CN108343296A - A kind of manipulator clamping type three-dimensional parking device - Google Patents

Abstract

The present invention provides a kind of manipulator clamping type three-dimensional parking device, the ride plate for being equipped with towing item using bottom solves the problems, such as that traditional parking apparatus easily generates damage to vehicle as medium.The equipment carries out Transport Vehicle by manipulator driving clamping device pulling vehicle platen, and is oriented to dragging using multigroup clip wheel group comprising main body frame, ride plate and driving control system；Main body frame includes horizontal rail, vertical track and multiple parking stalls；It is provided with Horizontal trolley in horizontal rail, vertical carrier is provided on vertical track；Driving control system includes the first manipulator driving clamping device being arranged on vertical carrier, the second manipulator driving clamping device being arranged on Horizontal trolley and the guiding clip wheel group being arranged on each parking stall；Ride board bottom portion is provided with towing item；First manipulator driving clamping device, the second manipulator driving clamping device pulls item by dragging and target parking position is oriented to the limition orientation of clip wheel group, completes Transport Vehicle.

Description

A kind of three-dimensional parking equipment with manipulator gripping

technical field

The invention relates to the technical field of mechanical parking equipment, in particular to a manipulator-clamping three-dimensional parking equipment.

Background technique

The urban construction area is getting tense gradually, therefore, three-dimensional parking equipment is increasing in the country. At present, there are mainly comb-tooth exchange-type three-dimensional parking equipment and holding-carrying three-dimensional parking equipment in the market in our country.

Among them, the comb-tooth exchange type three-dimensional parking equipment is a simple and fast-access three-dimensional parking garage, but the vehicle shakes a lot during the comb-tooth exchange process, and the comb-tooth exchange generally designs a vehicle centering device. The device is forced to center, which will inevitably cause damage to the vehicle tires and the main shaft.

Compared with the comb-tooth exchange type three-dimensional parking equipment, the overall floor height of the holding and transporting three-dimensional parking equipment is lower, but it has higher requirements for the design, processing, and installation of the holding car. The holding car is bound to be forced to hold during the handling process Vehicle tires, which will also cause certain damage to vehicle tires. Another disadvantage of the holding and transporting three-dimensional parking equipment is that it has strict requirements on the wheelbase of the vehicle. If the wheelbase is too large or too small, it cannot be held, and the adaptability is lacking.

To sum up, these two kinds of three-dimensional parking equipment will directly contact the customer's vehicle, and will cause damage to the customer's vehicle. In order to solve this problem, developing a three-dimensional parking device that avoids the problems of the above two three-dimensional parking devices has become one of the focuses of the industry.

Contents of the invention

The object of the present invention is to solve the disadvantages of the prior art and provide a manipulator-clamping three-dimensional parking device that does no damage to the vehicle and improves user experience.

To achieve the above object, the technical solution provided by the present invention is:

A manipulator gripping type three-dimensional parking equipment, including a main frame, a car platform and a drive control system; the main frame includes a horizontal track, a vertical track and a plurality of parking spaces; the horizontal track is provided with a horizontal platform, vertical A vertical carrier is arranged on the track; the vehicle platform is used to carry vehicles; the special feature is that the drive control system includes a first manipulator clamping drive device arranged on the vertical carrier, a horizontal platform car The clamping drive device of the second manipulator on the top and the guide clamp wheel set arranged on each parking space; the bottom of the platform is provided with a drag bar; the clamping drive device of the first manipulator and the clamping drive device of the second manipulator By dragging the drag bar, the position exchange of the vehicle platform on the vertical carrier and the horizontal platform truck is completed; the second manipulator clamps the drive device by dragging the drag bar and the limit guide of the target parking space guide clamp wheel group, Complete the exchange of the position of the platform on the parking space and the horizontal platform; before entering the target parking space, the vertical carrier drives the platform to move up and down along the vertical track in the main frame, and after lifting to the target parking floor, The car platform enters the horizontal platform car, and the horizontal platform car drives the car platform to move horizontally along the horizontal track in the main frame and move to the front of the target parking space; otherwise, it moves out from the front of the target parking space.

