inner cupola formula design, and outer ring d solid is stopped Che Louwei parking place, can park 16 cars for every layer, and in capstan head, double elevator hoisting machines work alone, and front and back can pass in and out car , and it being scheduled that 16 preparation parking stalls at parking lot Stall, car owner marches into the arena to stop and only need to specify by computer, by storing cycle Can car locking leave away on pre-parking stall, other work is just completed by parking lot cruise Control Module.In order to greatest extent Time-consuming, it is ensured that elevator hoisting machine is to carry car to run the most as far as possible, and for this, we are scheduled that 16 specially at Stall Pre-parking stall.Because there being the guarantee on sufficient pre-parking stall, the traffic control of elevator hoisting machine is only possible to more scientific and reasonable；Car Main picking up the car is convenient to, as long as car owner probably also has a few minutes distance in distance parking lot, with the special APP of mobile phone Function, sends out a note of picking up the car by the coding on parking card, and parking lot cruise Control Module can automatically be arranged in car owner and arrive Being parked in pre-parking stall by his love car before Laiing, everything is all because we have double elevator hoisting machine and sufficient pre-parking Bit function, so just having the highest service efficiency and convenience.

This utility model devises the group of motors assembly of elevator hoisting machine for the first time, moves from traditional elevator hoisting machine top Side to double one layer of platform of elevator hoist motor-pumped well is symmetrically installed, and turns synchronous rotary with capstan head, the maximum feature of do so It is the reduction of capstan head and rotates vibrations when promoting with elevator hoisting machine, decrease asking of tower body distortion when elevator hoisting machine rotates Topic, significantly reduces the deadweight of tower body, eliminates the top-heavy doubt of capstan head steel structure body, and whole steel structure frame body is therefore And decrease the steel using amount of 20 percent, and facilitate the ordinary maintenance maintenance work of group of motors.Although every elevator carries The machine of liter needs for this to increase by three directive wheels at capstan head tower top, and traction steel-cable trend have also been made corresponding adjustment, but this is not The double elevator hoisting machine of impact and the use of counterweight basket frame.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only It is embodiments more of the present utility model, for those of ordinary skill in the art, before not paying creative work Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the schematic diagram in this utility model front；

Fig. 2 is the site plan of this utility model one layer；

Fig. 3 is A-A sectional view in Fig. 2；

Fig. 4 is B-B sectional view in Fig. 2；

Fig. 5 is sectional view of the present utility model；

Fig. 6 is the schematic diagram of this utility model capstan head；

Fig. 7 be this utility model capstan head another to schematic diagram；

Fig. 8 is the top view of this utility model capstan head one layer；

Fig. 9 is the top view of more than two layers index beds of this utility model capstan head；

Figure 10 is the schematic diagram that this utility model capstan head one layer includes elevator hoisting machine；

Figure 11 is to include dynamical system position view bottom this utility model capstan head；

Figure 12 is the top view at this utility model capstan head top；

Figure 13 is the top view of this utility model spatial parking building；

Figure 14 is the schematic diagram of this utility model transfer robot；

Figure 15 is that schematic diagram when lifting opened by the clamping bar of embracing of this utility model transfer robot；

Figure 16 is the schematic diagram embracing clamp assembly of this utility model transfer robot；

Figure 17 is the sectional view of A-A in Figure 16；

Figure 18 is that this utility model transfer robot is embraced folder and lifted the schematic diagram of automobile；

Figure 19 is the schematic diagram of this utility model transfer robot；

Figure 20 is that this utility model transfer robot coordinates compact car tire to embrace the top view of folder；

Figure 21 is the top view that this utility model transfer robot embraces the tire of folder full-size wheelbase, wheelspan；

Figure 22 is the top view that this utility model transfer robot embraces the tire of folder minimum dimension wheelbase, wheelspan；

Figure 23 is the top view that this utility model transfer robot embraces the tire of folder special size wheelbase, wheelspan；

Figure 24 is the top view that this utility model transfer robot embraces when pressing from both sides and lift automobile；

Figure 25 is that this utility model transfer robot is embraced folder and lifts the side view of automobile；

Figure 26 is the front schematic view of this utility model sky parking elevator hoisting machine；

Figure 27 is the side schematic view of this utility model sky parking elevator hoisting machine；

Figure 28 is the front schematic view after this utility model sky parking elevator hoisting machine loads automobile；

