CN206128754U - Vehicle fixture for intelligent stereo garage - Google Patents

Abstract

The utility model provides a vehicle fixture for intelligent stereo garage for intelligent stereo garage vehicle centre gripping is used, and the driver need not the accuracy and parks and wait to carry putting and put in place, when accomplishing previous business turn over storehouse vehicle moving in the robot, extract at the back the required car of parking again one by one and park to the storehouse position. And saved the time of waiting in line from this, removed the common type garage parking from and must park in the degree of difficulty of the platform sling that is hoisted and shift position and wait loaded down with trivial details step for a long time by the manual driving accuracy. This money only needs a hoist and mount centre gripping robot can accomplish out the parking step that the warehouse entry moved, and it need have and independently hang liter and the complex structure's of horizontal moving force mechanism shortcoming to have left out each storehouse position of present parking garage, save widely wait out time of warehouse entry.

Description

A kind of intelligent stereo garage vehicle clamping device

Technical field

This utility model is related to parking equipment technical field, and in particular to a kind of intelligent stereo garage vehicle clamping machine Structure.

Background technology

In recent years, with Domestic Automotive Industry and the fast development of urbanization, Urban vehicles poputation is continuously increased, Large, medium and small city occurs in that the problem of parking difficulty in succession.Mechanical solid parking lot storehouse is accompanied by parking difficulty problem and progressively sends out The new industry that exhibition is got up, is known as and solves the problems, such as population, building dense area, the preferred means of common service area parking difficulty. At present, all kinds of research and development main bodys oneself develop polytype mechanical stereo parking garage, according to the difference in space telescopic direction, can be with 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 ripe, using most forms.And existing plain edition garage parking must be by Laborious steps when the artificial difficulty for being accurately parked in the hanging scaffold and shift position for being lifted and many waitings.Even if having machine at present People's shutdown system also need to install transverse-moving mechanism on independent warehouse compartment again additional.

Utility model content

It is in order to solve the deficiencies in the prior art, of the present utility model to be clamped with vehicle there is provided a kind of intelligent stereo garage Mechanism.

This utility model adopt technical solution be：A kind of intelligent stereo garage vehicle clamping device, it is described Clamping device include the broadside mechanism at top, described broadside mechanism is provided with pulley, described clamping device By pulley along warehouse-in track transverse shifting, described clamping device also includes top-support and the big arm for clamping vehicle Cha Zhao mechanisms, described big arm Cha Zhao mechanisms are hinged on top-support both sides, described big arm Cha Zhao mechanisms and top Two-way hydraulic cylinder is additionally provided between frame, described big arm Cha Zhao mechanisms are by flexible being hinged along top-support of two-way hydraulic cylinder Axle is rotated, and realizes that the function of vehicle is put down in clamping device crawl.The end of described big arm Cha Zhao mechanisms is to hold crossbeam, institute The crossbeam that holds stated is hinged on lower jaw end, and the described crossbeam that holds includes two hollow steel pipes arranged in parallel, and two hollow The two ends of steel pipe are provided with connection shrouding, and jointed shaft is provided with the middle of described connection shrouding, and described holds crossbeam by connecting envelope The jointed shaft of plate is hinged on lower jaw end, is additionally provided with torsion spring between the described jointed shaft and lower jaw that connect shrouding, described Connection shrouding and lower jaw between cocurrent and parallel arrange.It is provided between two described hollow steel pipes arranged in parallel and holds pin Mechanism, stop lever mechanism includes clamping depression bar and holds pin for described holding, and the centre of described clamping depression bar is provided with rotating shaft, institute The clamping depression bar stated is hinged on the connection shrouding at two ends by rotating shaft, and described holds the front end that pin is located at clamping depression bar, The described pin that holds is hinged on connection shrouding, and the front end of described clamping depression bar is engaged with pin is held, described The rear portion for holding pin is additionally provided with the first limit switch, and the described pin that holds includes first detached with the first limit switch Put and clamp depression bar front end and hold pin and rotate the second position that contacts with the first limit switch with holding pin and contacting to promote, Described the first limit switch control two-way hydraulic cylinder stops and second hydraulic cylinder is flexible drives lower jaw lifting.

Described big arm Cha Zhao mechanisms are made up of with lower jaw upper quarter bend, and described lower jaw is plugged in quarter bend, Second hydraulic cylinder is provided with described upper quarter bend, described second hydraulic cylinder two ends are fixed respectively at upper quarter bend and lower jaw and connected Connect, at the top of described upper quarter bend, be hinged on top-support both sides, described two-way hydraulic cylinder is connected on the earhole of quarter bend, phase Cross bar is also associated between the earhole of the upper quarter bend in adjacent left and right two.