Further, according to the actual application situation, the manipulator clamping type three-dimensional parking equipment can be designed in multiple ways. When the vehicle is parked in the width direction of the vehicle body, the two sides of the vertical carrier parallel to the direction of vehicle entry and exit are paved with the second A car platform running track, the central axis of the vertical carrier is provided with the first manipulator clamping drive device; when the vehicle is parked in the direction of the body length, along the direction of vehicle entry and exit, the two sides of the vertical carrier are laid with the second The first trolley is provided with a first manipulator clamping driving device between the first trolley and the first trolley.

Further, the position corresponding to the first platform traveling track of the horizontal platform vehicle is laid with the second vehicle platform traveling track, and the position corresponding to the first manipulator clamping drive device is laid with the manipulator frame walking track; the manipulator frame travels The track and the walking track of the second platform are parallel to the direction of entry and exit of the platform; the horizontal platform vehicle is also provided with a manipulator frame and a manipulator frame driving assembly; the manipulator frame passes through the manipulator frame driving wheel Move back and forth on the manipulator frame walking track; the manipulator frame is provided with a second manipulator clamping drive device; the bottom of the vehicle platform is provided with a drag strip at a position corresponding to the second manipulator clamping drive device, and the vehicle platform The two sides of the bottom of the board parallel to the towing bar are provided with the running wheels of the platform; the position corresponding to the towing bar on the parking space is provided with at least one set of guide clip wheel sets.

Further, the first manipulator clamping driving device includes a first manipulator and at least one set of first clamping wheels for guiding; the second manipulator clamping driving device includes two second manipulators; two second The manipulators are respectively arranged at both ends of the manipulator frame; and when the vehicle is parked according to the width direction of the vehicle body, at least one set of second clamping wheels for guiding is also arranged between the two second manipulators; considering that when the vehicle is parked according to the vehicle body The length direction is parked, and the width of the manipulator frame of the horizontal trolley is limited. Setting two second manipulators can fully play the role of guiding the drag bar, and it is not necessary to install the second clamping wheel set.

Further, the structure of the first manipulator and the second manipulator is the same, including manipulator clamping motor, manipulator transmission driving gear, manipulator transmission driven gear, manipulator arm and manipulator dragging wheel; the manipulator transmission driven gear and manipulator drag The wheels are connected by sprocket chains, and are arranged at both ends of the mechanical arm respectively, and the driving driven gear of the manipulator and the dragging wheel of the manipulator are not located on the same horizontal plane; there are two mechanical arms, and the two mechanical arms are arranged symmetrically; The driven gears of the manipulator on the manipulator mesh with each other, and the driven gear of the manipulator on one of the manipulators meshes with the driving gear of the manipulator at the same time; the gripping motor of the manipulator directly drives the driving gear of the manipulator, and the driving gear of the manipulator drives the two manipulators The driving driven gear, the driven gears of the two manipulators rotate in opposite directions, driving the mechanical arm to open or close; the driving driven gear sprocket of the manipulator drives the dragging wheel of the manipulator to rotate to complete the continuous dragging or pushing action; the dragging wheel of the manipulator adopts Friction wheel; the mechanical arm is provided with one end of the dragging wheel of the mechanical arm facing outwards.

Further, the manipulator frame drive assembly includes a manipulator frame drive motor, a manipulator frame drive gear and a manipulator frame drive rack; the manipulator frame drive motor and the manipulator frame drive gear are arranged on the horizontal platform; the manipulator frame drive rack is arranged on the manipulator On the frame, the middle part of the drive rack of the manipulator frame meshes with the drive gear of the manipulator frame, and the drive racks of the manipulator frame on both sides can also be equipped with retractable dust-proof covers; the drive motor of the manipulator frame drives the drive gear of the manipulator frame to rotate, and through the The meshing of the driving rack and the driving gear of the manipulator frame drives the manipulator frame to move back and forth on the manipulator frame walking track. Under the action of the drive assembly of the manipulator, the manipulator moves forward or backward along the travel track of the manipulator for H/2 stroke, where H is the length of the driving rack of the manipulator.

Further, a manipulator adjustment spring is provided on the outer side of the end of the manipulator arm with the manipulator drag wheel, which can compensate for gaps and provide additional force during the gripping and dragging process. When the gap between the drag wheels of the manipulator in the first manipulator or the second manipulator is not aligned with the drag bar due to electrical or installation errors, when the manipulator frame clamps the vehicle platform forward, the drag bar will hit the drag wheel of the manipulator In addition, the force generated by the compressed manipulator adjustment spring will also make the vehicle platform always drag the vehicle out of the parking space or down the vertical carrier along the gap between the two manipulator drag wheels.