Figure 29 is the side schematic view after this utility model sky parking elevator hoisting machine loads automobile；

Figure 30 is the fundamental diagram that automobile is just being scanned in this utility model sky parking；

Figure 31 be this utility model sky parking axletree away from diameter of tyres scanning work schematic diagram；

In figure: 1 automobile, 2 circular load-bearing pillars, 3 girderless floors, 4 capstan head columns, 5 rectangular steel tube crossbeams, 6 elevator pulleys, 7 counterweights are blue, 8 counterweight indigo plant pulleys, 9 elevator traction sheaves, 10 elevator hoisting motor, and 11 promote Machine traction sheave, 12 elevator hoisting machines, 13 door frames, 14 traction directive wheels, 15 ring protection plates, 16 gum elastics Wheel, the 17 waterproof pitched roofs of main building, 18 drain pipies, 19 single-inclination caps, 20 elevator lifting chutes, 21 profile irons Pipe secondary beam, 22 rectangular steel tube secondary beams, 23 rectangular steel tube primary-secondary beams, 24 lifting chute backplates, 25 gutters, 26 is oblique Ramp, 27 underground negative one layers, 28 main transmission duplex chain wheels, 29 planetary reducers, 30 duplex chains, 31 power Wheel duplex chain wheel, 32 active force motors, 33 power support roller bearings, 34 active force support rollers, 35 annular load-carrying steel Rail, 36 PSX height adjusters, 37 load-carrying support rollers, 38 elevator sheave, 39 load-carrying support roller bearings, 40 chassis Rectangular steel tube beam, 41 machine room pitched roofs, 42 aluminum windows, 43 directive wheel supports, 44 steel wire rope hooks, 45 capstan heads Diagonal brace girder steel, 46 counterweight indigo plant traction sheaves, 47 counterweight indigo plant pulleys, 48 haulage cables, 49 counterweight indigo plant chutes, 50 machines Device people's directive wheel, 51 armfuls of clamping bars, 52 chassis trussing steel plates, 53 roof metal lightning protection rings, 54 fire detectors, 55 LED illumination lamp, 56 capstan head top load bearing cross beams, 57 checkered plates, 58 guide edge strip, 59 track girders, and 60 is the most secondary Beam, 61 I-steel, 62 anistree raker beam, 63 counterweight indigo plant traction sheaves, 64 elevator floor frames, 65 chassis load-bearing Side bar, 66 chassis raker beam, 67 dark beams, 68 armfuls of clamping bar servomotors, 69 armfuls of clamping bar planetary reducers, 70 lengthen Sleeve pipe, 71 armfuls of clamping bar foundry goods bearings, 72 elevating lever spline columns, 73 locating rings, 74 up and down balance system blocks, 75 guide Wheel shaft, 76 armfuls of clamping bar corner seatings, 77 flat spin screw mandrels, 78 vertical spin screw mandrels, 79 splined sleeves, 80 water Flat feed screw nut, 81 down-feed screw nuts, 82 armfuls of clamping bar lift servo motors, 83 armfuls of clamping bar lifting decelerators, 84 Flange, 85 elevating screw sleeve pipes, 86 sliding pole axis, 87 horizontal lead screw flanges, 88 horizontal lead screw sleeve pipes, 89 level silks Bar reductor, 90 robotically-driven servomotors, 91 horizontal lead screw servomotors, 92 robotically-driven right angle planets subtract Speed machine, 93 robot drivewheels, 94 capstan drive sprocket wheels, 95 capstan drive chains, x wheelbase, y tire is straight Footpath, z wheelspan.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under paying creative work premise The every other embodiment obtained, broadly falls into the scope of this utility model protection.

Shown in Fig. 1-31, a kind of novel solid garage parking, including cylindrical spatial parking building, is arranged at cylindrical solid Capstan head lifting device in the middle part of parking building, and transfer robot；Described spatial parking building includes circular load-bearing pillar 2 Ji Wuliang building Plate 3；Described capstan head lifting device includes the annular load-carrying rail 35 being arranged at lower end, is supported on annular load by load-carrying support roller 37 Capstan head on heavy rail 35, drives the active force motor 32 of turret rotated, the electricity that two Parallel Symmetrics are installed on capstan head Ladder elevator 12, is arranged on capstan head bottom, the elevator hoisting motor 10 of driving elevator hoisting machine 12, and two are symmetricly set in elevator The counterweight hoop body 7 of elevator 12 both sides, and it is installed on many groups gum elastic wheel 16 on pylon top.