Some skid wheels are arranged with the hollow steel pipe of described inner side.

The bottom of described lower jaw is additionally provided with the second limit switch, described the second limit switch control second hydraulic cylinder It is flexible, so as to keep the distance with ground.

The turntable bearing of rotatable movement, described top are additionally provided between described broadside mechanism and top-support Support is by turntable bearing and broadside mechanism rotatable engagement.

Described clamping depression bar is provided with roller with the front end that pin contacts is held, and the described pin that holds is provided with boss, It is engaged between described boss and roller.

Described holding be additionally provided with the jointed shaft of pin torsion spring.

The bottom of described lower jaw is additionally provided with spacer pin.

The beneficial effects of the utility model are：This utility model provides a kind of intelligent stereo garage vehicle clamping machine Structure, driver without the need for accurately parking and wait handling in place, when waiting robot to complete previous inbound/outbound process and move car, then one by one after extraction The car parked needed for face is parked to warehouse compartment. the time waited in line thus is saved, eliminating plain edition garage parking must be by people Laborious steps when work is accurately parked in the difficulty of the hanging scaffold and shift position for being lifted and waits many, this money only need one to hang Clamping robot can complete to move car and go out to put step in storage, and eliminating existing parking garage each warehouse compartment need to have traversing engine The shortcoming of the complicated structure of structure, what is greatly saved wait out the time of warehouse-in.

Description of the drawings

Fig. 1 is this utility model parking systems overall structure diagram.

Fig. 2 is the anti-fall mechanism structure schematic diagram of this utility model parking systems.

Fig. 3 is the upright Luo rod type up-downs mechanism structural representation of this utility model parking systems.

Fig. 4 is 1 clamping device structural representation of this utility model embodiment.

Fig. 5 holds beam structure schematic diagram for 1 clamping device of this utility model embodiment.

Fig. 6 is 2 clamping device structural representation of this utility model embodiment.

Fig. 7 is 3 clamping device structural representation of this utility model embodiment.

Fig. 8 is that 3 clamping device of this utility model embodiment pitches pawl mechanism structure schematic diagram.

1- landings in figure, 2- parking warehouse compartments, 3- portal frames, the anti-fall mechanisms of 4-, 5- broadsides mechanism, 11- levels Track, 21- warehouse-in tracks, 31- boatswain chairs, 32- vertical lift assembly pulleys, 33- quarter bend frameworks, the upright Luo bars of 34-, 41- determine voussoir, 42- moves voussoir, 43- back-moving springs, 44- active pin shafts, 45- extension springs, 46- pinch rollers, 51- top-supports, the big arms of 52- Cha Zhao mechanisms, 53- two-way hydraulic cylinders, 54- hold crossbeam, 55- turntable bearings, 56- quarter bend crossbeams, 57- Cha Zhao mechanisms, on 521- Quarter bend, jaw under 522-, 523- cross bars, 541- hollow steel pipes, 542- connection shroudings, 543- clamping depression bars, 544- first are spacing Switch, 545- hold pin, 561- otch, 562- clamping plates, 571- quarter bend whippletrees, the little yokes of 572-, and 573- hangers, 574- are universal Section, 75- driving gears, 576- driven gears, 577- range sensors.

Specific embodiment

This utility model is further described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, it is a kind of Intelligent stereo garage, including landing 1, are provided with some parking warehouse compartments 2, described intelligence on described landing 1 Parking systems also includes that described clamping device is by rising for vehicle to be moved to the clamping device of specified parking warehouse compartment 2 Descending mechanism realizes vertical lift, is additionally provided with horizontal rail 11, described elevating mechanism on described landing 1 in the horizontal direction The function of realizing that clamping device is moved horizontally can be moved horizontally along horizontal rail 11, edge is additionally provided with described parking warehouse compartment 2 and is stopped The perpendicularly inward warehouse-in track 21 of garage position 2, described clamping device can be moved to each parking warehouse compartment 2 along warehouse-in track 21 It is interior.