Further, the running wheels of the vehicle platform are smooth wheels; the third vehicle platform running track is laid on each of the parking spaces.

Further, the drag strip is a rectangular tube or a steel pipe, and its width matches the width of the gap between the first clamp wheel set, the second clamp wheel set, and the guide clamp wheel set; its length depends on the installation orientation, and match the length or width of the deck.

Further, in order to prevent maintenance personnel from falling from the horizontal platform truck to cause accidents during installation, commissioning or follow-up maintenance, one side of the horizontal platform vehicle is provided with a trolley guardrail, and maintenance personnel can stand on a side with a trolley guardrail. side work.

Further, the first clamping wheel set, the second clamping wheel set and the guide clamping wheel set have the same structure, and all include two clamping wheels, and there is a gap between the two clamping wheels.

The advantages of the present invention over prior art are:

1. The present invention has a high degree of automation, fast access to the car, safety and reliability, and high customer experience comfort. The present invention adopts a new design: one is a vertical carrier provided with a first manipulator clamping drive device; The device is set on the manipulator frame on the horizontal platform car, and the manipulator frame can move back and forth on the horizontal platform car under the action of the driving component of the manipulator frame, which is convenient for pushing and pulling the car platform; the third is the car with walking wheels and drag strips The platform and the towing bar are set on the bottom of the vehicle platform, and are adapted to the length/width of the vehicle platform, and are tailored for the manipulator clamping drive device towing the vehicle platform; the fourth is the parking space with a guide clamp wheel set. Among them, the clamping drive device of the first manipulator and the clamping drive device of the second manipulator complete the position exchange of the vehicle platform on the vertical carrier and the horizontal platform by dragging the drag bar; The drag bar and the limit guide of the target parking space guide clip wheel set complete the position exchange of the car platform between the parking space and the horizontal platform. Using the parking equipment in the present invention, because the vehicle platform is used as the medium, the handling equipment will not directly contact the vehicle, so it will not cause damage to the vehicle, and the access to the vehicle is coherent and done in one go, unlike the comb-tooth parking equipment for exchange , to reduce the access time. Compared with the comb-tooth exchange type three-dimensional parking equipment and the holding and carrying type three-dimensional parking equipment, the present invention does not need a comb or a device for holding a trolley, and has a more compact structure and lower cost.

2. The clamping drive device of the manipulator in the present invention includes a manipulator and a clamping wheel set that acts as a guide. During the process of dragging the pallet by the manipulator, the clamping wheel group is used as a guide to ensure that the pallet travels according to the pre-designed straight line track. The drag bar dragged by the manipulator is guided by the clamping wheel group, and the clamping wheel group is always accompanied by the pallet. The whole process of board access.

3. Since the present invention is provided with a drag strip and a clamping wheel set, the running wheel of the vehicle bed can adopt a light wheel, and it is not necessary to be designed as a grooved wheel or a guide wheel. Because if the traveling wheels of the platform are designed as grooved wheels, it will inevitably cause difficulty in the later electrical debugging. Due to various reasons such as its own error, installation error or debugging error, the three walking tracks may not be in a straight line. It is relatively difficult for the sheave to walk at the transition of the track, and there are safety hazards such as overturning, but there is no such situation with the light wheel. Moreover, the use of light wheels also avoids the design of friction wheels and friction transmission power systems (one parking space, one motor and transmission system) on the parking space, effectively reducing costs and reducing the difficulty of installation and debugging.

4. In the present invention, with the assistance of the drive assembly of the manipulator frame, the manipulator frame can move back and forth with a certain stroke, which is convenient for pushing and pulling the platform of the cart.

5. In the present invention, the traction wheel of the manipulator adopts friction wheels, which are traction and pull during work. The traction transmission itself has friction and slippage, and the self-adjustment and protection will be carried out if the force is too large. Therefore, the use of friction wheels will be more stable when towing the car platform.