Described transfer robot includes door frame 13, is installed on the robot directive wheel 50 of door frame 13 lower end, is installed on door frame The robot drivewheel 93 of 13 lower ends, the robotically-driven servomotor 90 of driven machine people's drivewheel 93 and robotically-driven directly Angle planetary reducer 92, and four groups of armful clamp assemblies being installed on door frame 13.

Described armful of clamp assembly includes two sliding pole axis 86 being horizontally installed on door frame 13 and be parallel to each other by flange, one Root is horizontally installed on door frame 13, and screws on it between two sliding pole axis 86 the flat spin silk of horizontal lead screw nut 80 Bar 77, drives horizontal lead screw reductor 89 and the horizontal lead screw servomotor 91 of flat spin screw mandrel 77, with horizontal lead screw nut 80 fix armful clamping bar foundry goods bearings 71 connecting and being slidably matched with sliding pole axis 86, and a vertical rotation is installed on an armful clamping bar foundry goods and props up The vertical spin screw mandrel 78 of seat 71 center, is installed on embracing clamping bar lift servo motor 68 and embracing of vertical spin screw mandrel 78 upper end Clamping bar lifting decelerator 69, two are slidably mounted on the liter embracing on clamping bar foundry goods bearing 71 and being positioned at vertical spin screw mandrel 78 both sides Fall bar spline column 72, rotates to be installed on and embraces the lengthening engaged on clamping bar foundry goods bearing 71 and with elevating lever spline column 72 top Sleeve pipe 70, and drive armful clamping bar servomotor 68 and armful clamping bar planetary reducer 69 lengthening sleeve pipe 70, turn by embracing a clamping bar Angle bearing 76 is installed on armful clamping bar 51 of elevating lever spline column 72 lower end, is fixedly installed in determining on elevating lever spline column 72 Position ring 73, and be installed on vertical spin screw mandrel 78 by down-feed screw nut 81 and slide with two elevating lever spline columns 72 The up and down balance system block 74 coordinated；Described up and down balance system block 74 is positioned at the lower section of locating ring 73 and contacts with locating ring 73.

Described robotically-driven right angle planetary reducer 92 and robot drivewheel 93 by capstan drive sprocket wheel 94 and Capstan drive chain 95 drive connection.

Below concrete is illustrated the most one by one:

Fig. 1 is cylinder of the present utility model double elevator inner cupola formula sky parking front schematic view.This schematic diagram Directly perceived for convenience, have employed the appearance design of bareing, cylindrical spatial parking building is 16 layers, and wherein one layer is pre-parking Wait district, is scheduled that 16 positions of waiting, a story height 3 meters altogether, and remaining floor is the highest 2.5 meters.Second floor is with up to 16 layers as standard Parking tier, 16 parking stalls of every arrangement layer, 240 parking stalls altogether.Middle part raised portion is an up the work machine room of machine.Upper edge Edge can be decorated with metal valance, and can be used as the base plate of billboard and lightning protection ring 53 uses.

Fig. 2 is one layer of double elevator 16 parking stalls site plan of the present utility model.Double lifting is can be seen that from this figure Machine and the symmetrical axis left-right layout scheme of double parking stall, often two parking stalls of group, 8 groups of totally 16 parking stalls, often designs between group Angle is 45 degree, and parking stall just can be the most through to elevator.It can be seen that spatial parking building of the present utility model from plane graph For circular hollow annular design, internal ring is made up of 16 circular load-bearing pillars 2 by 8 circular load-bearing pillars 2, outer shroud, is divided equally by the center of circle Layout.Double elevator left rotation and right rotation are the most all 45 degree, and elevator only need to revolve turnback, was both used interchangeably.This parking lot does not has There is the concept of front/rear door, because it can vehicles passing in and out from eight directions of surrounding.It is turning of capstan head lifting device in the middle of disk Tower, capstan head is by the 10 capstan head columns 4 being arranged on chassis, the rectangular steel tube crossbeam 5 chapped pipe secondary beam 21 of plurality of specifications, side Shape steel pipe secondary beam 22, rectangular steel tube primary-secondary beam 23 are welded.Two unique octagonal cuboids be exactly main electromotor well and The position of elevator hoisting machine 12, octagonal framework is the intensity in order to strengthen capstan head column 4, it is ensured that elevator is permissible in lifting Rotate, strengthen its torsion and control resilience and custom-designed.Elevator both sides devise two counterweight hoop bodies 7, are used for containing It is rivals in a contest double teeming ingot iron.Promote motor-pumped well and counterweight well by elevator lifting chute 20, counterweight indigo plant chute 49 by fall chute backplate 24 Connecting fixing, the lifting motor-pumped well both sides of a layer, are to lay elevator traction sheave 9, the position of elevator hoisting motor 10.Capstan head anti-skidding Steel plate 57 is the manual operation district laying checkered plates, and edge installs guard rail additional.