Elevating mechanism

Described elevating mechanism includes the boatswain chair 31 of portal frame 3 and a horizontal positioned, and described clamping device is arranged on and hangs On plate 31, vertical lift assembly pulley 32 on the inside of the column of described portal frame 3, is provided with, described vertical lift assembly pulley 32 leads to Cross steel wire rope to be connected with boatswain chair 31, described elevating mechanism drives vertical lift assembly pulley 32 to realize hanging down for boatswain chair 31 by motor Go straight up to drop.Track and pulley are arranged at portal frame bottom, drivewheel and another driven pulley that pulley is driven by a frequency conversion motor respectively, There are many crossbeams parallel to storehouse rack-layer face between 3 column of portal frame, it is straight for portal frame 3 that storehouse frame top of the upper layer has horizontal grooved rail again Vertical stable pulley guide rails.Pulley is fixed on the side of quarter bend framework 33, then by two two hollow shafts be allowed to connection formed One frame-shaped pulley yoke, the two ends of two horizontal hollow shafts have solid shafting, and shaft end has refilled pulley, and pulley is embedded in portal frame 3 In the chute of side, the bottom of top sheave axle is furnished with the lateral hollow central siphon to power when a support non-slipping block works again, while The interaction for being worked for two groups of anti-falling wedge blocks simultaneously is walked steel wire rope and is passed through.

Also dual-purpose boatswain chair 31 opens the vertical lift assembly pulley 32 for sharing simultaneously.On in the grooved rail of portal frame 3, coasting mechanism has Two groups of pulleys of row, two groups of pulleys are connected on rectangular tube by hollow shaft, and boatswain chair frame is drawn by lifting pulley frame, steel wire rope one end It is fixed in 3 upper beam of portal frame, two sides of the descending movable pulley detoured on pulley yoke further around the entablature to portal frame 3 Fixed pulley is detoured then once again down to the movable pulley of pulley yoke opposite side, then and up once again determines cunning on portal frame 3 Wheel, a hole of 3 upper end of Jing portal frames are reached on the downside of portal frame 3, and on the outside of Jing, fixed pulley comes downwards to the volume installed in 3 bottom of portal frame Raise on machine.It is equipped with the boatswain chair 31 of level storing on the axle of 32 lower end of vertical lift assembly pulley in the lump, boatswain chair 31 there are suspension ring above A upper shaft end of assembly pulley is fixed on by iron chains or steel cable, with the placement being up to the standard and the requirement for suspending gravity in midair.In suspension bracket 31 long-times are ensconced in certain warehouse compartment in jig arm when not working, then by another motor hoisting rope and multiple pulleys make laminating or Open horizontal boatswain chair placement effect.In the I-shaped steel tank of 3 side of portal frame and storehouse frame layer built with vertically and horizontally placing Trolley, moves for 3 row of portal frame and assembly pulley lifting provides power supply.

Described 3 top and bottom of portal frame is equipped with pulley, and described portal frame 3 passes through motor belt motor movable pulley along level Track 11 is moved horizontally.Horizontal comparison junction has increase limit switch and safe spacing safety block, in case malfunctioning switch after Continuous error row is moved, and each power motor has overload protective relay, protects overweight starting.

The inner side of the column of described portal frame 3 can also be provided with upright Luo bars 34, have Luo female on described upright Luo bars 34, The mullion of the inner side of described boatswain chair 31 is fixed on Luo mothers upper end, described elevating mechanism by motor drive upright Luo bars 34 with The vertical lift of boatswain chair 31 is realized in the female transmissions of Luo.Upright Luo bars 34 being vertically arranged on the inside of the groove of I-steel, upright Luo bars 34 it is upper The angular wheel shaft that there is the power being connected between power motor and two Luo bars transmission on top is connected.There is Luo on upright Luo bars 34 Mother, the inner side mullion of boatswain chair 31 are then fixed on Luo mothers upper end.Boatswain chair 31 is then welded by chan frame.There is tooth bar under boatswain chair 31 The motor gear moved laterally with arm mounting on frame is engaged, and is moved to lateral horizontal type.There is small-sized hydraulic on horizontal boatswain chair Stand, be used with clamping hydraulic cylinder offer power for arm is flexible.

Anti-fall mechanism

Anti-fall mechanism 4, described anti-fall mechanism 4 are additionally provided between described vertical lift assembly pulley 32 and quarter bend framework 33 Including be fixed on quarter bend framework 33 determine voussoir 41 and with the dynamic voussoir 42 for determining 41 sliding of voussoir cooperation, moving voussoir 42 can be by Aluminium block or open triangles block ferrum are made.Two voussoir binding faces have guiding

Pin and cotter way, are operationally allowed to be difficult to break away and come off, and described determines 42 both sides of voussoir 41 and dynamic voussoir

It is additionally provided with back-moving spring 43 to drag tightly, it is described to determine voussoir 41 and dynamic voussoir 42 is fitted by back-moving spring 43, it is described Determine voussoir 41 by the detachable active pin shaft 44 for departing from, be fixed on quarter bend framework 33, described 44 bottom of active pin shaft Extension spring 45 is connected with, transmission rope in described extension spring 45, is connected with, described transmission rope one end is connected to vertical liter Drop assembly pulley 32, it is fixed that the described control transmission rope of vertical lift assembly pulley 32 drives extension spring 45 to realize that active pin shaft 44 departs from Voussoir 41.