6. In the present invention, the vertical carrier, the horizontal trolley and the clamping wheels on the parking space are arranged in multiple groups, aiming to play a guiding role at all times, reduce the shaking of the vehicle platform, and ensure that the vehicle platform will not walk away from the vehicle platform track, to achieve the expected drag path of the vehicle bed, and at the same time help to reduce the difficulty of installation and commissioning, and reduce the difficulty of the design, processing and installation of the running wheel of the vehicle plate.

Description of drawings

Fig. 1 is the schematic structural view of the vertical carrier in the first manipulator gripping three-dimensional parking equipment of the present invention;

Fig. 2 is the schematic structural view of the horizontal platform vehicle in the first manipulator gripping three-dimensional parking equipment of the present invention;

Fig. 3 is the three-dimensional schematic diagram of the horizontal platform vehicle in the first kind of manipulator gripping three-dimensional parking equipment of the present invention in the gripping parking space;

Fig. 4 is a schematic diagram of the overall cooperation of the first manipulator gripping three-dimensional parking device of the present invention;

Fig. 5 is a schematic diagram of the overall coordination of the second manipulator gripping three-dimensional parking device of the present invention;

Fig. 6 is a schematic structural view of the horizontal platform vehicle in the second manipulator gripping three-dimensional parking device of the present invention.

The reference signs of Fig. 1 to Fig. 4 are as follows:

1-vertical carrier; 11-the clamping drive device of the first manipulator; 111-the first manipulator; 112-the first clamping wheel set; 12-the first car platform walking track;

2-horizontal platform car; 21-manipulator frame; 211-manipulator frame support wheel; 212-manipulator frame walking wheel; 22-manipulator frame walking track; 23-second car platform walking track; 24-manipulator frame drive assembly; 241 -Drive motor of manipulator frame; 242-drive gear of manipulator frame; 243-drive rack of manipulator frame; 25-second manipulator clamping drive device; 251-second manipulator; 2511-manipulator clamping motor; ; 2513-manipulator drive driven gear; 2514-manipulator arm; 2515-manipulator dragging wheel; 2516-manipulator adjustment spring;

3-car platform; 31-car platform walking wheel; 32-drag bar;

4-horizontal track;

5- The third car platform walking track;

The reference numerals of Fig. 5 to Fig. 6 are as follows:

6-vertical carrier; 61-the clamping drive device of the first manipulator; 611-the first manipulator; 612-the first clamping wheel group; 62-the first car platform walking track;

7-horizontal platform car; 71-manipulator frame walking track; 72-manipulator frame; 73-manipulator frame walking wheel; 74-manipulator frame drive assembly; 741-dust cover; 75-second manipulator; 76-second platform board walking track;

8- Horizontal track.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, content of the present invention is described clearly and completely:

For convenience reasons only, in the following description, specific directional terms such as "upper", "lower", "front", "rear", etc. are used with reference to the corresponding drawings and It should not be regarded as a limitation on the present invention, and when the defined direction of the drawings changes, the directions indicated by these words should be interpreted as correspondingly different directions.

The invention mainly relies on the friction wheel manipulator to clamp the driving device tow the platform of the trolley to access the trolley, and adopts the clamping wheel group to guide the towing bar.

The first manipulator-clamping three-dimensional parking equipment as shown in Figures 1-4 is a solution for vehicles to be parked in the width direction of the vehicle body, including a main frame (not completely shown in the figure), a vehicle platform 3 and a drive Control System.

The main frame can be a steel structure or a civil structure, including a horizontal track 4, a vertical track (not shown) and a plurality of parking spaces; a horizontal trolley 2 is arranged on the horizontal track, and a vertical carrier 1 is arranged on the vertical track.

The drive control system comprises the clamping driving device 11 of the first manipulator arranged on the vertical carrier 1, the clamping driving device 25 of the second manipulator arranged on the horizontal trolley 2, and the guide clip wheel group ( not shown in the figure).

On the vertical carrier 1, the first vehicle platform walking track 12 is laid on both sides parallel to the vehicle in and out direction, and the first manipulator clamping drive device 11 is arranged on the central axis; the first manipulator clamping drive device 11 includes a first The manipulator 111 and multiple sets of first clamping wheel sets 112 for guiding, the first manipulator 111 is located between the multiple sets of first clamping wheel sets 112 .