Fig. 3 be in figure 2 sectional view A-A to.This figure can see more intuitively this parking lot internal structure and Operation principle.Double elevator lift portion of capstan head and outer Ta Quan parking lot part are to separate.Turret part devises underground Negative one layer 27, its bottom is mounted with annular heavy-duty steel rail 35, and rail foot is just installed a PSX height every 50cm and adjusted Joint device 36.The equipment such as capstan head and two elevator hoisting machines 12, counterweight rim body 7, elevator hoisting motor 10, are all attached to annular Horizontal 360-degree can be done on heavy-duty steel rail 35 rotate.Middle the raised area is that capstan head installs elevator traction directive wheel 14, directive wheel The machine room of support 43, machine room side is mounted with that aluminum window 42, main building top are designed to inclined-plane and are beneficial to draining, and roof is along in cylinder Side devises 8 drain pipies 18, and rainwater is entered the gutter 25 outside parking lot by drain pipe, and ramp 26 is passed through in one layer of parking lot Exceed outdoor 50cm.This figure can be seen that the device layout situation of underground negative one layer 27, and it is mounted with four in bottom, capstan head chassis Platform load-carrying support roller bearing 39, four gear reduction units 29 and active force motor 32, they are placed in bottom basement On heavy-duty steel rail 35, can 360 degree of rotations of level.Cylindrical outer body is parking area, and this figure can clearly see；Load-bearing Cylinder 2, girderless floor 3, the Basic Design situation of single-inclination cap 19, it can be seen that because there is no the impact of traditional crossbeam, institute Floor utilization rate with this design is the highest, is particularly well-suited to the construction in parking lot.

Fig. 4 be in figure 2 sectional view B-B to.This figure is easier to see clearly the layout situation of double elevator hoisting machine 12, The position of two counterweight rim bodies 7, and the tow out that haulage cable 48 is by top traction directive wheel 14 can be seen clearly simultaneously To, it is also possible to see elevator traction sheave 9 clearly and elevator hoisting motor 10 is arranged on the home position figure of one layer of lifting motor-pumped well both sides.Should Figure can be seen that elevator lifts chute 20, and the home position figure of the blue vertical chute 49 of counterweight, can also see lifting simultaneously The installation method of chute backplate 24.Skew and vibrations occur during in order to prevent capstan head from operating, and this utility model is specially on capstan head Portion devises 8 groups of gum elastics wheel 16, be mounted with 16 layers of tip position of tower outside together with ring protection plate 15, to buffer capstan head Produce shakes on a small quantity and guarantees safety.

Fig. 5 is spatial parking building parking area of the present utility model sectional view.This figure can be seen that half range parking lot parks 8 The sectional view situation of automobile.This figure has taken away turret part, and allow whole outer tower collar region exposes is more complete, the most also wraps Include underground negative one layer 27, the part that middle part exceeds and outdoor gutter 25 system etc., this figure it is also seen that: whole parking Field areas, in addition to parking a car, does not has other any plant equipment, in addition to LED illumination 55 detection 54.So The concrete in this parking lot waters the cost of fluence, reinforcing bar, mould, minimum in similar parking lot.

Fig. 6 is the schematic diagram in this utility model capstan head portion.This figure can clearly see the overall picture of turret part, including electricity Ladder elevator 12 silhouette, transfer robot embraces the schematic diagram after folder automobile enters elevator.Particularly capstan head Steel Structural Design structure Make schematic diagram, the gum elastic wheel installed including the capstan head top load bearing cross beam 56 of tower top, capstan head diagonal brace girder steel 45 and tower top edge Including 16.And load-carrying support roller bearing 39, planetary reducer 29 and the fundamental diagram of active force motor 32, and permissible See the band of position of annular load-carrying rail 35, and capstan head stress point substantially analyzes schematic diagram.