Pinch roller 46 of the described vertical lift assembly pulley 32 also including a triangle, one of angle of described pinch roller 46 It is hinged on quarter bend framework 33, another angle of described pinch roller 46 is coordinated with steel wire rope by pulley, described pinch roller 46 It is connected with extension spring 45 by transmission rope on a remaining angle, the pinch roller 46 of described triangle is in the quiet of stress balance Only state, described 45 one end of extension spring are fixed on quarter bend framework 33, and described active pin shaft 44 and transmission rope are all connected with In 45 other end of extension spring, described extension spring 45 is in the state of stress balance.Described active pin shaft 44 is by rope Rope is flexible coupling with extension spring 45, is provided with two anti-fall mechanisms 4 in described elevating mechanism, described two anti-fall mechanisms 4 Active pin shaft 44 is flexible coupling by rope.When meet hang liter steel rope breaking when, by existing installed in above drawing high the pinch roller on pulley side Under the pulling of brute spring, even the drawstring of spring detent is pulled in the lump and is released, and makes lock pin depart from dynamic voussoir.By two voussoir both sides Back-moving spring effect under, make two voussoirs shift swelling in the chute of portal frame.A liter rope loosing is hung in view of what is ruptured Position determines have pinch roller 46 a dynamics inequality to be dragged to steel wire rope or has the drag effects such as steel wire rope deadweight on pulley side, be arranged on The lock pin of opposite side voussoir is pulled by the steel wire rope in corresponding hollow central siphon and also plays anti-sliding function, both sides voussoir in the lump Have mutually while playing anti-fall effect.In the presence of crane gravity, the more swelling of two wedges instantaneously reaches anti-fall effect.

Outward appearance and sun-proof aspect：

In storehouse, frame surrounding is equipped with preventing coating protection of the blind to make to car, and each side of inertia can be by high wide by each warehouse compartment Canvas strips are made, there is Os Draconis steel wire at canvas strips two, and Os Draconis steel wire two ends are rolled over again and have circle, to spring hook, spring one end The steel wire at canvas end is caught on, the other end catches on and is close on the angle bar on storehouse frame side, and inside and outside two avris are posted on the trestle of storehouse Two angle bar are caught on for two steel wires at canvas end, and wherein one, two angle bar have the screw flute length hole that can be moved, to make hundred Middle curtain sheet angle adjustment displacement is used.Two springs at canvas strips end distinguish hook on the diverse location hole of two angle bar, make Shape be in the tilted angle, with make shading and ventilation alternate angle distance.Canvas strips can be vertically arranged or horizontal installation, be shone according to live sunlight Depending on needed for firing angle degree.

Go out to put in storage the whole door curtain in door front to be formed by stacking by the multi-disc horizontal curtain of formula that waves.Door curtain can be by both sides pulley grooved rail conduct The slip snapping condition of curtain head, canvas 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.Wire two ends equally also have spring to overlap, 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 and pull steel wire rope, move amplitude to control door curtain row, are guided on motor reel, in electricity by pulley 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 the collapsible and each money of shaft core drum reel formula.Blind can play and docking process sun-proof to car Reduce function of noise, solve because garage cannot sunshade shortcoming.If when being installed additional to the wind with thin plate, easy tearing is damaged, if with thickness Plate is reinforced then because whole storehouse frame area is excessive when high wind is met, because pedestal condition is limited and storehouse Jia great sides wind-engaging probably connects whole car Storehouse folding is ruined.And the blind method is adopted, when high wind is met, the tilting of curtain smoothly can let in air, and two ends spring equally can also draw The gap between curtain sheet is stretched, it is current beneficial to wind-force.Simultaneously can be used as advertisement metope outside with the sun-proof noise reduction sound function of wind resistance, Curtain sheet can double-side-turning ad content or replacing curtain sheet.

Clamping device

This scheme carries car and need to be sailed to before warehouse compartment by vehicle, the ground parking area that Shi Jia cars robot gets at, or by Yi Che robots stop time to put vehicle in storage and are transplanted in front of warehouse compartment, then are hung by Jia Che robots and rise in warehouse compartment.