The position corresponding to the horizontal platform car 2 and the first car platform walking track 12 is laid with the second car platform walking track 23, and the position corresponding to the first manipulator clamping drive device 11 is laid with the manipulator frame walking track 22; the manipulator frame travels The track 22 and the second vehicle platform walking track 23 are all parallel to the direction in and out of the vehicle platform 3; The trolley guardrail 26; the manipulator frame 21 moves back and forth on the manipulator frame walking track 22 through the manipulator frame support wheel 211 and the manipulator frame walking wheel 212 under the action of the manipulator frame drive assembly 24; the manipulator frame 21 is provided with a second manipulator clamp Tighten the driving device 25, and the second manipulator clamping driving device 25 includes two second manipulators 251 and multiple groups of second clamping wheel sets 252 for guiding; two second manipulators 251 are respectively arranged on the two ends of the manipulator frame 21, Multiple sets of second clamping wheel sets 252 are located between the two second manipulators 251 .

Wherein, the structure of the first manipulator 111 and the second manipulator 251 is the same, including the manipulator clamping motor 2511, the manipulator transmission driving gear 2512, the manipulator transmission driven gear 2513, the manipulator arm 2514, the manipulator dragging wheel 2515 and the manipulator adjusting spring 2516; The driving driven gear 2513 and the manipulator dragging wheel 2515 are connected by sprockets and chains, and are respectively arranged at both ends of the manipulator arm 2514, and the manipulator driving driven gear 2513 and the manipulator dragging wheel 2515 are not located on the same horizontal plane, and there is a height difference between them , can make the drag strip 32 pass through smoothly; there are two mechanical arms 2514, and they are arranged symmetrically along the central axis of the vertical carrier 1 or the mechanical arm frame 21; The manipulator transmission driven gear 2513 on the manipulator arm 2514 meshes with the manipulator transmission driving gear 2512 simultaneously; The setting direction is that the end that is provided with the drag wheel of the manipulator faces outwards.

Manipulator frame drive assembly 24 comprises manipulator frame drive motor 241, manipulator frame drive gear 242 and manipulator frame drive tooth bar 243, manipulator frame drive motor 241 and manipulator frame drive gear 242 are arranged on the horizontal platform truck 2, and manipulator frame drive rack 243 is arranged on the manipulator frame 21, and meshes with the manipulator frame driving gear 242. The manipulator frame drive motor 241 drives the manipulator frame drive gear 242 to rotate, and through the engagement of the manipulator frame drive gear 242 and the manipulator frame drive rack 243, the manipulator frame 21 is driven to move back and forth on the manipulator frame walking track 22. During the initial state, the manipulator frame driving gear 242 is meshed with the middle part of the manipulator frame driving rack 243 , therefore, the stroke that the manipulator frame 21 can move back and forth is equal to 1/2 of the length of the manipulator frame driving rack 243 .

The vehicle platform 3 is used to carry the vehicle, and is parallel to the direction of vehicle entry and exit. The central axis of the bottom is provided with a drag bar 32. The drag bar 32 is a rectangular tube or steel pipe. Walking wheel 31 is light wheel.

On each parking space, on the central axis parallel to the in-and-out direction of the vehicle platform 3, a plurality of groups of guide clamp wheel sets for spacing are arranged, and the third vehicle platform walking track 5 is laid on both sides.

The first clamping wheel set 112, the second clamping wheel set 252 and the guide clamping wheel set have the same structure, and are all composed of two clamping wheels, and there is a gap between the two clamping wheels. The width of drag strip 32 matches the gap width between the two clamping wheels, and the length is the same as the length of the vehicle platform 3 .

The first manipulator clamping drive device 11 and the second manipulator clamping drive device 25 complete the position exchange of the vehicle platform 3 on the vertical carrier 1 and the horizontal platform car 2 by dragging the drag strip 32; the second manipulator clamps the drive The device 25 completes the position exchange of the car bedplate on the parking space and the horizontal platform car 2 by dragging the tow bar 32 and the limit guide of the target parking space guiding clip wheel set.

The second type of manipulator gripping three-dimensional parking equipment as shown in Figure 5 and Figure 6 is a solution for vehicles to be parked in the direction of the length of the vehicle body, including a main frame (not completely shown in the figure), a vehicle platform and a drive control system.