Fig. 7 is the schematic diagram of this utility model turret part.This figure can be careful see elevator hoisting machine 12, elevator Traction sheave 11, counterweight indigo plant traction sheave 46 and the fundamental diagram of counterweight indigo plant pulley 47.It can also be seen that the leading of haulage cable 48 Carrying-off is to traction directive wheel 14, directive wheel support 43 and the position distribution situation of steel wire rope hook 44 with top.It is important that I It can be seen that two groups of elevator traction sheaves 9 and elevator hoisting motor 10, had been moved to capstan head one layer lifting from top of tower dexterously The side of motor-pumped well is installed, and this is a shining point of the present utility model, if promoting unit be still arranged on the top of capstan head, turns The tower degree of rocking in rotary course is not imaginable.

Fig. 8 is one layer of top view of this utility model capstan head.We can see that double elevator symmetry axis left-right layout, The distance of only 5CM between elevator hoisting machine 12 and lifting motor-pumped well.Counterweight rim body 7, elevator traction sheave 9 and elevator hoisting motor 10 are designed in lifting motor-pumped well lateral symmetry lays, and whole capstan head platform is by 10 capstan head columns 4 institute being arranged on chassis Support, including the rectangular steel tube crossbeam 5 chapped pipe secondary beam 21 rectangular steel tube secondary beam 22 rectangular steel tube primary-secondary beam with plurality of specifications 23 are welded.Two unique octagonal cuboids are exactly the position of main electromotor well and elevator, octagonal framework be for Enhancing capstan head column strength, it is ensured that elevator can rotate in lifting, strengthens its torsion and controls resilience and specialized designs 's.Promote motor-pumped well and counterweight well and connected fixing by elevator lifting chute 20, counterweight indigo plant chute 49 by lifting chute backplate 24, Run through 8 guiding edge strips 58 that capstan head platform includes in elevator, transport automobile exclusively for transfer robot and design.

Fig. 9 is this utility model capstan head index bed top view.This figure can be seen that capstan head index bed is in fact with one layer of Fig. 8 is complete Complete consistent, difference simply one layer of needs lay elevator traction sheave 9 and elevator hoisting motor 10, because its weight is relatively big, so structure Strengthen.

Figure 10 is this utility model capstan head one layer, including elevator steel construction top view.As can be seen from this figure: 1, remove After checkered plates 57, elevator hoisting machine 12 base plate is made up of octagonal cuboid, it mainly has elevator floor frame 64, I-steel 61 is welded.2, each capstan head flat bed is by 10 capstan head columns 4, rectangular steel tube crossbeam 5, track girder 59, excessive secondary beam 60 and anistree raker beam 62 form.

Figure 11 is this utility model capstan head chassis top view.So-called capstan head chassis is primarily referred to as: the steel that capstan head is less than a layer Structural beams body portion, owing to this is partially in the bottom of tower, the above of it to bear 16 layers of tower body and the weight of miscellaneous equipment；Under Portion installs four load-carrying support roller bearings 39, also four gear reduction units 29 and active force motor 32 again, so chassis Steel used by fine strain of millet body are more sturdy.In order to ensure that housing structure can allow elevator to rotate in lifting, 10 capstan heads stand Post 4 can bear bigger moment of torsion, and this utility model have employed the chassis load-bearing side bar 65 of chassis octagonal layout, anistree diagonal brace Beam 62 and the Scheme of Strengthening of chassis raker beam 66, and also installed chassis trussing steel plate 52 additional the following of every capstan head column 4. So can be greatly enhanced the intensity on chassis.The octagonal chassis scheme that this is formed a connecting link also be of the present utility model one bright Point.

Figure 12 is this utility model capstan head top plan.This figure can be seen that two groups of elevator often groups are assembled with four groups Counterweight indigo plant pulley 8, connects elevator hoisting machine 12 and counterweight rim body 7, then the electricity installed through a layer by haulage cable 48 Ladder traction sheave 9 and elevator hoisting motor 10 form a complete trailer system.

Figure 13 is the outer tower circle index bed top view of this utility model.As can be seen from this figure: dividing of 24 circular load-bearing pillars 2 Cloth situation, the girderless floor 3 of annular, single-inclination cap 19 and the layout of dark beam 67.Dark beam is at this sky parking ring Extensive application in shape arch without beam plate, is also a feature of this patent, and shape design shock resistance in this building is strong, and materials are few firm Make easily, so this is the preferred plan in sky parking's design.