Embodiment 1

Described clamping device includes the broadside mechanism 5 at top, and described broadside mechanism 5 is provided with pulley, There are four wheel shafts for sliding in grooved rail, four pulleys can move laterally under the driving of tooth bar and motor, reach by folder car Can push in warehouse compartment and clamping proposes car outbound.Described clamping device also includes top-support 51 and for clamping the big of vehicle Arm Cha Zhao mechanisms 52, described big arm Cha Zhao mechanisms 52 are hinged on 51 both sides of top-support, described big arm fork pawl machine Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, described big arm Cha Zhao mechanisms 52 pass through two-way hydraulic cylinder 53 The flexible jointed shaft along top-support 51 is rotated, 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 described 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.

Described big arm Cha Zhao mechanisms 52 are made up of with lower jaw 522 upper quarter bend 521, described 522 grafting of lower jaw In upper quarter bend 521, there is elbow joint set with the junction of lower jaw 522 in upper quarter bend 521.It is provided with described upper quarter bend 521 Second hydraulic cylinder, described second hydraulic cylinder two ends are fixedly connected with lower jaw 522 respectively at upper quarter bend 521, described upper square 51 both sides of top-support are hinged at the top of pipe 521, described 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 associated with cross bar 523.

It is provided between two described hollow steel pipes arranged in parallel 541 and holds stop lever mechanism, described holds 545 machine of pin Structure includes clamping depression bar 543 and holds pin 545, and the centre of described clamping depression bar 543 is provided with rotating shaft, described clamping depression bar 543 are hinged on the connection shrouding 542 at two ends by rotating shaft, and described holds the front end that pin 545 is located at clamping depression bar 543, The described pin 545 that holds is hinged on connection shrouding 542, and the front end of described clamping depression bar 543 is contacted with pin 545 is held Coordinate, the described rear portion for holding pin 545 is additionally provided with the first limit switch 544, and the described pin 545 that holds includes and first 544 detached first position of limit switch and clamping 543 front end of depression bar hold pin 545 with holding pin 545 and contacting promotion The second position that rotation is contacted with the first limit switch 544, the described control two-way hydraulic cylinder 53 of the first limit switch 544 stop And second hydraulic cylinder 522 lifting of the flexible lower jaw of drive.After the swing arm of fork pawl is pressed from both sides near vehicle tyre, in the liquid of last arm Under cylinder pressure effect from both sides to central thrust hold when, tire has slided into a two ends bands rolling in the case where last arm holds thrust On the jig arm crossbeam of moving ring sleeve, that is, clamping depression bar 543 is depressed, the lever jacking for now clamping depression bar 543 liang of sides is another One holds pin 545, and under left-hand seat arm hydraulic cylinder continuation effect, vehicle tyre is further moved into in the middle part of double-rod crossbeam jig arm, Make the fork for holding 545 side of pin squeeze backward to push away, until the limit switch on side is in place, now the side wheel tire is held to Position, limit switch output signal, the hydraulic pressure in last arm are hung and rise whole Cha Bao mechanisms, and the swing arm of opposite side holds action phase Together.

The bottom of described lower jaw 522 is additionally provided with the second limit switch, and the second described limit switch controls the second liquid Cylinder pressure it is flexible, so as to keep the distance with ground.

Described clamping depression bar 543 is provided with roller with the front end that pin 545 contacts is held, and described holds on pin 545 Boss is provided with, is engaged between described boss and roller.

Torsion spring is additionally provided with the described jointed shaft for holding pin 545.

The bottom of described lower jaw 522 is additionally provided with spacer pin.

Embodiment 2

Described clamping device includes the broadside mechanism 5 at top, and described broadside mechanism 5 is provided with pulley, There are four wheel shafts for sliding in grooved rail, four pulleys can move laterally under the driving of tooth bar and motor, reach by folder car Can push in warehouse compartment and clamping proposes car outbound.Described clamping device also includes top-support 51 and for clamping the big of vehicle Arm Cha Zhao mechanisms 52, described big arm Cha Zhao mechanisms 52 are hinged on 51 both sides of top-support, described big arm fork pawl machine Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, described big arm Cha Zhao mechanisms 52 pass through two-way hydraulic cylinder 53 The flexible jointed shaft along top-support 51 is rotated, 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 described 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.

Described big arm Cha Zhao mechanisms 52 are made up of with lower jaw 522 upper quarter bend 521, described 522 grafting of lower jaw In upper quarter bend 521, there is elbow joint set with the junction of lower jaw 522 in upper quarter bend 521.It is provided with described upper quarter bend 521 Second hydraulic cylinder, described second hydraulic cylinder two ends are fixedly connected with lower jaw 522 respectively at upper quarter bend 521, described upper square 51 both sides of top-support are hinged at the top of pipe 521, described 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 associated with cross bar 523.