The main frame can adopt a steel structure or a civil structure, including a horizontal track 8, a vertical track and multiple parking spaces; the horizontal track is provided with a horizontal trolley 7 and the vertical track is provided with a vertical carrier 6.

The driving control system includes the first manipulator clamping drive device 61 arranged on the vertical carrier 6, the second manipulator clamping drive device 71 arranged on the horizontal platform 7 and the guide clamp wheel set arranged on each parking space.

Along the vehicle entry and exit direction, the two sides of the vertical carrier 6 are laid with the first vehicle platform running track 62, and the first manipulator clamping drive device 61 (the first manipulator clamping drive) is arranged between the first vehicle platform running track 62. The device can be arranged in different positions according to needs, both can be arranged in the position close to the front of the vehicle as shown in the figure, can also be arranged in the middle or tail), the first manipulator clamping drive device 61 includes a first manipulator 611 and a set of The first pinch wheel set 612 for guiding.

Parallel to the direction of entry and exit of the platform, the two sides of the horizontal platform vehicle 7 are laid with a second vehicle platform walking track 76, and the position corresponding to the first manipulator clamping drive device 61 on the vertical carrier 6 is laid with a manipulator frame walking track 71; the horizontal platform car 7 is also provided with a manipulator frame 72 and a manipulator frame drive assembly 74; the manipulator frame 72 moves back and forth on the manipulator frame walking track 71 through the manipulator frame walking wheel 73 under the action of the manipulator frame drive assembly 74; The frame 72 is provided with a second manipulator clamping drive device, and the second manipulator clamping drive device includes two second manipulators 75 ; the two second manipulators 75 are respectively arranged at both ends of the manipulator frame 72 .

Wherein, the structures of the first manipulator 611 and the second manipulator 75 are the same as those of the first manipulator 111 and the second manipulator 251 in the first manipulator-clamping three-dimensional parking device in FIGS. 1-4 , and will not be repeated here. .

The manipulator frame driving assembly 74 comprises a manipulator frame driving motor, a manipulator frame driving gear and a manipulator frame driving rack; the manipulator frame driving motor and the manipulator frame driving gear are arranged on the horizontal platform, and the manipulator frame driving rack is arranged on the manipulator frame, And mesh with the manipulator frame drive gear. The manipulator frame drive motor drives the manipulator frame drive gear to rotate, and through the engagement of the manipulator frame drive gear and the manipulator frame drive rack, the manipulator frame is driven to move back and forth on the manipulator frame walking track. During the initial state, the manipulator frame drive gear meshes with the middle part of the manipulator frame drive rack, and the manipulator frame drive racks on both sides are covered with retractable dust jackets 741. Therefore, the stroke that the manipulator frame 72 can move back and forth is equal to that of the manipulator frame. One-half the length of the drive rack.

The vehicle platform is used to carry the vehicle, and its bottom is provided with a drag bar at the position corresponding to the clamping drive device 61 of the first manipulator. The drag bar is a rectangular pipe or a steel pipe, and the bottom of the vehicle platform is provided with Car platform travel wheel, the vehicle platform travel wheel is smooth wheel.

On each parking space corresponding to the tow bar, multiple groups of guide clamp wheel sets are provided for space limitation; on both sides parallel to the direction of entry and exit of the vehicle platform, a third vehicle platform walking track is laid.

The first clamping wheel set 612 has the same structure as the guiding clamping wheel set, both of which are composed of two clamping wheels, and there is a gap between the two clamping wheels. The width of the drag strip matches the width of the gap between the two chucks and the length is the same as the width of the deck.

The above two manipulator gripping three-dimensional parking equipment adopt the same manipulator structure, and both use friction wheels for clamping transmission. In addition, belt transmission, or sprocket chain transmission and other methods can also be used to achieve the purpose of clamping transmission; In addition to the rack and pinion transmission, the drive assembly of the manipulator frame can also use other transmission modes such as screw drive to achieve the purpose of moving the manipulator frame back and forth.

The invention is mainly used for intelligent three-dimensional parking garages such as horizontal movement and vertical lifting, and has the advantages of advanced design concept and energy saving, among which, there is a horizontal trolley on each parking floor, and a trolley on each parking space It can be adjusted according to the situation of the site. It is not limited to using one vertical carrier for car storage and retrieval, but the entrance and exit can also be set separately, and multiple vertical carriers can be used for car storage and retrieval respectively.