Figure 14 is transfer robot front view of the present utility model.This figure can see transfer robot front overall picture, This transfer robot left-right and front-back is respectively mounted with that clamp assembly embraced by four chaptrel tires, and optical pickup and electron scanning equipment.For Before car carrying, its appearance is carried out optical pickup, and the vehicle imaging data stored up by computer memory carries out iconography pair Ratio, the overall size of its vehicle of preliminary judgement, the basic condition including weight/wheelbase/wheelspan.When transfer robot advances And while covering automobile, the electron scanning equipment of robot both sides can carry out single pass to tire before and after automobile, to obtain Taking wheelbase and diameter of tyres data accurately, after the scan data of both sides is coincide, transfer robot computer can make movement Four instructions embracing clamp assembly, embrace clamp assembly and can be directed at tire centerline, open an armful clamping bar and clamp and lift tire.At this moment carrying implement Device people just can move task.The program that one layer of preparation parking stall carried go back to by automobile from parking stall is just contrary, only It is need not the most once to shoot and scan, suffers because the master data of this car has stored in computer.And these data With Reusability, and can share for transmission in other same type parking lot.The transfer robot of this figure current Embrace clamping bar 51 to be in and pack up armed state.

Figure 15 is transfer robot of the present utility model, embraces front schematic view when clamping bar stretches out and lifts.Robot One group of robotically-driven servomotor 90 and robotically-driven right angle planetary reducer 92, machine respectively it is mounted with in the middle part of the left and right sides Device people's drivewheel 93 can before and after automatic moving, connected by trailing cable and elevator, so it need not storage battery power supply. This transfer robot manufactures and designs according to industrial robot standard, moves before and after 4 armfuls of clamp assemblies, embraces folding and unfolding and the angle of clamping bar Degree adjusts, and hoisting depth determines etc. all by the computer control installed in robot.Each action control point is assembled with Sensor, for monitoring and feed back execution precision and the integrity of mechanical action, robot is mounted with 18 servomotors altogether Adding planetary gear speed reducing mechanism, all of execution order is all assigned by robot computer, adopts between robot computer and park computer Signal data transmission is carried out with industry wi-fi.

Figure 16 is that transfer robot of the present utility model embraces clamp assembly front section view.This figure is it can be seen that embrace clamp assembly Being horizontally arranged on two high accuracy sliding pole axis 86, sliding pole axis both sides are fixed on the framework of transfer robot by flange 84 On.Also it is horizontally mounted a flat spin screw mandrel 77 between two sliding pole axis 86, is used for promoting horizontal lead screw nut 80 and carrying Dynamic armful of clamping bar foundry goods bearing 71 horizontal shifting.Embrace and on clamp assembly, be mounted with that three are embraced clamping bar servomotor 68, armful clamping bar liter Fall servomotor 82, armful clamping bar planetary reducer 69 of three supporting outputs, armful clamping bar lifting decelerator 83, they are by lengthening Sleeve pipe 70, elevating screw sleeve pipe 85 are fixed on to be embraced on clamp assembly foundry goods bearing 71.Clamping bar servomotor 68 is embraced for one in the middle of wherein Control vertical spin screw mandrel 78 to rotate, drive down-feed screw nut 81 to drive on up and down balance system block 74 and elevating lever spline column 72 Locating ring 73 move up and down, this motion can lift and put down embrace clamping bar corner seating 76 and embrace clamping bar 51.Two, left and right is embraced The termination of clamping bar planetary reducer, is connected with splined sleeve 79, and splined sleeve engages with elevating lever spline column 72 again. As long as two, left and right is embraced clamping bar servomotor 68 and rotated, splined sleeve 79 can be driven by embracing clamping bar planetary reducer 69 and nibble Close elevating lever spline column about 72 fan shape moving, play folding and unfolding and lift armful clamping bar corner seating 76 and embrace the merit of clamping bar 51 Energy.Embrace clamping bar and can do fan shape moving during lifting, it is also possible to lift when doing fan shape moving.

Along the sectional view of A-A in Figure 17 Figure 16.This figure is it can be seen that armful clamping bar corner seating 76 and an armful clamping bar 51 are lifted Sight during 12cm.Wherein up and down balance system block 74 rises, and drives locating ring 73 to move, and locating ring is with pin and elevating lever flower Key column 72 tightly pins, so elevating lever spline column 72 also the most and then rises, it is to note that splined sleeve 79 is spent the soonest Key column is full of.