The end of described big arm Cha Zhao mechanisms 52 is quarter bend crossbeam 56, and the middle part of described quarter bend crossbeam 56 is provided with two The otch 561 of individual confession tire screens, described otch 561 are respectively provided on two sides with the clamping plate 562 promoted by hydraulic jack, described Clamping plate 562 prevents car front and back from sliding by hydraulic jack clamping wheel.When tire in place after, two cutting for tire screens The clamping plate 562 that the hydraulic jack of 561 both sides of mouth is promoted, under hydraulic jack effect, clamps tire, and being allowed to will not be to before and after car Slide side.

The rear side of described otch 561 is additionally provided with the first limit switch 544, and the first described limit switch 544 controls double Stop to hydraulic cylinder 53.

Back-moving spring is additionally provided between described clamping plate 562 and hydraulic jack.

In portal frame, big arm Cha Zhao mechanisms 52 etc., each is equal with the be close to position of clamped vehicle, ground and warehouse compartment Range sensor or limit switch are equipped with, and control action are moved to reach.

Embodiment 3

Described clamping device includes the broadside mechanism 5 at top, and described broadside mechanism 5 is provided with pulley, There are four wheel shafts for sliding in grooved rail, four pulleys can move laterally under the driving of tooth bar and motor, reach by folder car Can push in warehouse compartment and clamping proposes car outbound.Described clamping device also includes top-support 51 and for clamping the big of vehicle Arm Cha Zhao mechanisms 52, described big arm Cha Zhao mechanisms 52 are hinged on 51 both sides of top-support, described big arm fork pawl machine Two-way hydraulic cylinder 53 is additionally provided between structure 52 and top-support 51, described big arm Cha Zhao mechanisms 52 pass through two-way hydraulic cylinder 53 The flexible jointed shaft along top-support 51 is rotated, 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 described 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.

Described big arm Cha Zhao mechanisms 52 are made up of with lower jaw 522 upper quarter bend 521, described 522 grafting of lower jaw In upper quarter bend 521, there is elbow joint set with the junction of lower jaw 522 in upper quarter bend 521.It is provided with described upper quarter bend 521 Second hydraulic cylinder, described second hydraulic cylinder two ends are fixedly connected with lower jaw 522 respectively at upper quarter bend 521, described upper square 51 both sides of top-support are hinged at the top of pipe 521, described 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 associated with cross bar 523.There is telescopic lower jaw 522 in upper quarter bend 521, There are two nylon slide blocks between upper quarter bend 521 and lower jaw 522, in the middle of slide block, respectively have a groove, respectively for the Cha Zhao mechanisms of bottom The steel wire rope that 57 hydraulic oil pipelines for swinging and pulling whippletree swing passes through.

The end of described big arm Cha Zhao mechanisms 52 is provided with the Cha Zhao mechanisms 57 for clamping vehicle tyre, described fork Pawl mechanism 57 includes quarter bend whippletree 571, and the steel for pulling that quarter bend whippletree 571 swings is additionally provided with described big arm Cha Zhao mechanisms 52 Cord, described steel wire rope two ends are connected with quarter bend whippletree 571, upper quarter bend 521 respectively, and described quarter bend whippletree 571 is hinged on Lower 522 end of jaw, described 571 two ends of quarter bend whippletree are equipped with little yoke 572, described little yoke 572 and quarter bend whippletree It is flexibly connected between 571, in the end of described big arm Cha Zhao mechanisms, is provided with hydraulic oscillating cylinder, described little yoke 572 passes through Drive connects.Described 571 upper end of quarter bend whippletree is provided with hanger 573, and described quarter bend whippletree 571 passes through hanger 573 ends for being hinged on lower jaw 522, are additionally provided with torsion spring between described hanger 573 and lower jaw 522.The tension force of torsion spring makes 572 whippletree of little yoke is close on the outside of 522 end of lower jaw, little yoke 572 need to be made horizontal when dropping obvolvent vehicle tyre under an arm Thick stick is followed closely to be shown.Thus steel wire rope need to be dragged because arm inner arm declines by the steel wire rope in last arm.Because needing carrying for steel wire rope For elongatedness, that is, in the middle part of further 522 end of lower jaw and quarter bend whippletree 571 between truckle group on axle base, that is, discharge Steel wire disk declines for interior arm and stretches rope capacity around length.Decline in big arm Cha Zhao mechanisms 52 and look for truck position then Completed by the sensor and robotic vision system installed in each position.572 accurate alignment tire of little yoke can be by spacing Switch or sensor positioning, when four clamping of little yokes 572 tires in place when big arm Cha Zhao mechanisms 52 make enhancing action.