One, adopt the present invention to carry out the car storage step as follows:

1. The vehicle drives into the vertical carrier and rises to the target parking floor.

Park the vehicle on the vertical carrier (when the vertical carrier is lowered to the vehicle access level, the vertical carrier and the vehicle platform on it will be lowered into the pit, and the vehicle platform will be flush with the ground. Surrounded by walls at the edge, it will not move due to the impact force when the vehicle enters and exits), and the vehicle platform and the vehicle are transported to the target parking floor by the vertical transporter. At this moment, the vehicle is on the platform, and the platform is on the vehicle platform walking track of the vertical carrier; the drag bar is located between the first manipulator and the first clamping wheel group of the vertical carrier.

2. Move the vehicle from the vertical carrier to the horizontal platform.

Confirm that the vehicle has arrived at the designated parking floor. The horizontal platform is facing the vertical carrier. First, the first manipulator of the vertical carrier clamps the drag bar on the bottom of the platform and pushes it towards the direction of the horizontal platform. At the same time, the manipulator on the horizontal platform drives The component drives the manipulator frame forward to meet the platform and the vehicle, and the second manipulator on the horizontal platform close to the vertical carrier also clamps the drag bar at the bottom of the platform and starts to drag, jointly dragging the platform and the vehicle to the The platform of the horizontal trolley is placed on the running track of the platform of the horizontal platform, and placed in the center of the front, rear, left, and right on the walking track of the platform of the horizontal platform to realize the movement of the vehicle transfer.

Among them, the push and drag are realized by the friction between the manipulator drag wheel and the drag strip; the manipulator frame drive assembly drives the manipulator frame forward, and the manipulator frame is realized by the transmission pair composed of the manipulator frame drive gear and the manipulator frame drive rack. Reciprocating linear motion on the walking track of the manipulator frame.

3. Park the vehicle to the target parking space.

The platform and the vehicle are moved to the target parking space by the horizontal platform along the horizontal track, and the manipulator frame and the two second manipulators of the horizontal platform move simultaneously to push the platform and the vehicle into the parking space (because the second manipulator is far away from the parking space) It will break away from the drag bar soon, so the action is mainly powered by the second manipulator close to the parking space), and then the horizontal trolley retracts the manipulator frame to complete the car storage.

The above parking actions are coherent, unified and without intermission.

Two, adopt the present invention to carry out the car-taking step and store the car step opposite.

The whole process of car access can use the existing program control unit and set corresponding control requirements.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed by the present invention. Modifications or replacements shall all fall within the protection scope of the present invention.

Claims (10)

1. a kind of manipulator clamping type three-dimensional parking device, including main body frame, ride plate and driving control system；

The main body frame includes horizontal rail, vertical track and multiple parking stalls；

It is provided with Horizontal trolley in the horizontal rail, vertical carrier is provided on vertical track；

The ride plate is used for vehicle；

It is characterized in that：

The driving control system includes the first manipulator driving clamping device being arranged on vertical carrier, is arranged in level The second manipulator driving clamping device on trolley and the guiding clip wheel group being arranged on each parking stall；

Ride board bottom portion is provided with towing item；

The first manipulator driving clamping device, the second manipulator driving clamping device pull item by dragging and complete ride plate Location swap on vertical carrier and Horizontal trolley；

The second manipulator driving clamping device pulls item by dragging and target parking position is oriented to the limition orientation of clip wheel group, Complete location swap of the ride plate on parking stall and Horizontal trolley；

Into before target parking position, the vertical carrier drives ride plate to do lifting fortune in main body frame along vertical track Dynamic, after lifting to target parking tier, ride plate enters Horizontal trolley, and Horizontal trolley drives ride plate along horizontal rail in body frame Before being moved horizontally in frame and moving to target parking position；It is on the contrary then removed before target parking position.

2. manipulator clamping type three-dimensional parking device according to claim 1, it is characterised in that：

It is parallel with vehicles while passing direction on the vertical carrier (1) when vehicle is parked according to vehicle-body width direction Both sides are equipped with the first ride plate walking track (12), and the clamping of the first manipulator is provided on the central axes of vertical carrier (1) Driving device (11)；

When vehicle is parked according to length of wagon direction, along vehicles while passing direction, the both sides of the vertical carrier (6) are spread Equipped with the first ride plate walking track (62), it is provided with the first manipulator between the first ride plate walking track (62) and clamps driving Device (61).