Figure 18 is that transfer robot of the present utility model is embraced folder and lifted front view after automobile.This figure is it can be seen that carrying implement Device people embraces the sight pressed from both sides when lifting automobile.This figure is it is also seen that intermediate locational space feelings in transfer robot Condition, and the situation of possible remaining space.

Figure 19 is the side view of transfer robot of the present utility model.This figure is it can be seen that the side of transfer robot is taken turns Exterior feature, can be seen that in figure that the position distribution situation of clamp assembly embraced by two sets of transfer robot side, and they are installed in robot Among the girder steel of side, being mounted with servo power system in the middle of crossbeam bottom, they are respectively by robotically-driven servomotor 90, machine Device people drives right angle planetary reducer 92, robot drivewheel 93, capstan drive sprocket wheel 94,95 groups of capstan drive chain Become.Transfer robot two end floor beam bottom is mounted with robot directive wheel 50, and it acts primarily as load-bearing and guides what robot advanced Function.

Figure 20 is transfer robot top view of the present utility model.We are as can be seen from this figure: bowing of transfer robot The position distribution situation of clamp assembly embraced by four sets installed on end out line, and robot.We it can also be seen that transfer robot two Functional areas, side, are to be linked into an integrated entity by the four of top girder steels and form a shape.This figure also demonstrates embraces one intermediate of folder The schematic diagram of four tire wheelbase/wheelspans.

Figure 21 is that transfer robot of the present utility model embraces folder full-size wheelbase/wheelspan/tire schematic diagram.This practicality is new Within the transfer robot of type maximum can accommodate vehicle commander 550cm/ width 220cm/ height 195cm, within car weight 2400kg, wheelbase exists Within 330cm, diameter of tyres automobile within 75cm.Such as: benz S 600, BMW 7 LI system can park.

Figure 22 is that transfer robot of the present utility model embraces folder minimum dimension wheelbase/wheelspan tire schematic diagram.This practicality is new The transfer robot of type minimum can accommodate wheelspan at 120cm, and wheelbase is minimum on 170cm, and diameter of tyres is on 40cm Automobile.Such as: smart minicar can be parked.

Figure 23 is that transfer robot of the present utility model embraces folder special size wheelbase/wheelspan tire schematic diagram.This practicality is new The transfer robot of type can embrace clamping bar angle by adjusting, and folder embraced by the tire completing special size wheelbase/wheelspan.Minimum receiving Wheelspan is at more than 110cm, and the minimum wheelbase that accommodates is at more than 160cm, and diameter of tyres is in the electric motor car of more than 35cm.Such as: old man Double electric miniature can also park.

Figure 24 is the top view after transfer robot of the present utility model accommodates automobile.This figure is it can be seen that one medium-sized Automobile is handled upside down the basic schematic diagram after robot clamping lifts.It is certain that this figure it can also be seen that robot both sides also have Surplus.The maximum of robot carries vehicle commander degree 550cm Breadth Maximum 220cm.But require that width stops at the automobile of more than 185cm Side mirror must be packed up after car.

Figure 25 is the side view after transfer robot of the present utility model takes automobile in one's arms.This figure is it can be seen that one medium-sized Automobile is handled upside down the basic schematic diagram after robot takes in one's arms.The height that this car is lifted is 10cm, and this height is by machine People's computer determines according to scan data.This figure it can also be seen that also have certain space between automobile and robot.Machine It is that to carry car weight amount be 2400kg to 195cm maximum that people maximum carries height.Robot can admit large-scale suv and mpv etc. Vehicle.

Figure 26 is of the present utility model pair of elevator sky parking elevator front view.This figure is readily seen elevator Facad structure figure, this elevator is to be welded with materials such as elevator floor frame 64, I-steel 61 and checkered plates 57 , it is an openning shape circulus body, top adds diagonal brace, so can improve load-carrying intensity.

Figure 27 is of the present utility model pair of elevator sky parking elevator side view.This figure is readily seen elevator The triangular structure feature of side, their installation site is to fully take into account stress point and well-designed.