When paw need to make to clamp vehicle action, big arm Cha Zhao mechanisms 52 are progressively declined by original maximum angle of making widely known Make holding action, when holding action is declined to half way, inner arm stretches out under hydraulic cylinder effect in big arm Cha Zhao mechanisms 52 Action.Hook is enclosed within the steel wire rope and adjustable spring 524 of 521 upper end of quarter bend with big 52 length change of arm Cha Zhao mechanisms, ensconces Steel wire in big arm Cha Zhao mechanisms 52 is constantly tensioned, and quarter bend whippletree 571 is gradually left last with big arm Cha Zhao mechanisms 52 The parallel surface in end outside, constantly magnifies and the angle on the outside of big arm Cha Zhao mechanisms 52, is close to and big arm in quarter bend whippletree 571 When end is at right angles orthogonal, big arm Cha Zhao mechanisms 52 make to clamp obvolvent vehicle tyre action.It is not parallel in quarter bend whippletree 571 When being close to ground, contacted to earth by the universal wheel ball below 571 joint bearing pin of quarter bend whippletree, until quarter bend whippletree 571 is close to Ground or the angle on diminution and ground.The condition that little yoke 572 reaches clamping tire can made with the acquisition of ground distance sensor When, little yoke 572 opens mounting board and holding action is completed before and after tire, that is,.Little yoke 572 is slightly longer, and clamps tire, and Simply loosely snap fit is lived.270 degree of hydraulic oscillating cylinders of 521 lower end of upper quarter bend have limited pendulum angle, and carry locking function, little Type hydraulic oscillating cylinder small volume power is big, is competent at clamping torsion completely.

Described actuating device includes universal joint 574, driving gear 575 and driven gear 576, described driving gear Transmission between 575 and driven gear 576 coordinates, described driving gear 575 and a little yoke 572, driven gear 576 with it is another Connected by sprocket wheel between one little yoke 572, realize the opening and closing of little yoke 572.

The inner side of described quarter bend whippletree 571 is equipped with one with downside and touches for and quarter bend whippletree 571 close to tire Position provides the range sensor 577 of control signal.

Adjustable spring 524 is additionally provided between described steel wire rope and upper quarter bend 521, described steel wire rope passes through adjustable spring 524 are fixed in quarter bend 521.Pulley is equipped with described 572 end of little yoke and quarter bend whippletree 571, is turned round for coordinating Spring makees little yoke 572 and big arm Cha Zhao mechanisms 52 open the dynamic structure of laminating and are used around steel wire rope.Steel wire rope passes through two Pulley between group truckle group repeatedly detours, then goes upward to the adjustable spring 524 on 521 top of quarter bend and be connected, flexible bullet 524 another upper end of spring hooks and is enclosed within a pin.Adjustable spring 524 plays tense wire rope and does not disengage it from assembly pulley groove position, and logical Cross steel wire rope 522 whippletree of lower jaw is pulled as flexibility.

Because two little yokes 572 are abreast close to quarter bend bottom, need to stagger the time during folding and make widely known and closed action, thus need Lost no time than there is spline empty pendulum time delay to come wrong between the gear and shaft core in transmission and driven shaft by active, the gear of driven shaft and sprocket wheel Open little paw opening and closing movement.Then compare to compensate angle according to two sprocket wheel sizes speed in the consumed angular travel of shaft core and gear idle running Degree stroke, has thus reached the required time difference of unlatchings, closure and angle is accurate.

For example：It it is 270 degree by rotational angle needed for paw on the outside of the tire before and after car, principal and subordinate's movable sprocket speed compares 1：1, i.e., 24 tooth sprockets are than 24 tooth sprockets.The angle rotated needed for paw by the tire side at the middle part of car is driven shaft gear than master Few 3 teeth of moving axis gear, then by the driven sprocket of the drive sprocket under driven shaft and end be 24 teeth than 23 teeth, thereby produce two The angle that little paw swings is 270 degree and 315 degree.But driven shaft paw has more 45 degree need to be by having between driven gear shaft core and gear It is empty to put 45 degree of strokes to consume.Two little paw opening time differences are first to show by the paw that driving shaft is transmitted around here, driven Axle institute's rotational angle is formed because there is free swinging to produce after causing little paw, that is, and is successively opened.But need to be by driven shaft in return The handss unguiculus morning return of one end, then by the torsion spring institute hasp on the sprocket wheel of quarter bend end and even the wheel of wheel one circles or whirl in the air and pendulum and stores power Make which shift to an earlier date return, reach swing effect of staggering the time.