3. manipulator clamping type three-dimensional parking device according to claim 2, it is characterised in that：

Horizontal trolley position corresponding with the first ride plate walking track is equipped with the second ride plate walking track, with first The corresponding position of manipulator driving clamping device is equipped with mechanical hand cradle walking track；Mechanical hand cradle walking track and the second ride Plate walking track is parallel into outgoing direction with ride plate；It is additionally provided with mechanical hand cradle on the Horizontal trolley and mechanical hand cradle drives Component；Mechanical hand cradle is walked in mechanical hand cradle on track under the action of mechanical hand cradle drive component by mechanical hand cradle traveling wheel It moves forward and backward；It is provided with the second manipulator driving clamping device in the machinery hand cradle；

Ride board bottom portion position corresponding with the second manipulator driving clamping device is provided with towing item, ride board bottom portion The both sides parallel with towing item are provided with ride plate traveling wheel；

Position corresponding with towing item, which is provided with, on the parking stall is oriented to clip wheel group.

4. manipulator clamping type three-dimensional parking device according to claim 3, it is characterised in that：The first manipulator folder Tight driving device includes the first manipulator and at least one set of the first clip wheel group for guiding；

The second manipulator driving clamping device includes two the second manipulators；Two the second manipulators are separately positioned on machinery The both ends of hand cradle；

When vehicle is parked according to vehicle-body width direction, at least one set is additionally provided between two the second manipulators (251) The second clip wheel group (252) for guiding.

5. wanting the manipulator clamping type three-dimensional parking device described in 4 according to right, it is characterised in that：

The structure of first manipulator and the second manipulator is identical, including manipulator clamping motor (2511), robotic transfer Driving gear (2512), robotic transfer driven gear (2513), mechanical arm (2514) and manipulator drag wheel (2515)；Institute It states robotic transfer driven gear (2513) to connect by sprocket wheel chain with manipulator drag wheel (2515), and is separately positioned on machine The both ends of tool arm (2514), and robotic transfer driven gear (2513) is not located at same water with manipulator drag wheel (2515) In plane；The mechanical arm (2514) is two, and two mechanical arms (2514) are symmetrical arranged；Two mechanical arms (2514) On robotic transfer driven gear (2513) intermeshing, the robotic transfer on one of mechanical arm (2514) is driven It gear (2513) while being engaged with robotic transfer driving gear (2512)；The manipulator drag wheel (2515) is using friction Wheel.

6. manipulator clamping type three-dimensional parking device according to claim 5, it is characterised in that：The machinery hand cradle driving Component (24) includes mechanical hand cradle driving motor (241), mechanical hand cradle sliding tooth wheel (242) and mechanical hand cradle drive rack (243)；Mechanical hand cradle driving motor (241) and mechanical hand cradle sliding tooth wheel (242) are arranged on Horizontal trolley；Mechanical hand cradle is driven Carry-over bar (243) setting is engaged in mechanical hand cradle, and with mechanical hand cradle sliding tooth wheel (242)；Mechanical hand cradle driving motor (241) before and after driving manipulator frame driving gear (242) rotates, and then driving manipulator frame is done on mechanical hand cradle walking track Movement.

7. manipulator clamping type three-dimensional parking device according to claim 6, it is characterised in that：The mechanical arm (2514) it is equipped on the outside of manipulator drag wheel (2515) one end and is provided with manipulator adjustment spring (2516).

8. manipulator clamping type three-dimensional parking device according to claim 7, it is characterised in that：The ride plate traveling wheel (31) it is halo；Third ride plate walking track is equipped on each parking stall.

9. manipulator clamping type three-dimensional parking device according to claim 8, it is characterised in that：The towing item (32) is Gap width in rectangular tube or steel pipe, width and the first clip wheel group, the second clip wheel group and guiding clip wheel group between clip wheel Match.

10. manipulator clamping type three-dimensional parking device according to claim 9, it is characterised in that：The Horizontal trolley Side is provided with trolley guardrail.