Figure 28 is that of the present utility model pair of elevator sky parking robot clamping automobile enters elevator front view.From This figure it may be seen that: compact car that one is lifted enters the schematic diagram after elevator.The robot machine by both sides Device people's directive wheel 50 moves along a straight line, and the both sides of directive wheel are mounted with that two guide edge strip 58, make robot to pass in and out exactly Elevator and parking stall are without sideslip.

Figure 29 is that of the present utility model pair of elevator sky parking robot clamping automobile enters elevator hoisting machine 12 side View.From this figure it may be seen that: compact car that one is lifted enters the lateral view after elevator.From this figure, we go back Can be seen that the two ends of elevator also have sufficient space, because the length of elevator reaches 580cm.

Figure 30 is the operating diagram taken pictures and scan before transfer robot cover of the present utility model enters automobile.This figure can To find out that transfer robot two can pass in and out automobile, and automobile can be taken pictures and scan.Because taking pictures and Scanning is to make the three-dimensional dimension entering vehicle clear, including the big body weight of wheelspan/wheelbase/vehicle commander/overall width/overall height/car. This utility model is one of emphasis of this patent.

Figure 31 is the operating diagram that front and back's tire is scanned by transfer robot of the present utility model.This figure can be seen Go out: scan the center square characteristic area near two wheel center points, also scan the diameter of tire simultaneously.Because we are necessary To obtain the centre-to-centre spacing of two tires and the data of diameter exactly, could accurately control to embrace clamp assembly and move, in alignment tire Heart district, opens an armful clamping bar and completes to embrace automobile folder task.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model Protection domain within.

Claims (4)

1. a novel solid garage parking, including cylindrical spatial parking building, is arranged in the middle part of cylindrical solid parking building Capstan head lifting device, and transfer robot；Described spatial parking building includes circular load-bearing pillar and girderless floor；Its feature exists In: described capstan head lifting device includes the annular load-carrying rail being arranged at lower end, is supported on annular load-carrying steel by load-carrying support roller Capstan head on rail, the active force motor of driving turret rotated, the elevator hoisting machine that two Parallel Symmetrics are installed on capstan head, Being arranged on capstan head bottom, the elevator hoisting motor of driving elevator hoisting machine, two are symmetricly set in the right of elevator hoisting machine both sides Weight hoop body, and it is installed on many groups gum elastic wheel on pylon top.

Novel solid garage parking the most according to claim 1, it is characterised in that: described transfer robot includes door frame, peace It is loaded on the robot directive wheel of door frame lower end, is installed on the robot drivewheel of door frame lower end, the machine of driven machine people's drivewheel Device people drives servomotor and robotically-driven right angle planetary reducer, and four groups of armful clamp assemblies being installed on door frame.

Novel solid garage parking the most according to claim 2, it is characterised in that: described armful of clamp assembly includes that two are passed through method The sliding pole axis that orchid is horizontally installed on door frame and is parallel to each other, one be horizontally installed on door frame, between two sliding pole axis and Screw the flat spin screw mandrel of horizontal lead screw nut on it, drive horizontal lead screw reductor and the level silk of flat spin screw mandrel Bar servomotor, fixes armful clamping bar foundry goods bearing being connected and being slidably matched with sliding pole axis with horizontal lead screw nut, and one vertically turns The dynamic vertical spin screw mandrel being installed on armful clamping bar foundry goods bearing center, be installed on vertical spin screw mandrel upper end embraces clamping bar lifting Servomotor and armful clamping bar lifting decelerator, two are slidably mounted on armful clamping bar foundry goods bearing and are positioned at vertical spin screw mandrel two The elevating lever spline column of side, rotates to be installed on and embraces the lengthening engaged on clamping bar foundry goods bearing and with elevating lever spline column top Sleeve pipe, and drive armful clamping bar servomotor and armful clamping bar planetary reducer lengthening sleeve pipe, pacify by embracing clamping bar corner seating Be loaded on elevating lever spline column lower end embraces clamping bar, is fixedly installed in the locating ring on elevating lever spline column, and by hanging down The up and down balance system block that raw silk rings stem nut is installed on vertical spin screw mandrel and is slidably matched with two elevating lever spline columns；Described liter Fall balance weight is positioned at the lower section of locating ring and contacts with locating ring.

4. according to the novel solid garage parking described in Claims 2 or 3, it is characterised in that: described robotically-driven right angle planet Reductor and robot drivewheel are connected by capstan drive sprocket wheel and capstan drive chain drive.