The above is only preferred implementation of the present utility model, and protection domain of the present utility model is not limited merely to Above-described embodiment, all technical schemes belonged under this utility model thinking belong to protection domain of the present utility model.Should refer to Go out, for those skilled in the art, some improvement under the premise of without departing from this utility model principle and Retouching, these improvements and modifications also should be regarded as protection domain of the present utility model.

Claims (9)

1. a kind of intelligent stereo garage vehicle clamping device, it is characterised in that described clamping device includes the side at top To coasting mechanism（5）, described broadside mechanism（5）Pulley is provided with, described clamping device is by pulley edge warehouse-in rail Road（21）Transverse shifting, described clamping device also include top-support（51）With for clamping the big arm Cha Zhao mechanisms of vehicle （52）, described big arm Cha Zhao mechanisms（52）It is hinged on top-support（51）Both sides, described big arm Cha Zhao mechanisms（52） Along top-support（51）Jointed shaft rotate, realize that the function of vehicle, described big arm fork pawl machine are put down in clamping device crawl Structure（52）End to hold crossbeam（54）, described holds crossbeam（54）It is hinged on lower jaw（522）End, described hold Crossbeam（54）Including two hollow steel pipes arranged in parallel（541）, two hollow steel pipes（541）Two ends be provided with connection shrouding （542）, described connection shrouding（542）Centre is provided with jointed shaft, and described holds crossbeam（54）By connecting shrouding（542）'s Jointed shaft is hinged on lower jaw（522）End, described connection shrouding（542）Jointed shaft and lower jaw（522）Between also set There are torsion spring, described connection shrouding（542）With lower jaw（522）Between cocurrent and parallel arrange, two described skies arranged in parallel Heart steel pipe（541）Between be provided with and hold stop lever mechanism, the described stop lever mechanism that holds includes clamping depression bar（543）With hold pin （545）, described clamping depression bar（543）Centre be provided with rotating shaft, described clamping depression bar（543）Two ends are hinged on by rotating shaft Connection shrouding（542）On, described holds pin（545）Positioned at clamping depression bar（543）Front end, described holds pin （545）It is hinged on connection shrouding（542）On, described clamping depression bar（543）Front end with hold pin（545）It is engaged, Described holds pin（545）Rear portion be additionally provided with the first limit switch（544）, described holds pin（545）Including with One limit switch（544）Detached first position and clamping depression bar（543）Front end with hold pin（545）Contact promotion holds Pin（545）Rotate and the first limit switch（544）The second position of contact, the first described limit switch（544）Control is double To hydraulic cylinder（53）Stop and the lower jaw of the flexible drive of second hydraulic cylinder（522）Lifting.

2. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described is big Arm Cha Zhao mechanisms（52）With top-support（51）Between be additionally provided with two-way hydraulic cylinder（53）, described big arm Cha Zhao mechanisms （52）By two-way hydraulic cylinder（53）Stretch along top-support（51）Jointed shaft rotate, realize clamping device crawl put down vehicle Function.

3. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Big arm Cha Zhao mechanisms（52）By upper quarter bend（521）With lower jaw（522）Composition, described lower jaw（522）It is plugged on square Pipe（521）Interior, described upper quarter bend（521）Second hydraulic cylinder is provided with inside, described second hydraulic cylinder two ends are respectively at upper quarter bend （521）With lower jaw（522）It is fixedly connected, described upper quarter bend（521）Top is hinged on top-support（51）Both 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 also It is connected with cross bar（523）.

4. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Lower jaw（522）Bottom be additionally provided with the second limit switch, described the second limit switch control second hydraulic cylinder it is flexible, from And keep the distance with ground.

5. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Broadside mechanism（5）With top-support（51）Between be additionally provided with the turntable bearing of rotatable movement（55）, described top is propped up Frame（51）By turntable bearing（55）With broadside mechanism（5）Rotatable engagement.

6. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Hollow steel pipe（541）On be arranged with some skid wheels.

7. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Clamping depression bar（543）With hold pin（545）The front end of contact is provided with roller, and described holds pin（545）Boss is provided with, It is engaged between described boss and roller.

8. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Hold pin（545）Jointed shaft on be additionally provided with torsion spring.

9. a kind of intelligent stereo garage vehicle clamping device according to claim 1, it is characterised in that described Lower jaw（522）Bottom be additionally provided with spacer pin.