CN207004131U - Transform parking systems in community parking position - Google Patents

Abstract

The utility model discloses a kind of community parking position to transform parking systems, it is desirable to provide a kind of community parking position transformation parking systems of strong applicability.It includes handling robot system, has the outer tower of sandwich construction, the capstan head coordinated with outer tower, and more sets are installed on cylinder bottom, for driving the rubber friction of turret rotated to rotate wheel system, and the elevator hoisting machine system being installed in capstan head；Underground negative one layer circular well is provided with the ground of capstan head lower end；One floor of outer tower is the area that waits, and remainder layer is as parking area；The outer tower includes more root posts, and connection column forms the crossbeam of floor levels support；One floor of the outer tower wait area respectively wait position set for handling robot system pass through robot recess channels；Each parking stall of each layer parking area of the outer tower is respectively provided with the robotic conveyance track girder to be passed through for handling robot system, and conveying track beam both sides set automobile tray；Lifting lift plate protection system is provided with the robot recess channels.

Description

Transform parking systems in community parking position

Technical field

Solid parking technical field is the utility model is related to, solid parking is transformed more particularly, to a kind of community parking position Storehouse.

Background technology

It is well known that the public parking difficulty problem in the current city in China is very prominent, particularly old city cell is at the very start The problem of not accounting for parking stall, including many small-sized enterprises and institutions, school, market, hospital, office building, wholesale city All there is parking difficulty in the Architectural Equipments such as field, particularly parking problem is just more prominent overnight inside.Presently mainly lean on road The parking stall of side line, and road occupation for parking downstairs in cell solve, and everything far can not meet citizen to parking stall Demand.From the point of view of existing parking field technology, development sky parking scheme is most realistic, and cost performance highest one kind side Case.But from the point of view of current most commonly used sky parking, based on main or easy square chest cover formula mechanical parking storehouse, This general scale is smaller in plain type mechanical parking storehouse, and the big service efficiency of floor space is low, and they are constructed to four layers mostly Hereinafter, so being included in temporary building by urban construction and planning substantially to treat.Built exclusively for old city cell and small-sized enterprises and institutions The small-sized garage parking made, it is the task of top priority for being now to do, because such building galleryful is more, car ownership is maximum, The breach on parking stall is also maximum.Cell Inner building and road spacing are too small, are not easy to arrange large-scale parking field device, and one The problem of important.So the method suited measures to local conditions can only be taken, built using the vacant lot of some fritters convenient and practical small-sized Multi-storied stereo parking garage, the quantity of individual layer parking stall can change according to the change of the ground block structure of cell, and this small-sized vertical Body garage parking should be accomplished：It is practical, conveniently, attractive in appearance, energy-saving and environmental protection, profile can and the style scenery of cell combine together, cost Moderate owner can afford, and property management is ready to take over, and the maintenance in future is also more convenient timely.

Utility model content

The purpose of this utility model is intended to overcome the shortcomings of the prior art, there is provided a kind of intensive soil, security Height, practical and convenient and highly reliable community parking position transformation parking systems.

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

Parking systems, including handling robot system are transformed in a kind of community parking position, have the outer tower of sandwich construction, with The capstan head that outer tower coordinates, more sets are installed on cylinder bottom, for driving the rubber friction of turret rotated to rotate wheel system, Yi Jian Loaded on the elevator hoisting machine system in capstan head；Underground negative one layer circular well is provided with the ground of the capstan head lower end；It is described outer One floor of tower is the area that waits, and remainder layer is as parking area；The outer tower includes more root posts, and connection column forms floor and put down The crossbeam of platform support；One floor of the outer tower wait area respectively wait position set for handling robot system pass through robot groove Passage；Each parking stall of each layer parking area of the outer tower is respectively provided with the robotic conveyance track to be passed through for handling robot system Beam, conveying track beam both sides set automobile tray；Lifting lift plate protection system is provided with the robot recess channels；It is described Lifting lift plate protection system includes the lifting lift plate pinched positioned at robot recess channels region, and one end and lifting lift plate are be hinged, another One end is hinged the lift plate support arm of a support arm base, and one end elevating rocker arm be hinged with lifting lift plate is another with elevating rocker arm The be hinged elevating screw in end, and the screw lift of driving elevating screw action；Ground is fixedly mounted in the support arm base On；The capstan head is the steel construction turriform rotor of a likeness in form gyro pointed at both ends；Its pinnacle of a pagoda passes through self-aligning bearing and Wai Tata Top connection, bottom of towe are supported on gyro capstan head pedestal by bulb bearing.

Preferably, the rubber friction rotates wheel system and includes being installed on capstan head bottom and underground negative one layer circular well The rubber rotating wheel of wall friction contact, the speed reducer for servo motor group of capstan head lower end is installed on, and drive connection rubber rotates The chain wheel driving mechanism of wheel and speed reducer for servo motor group.

Preferably, the handling robot system includes two sets of robots connected by telescopic screw rod mechanism, and Pass through telescopic screw rod reductor and the telescopic screw rod servomotor of telescopic screw rod mechanism drive connection；

Two machines include base per capita, the robot active car being installed on by adhesion wheel power transmission shaft on base Wheel, the driven wheel being installed on by driven wheel axle bed on base, armful clamping bar that base upper end is installed on by shear shank are total Into, and it is installed on the screw lift that the lifting of clamping bar assembly is embraced in the middle of the base driving；

What described armful of clamping bar assembly included being connected with screw lift upper end and shear shank upper end embraces clamping bar supporter, rotates It is installed on and embraces the axis that a clamping bar box casting midline, and one end parallel with the center line are provided with driving gear, two is rotatablely installed In embracing on clamping bar box casting and respectively positioned at the doubly-linked worm shaft of axis both sides, pass through axis decelerator and axis drive connects The axis servomotor connect, and two groups be symmetrically rotatablely installed in embrace clamping bar box casting on and respectively with two doubly-linked worm shafts The worm gear of engagement；The worm gear includes two worm gears, is fixedly installed respectively on worm gear by embracing clamping bar；The doubly-linked worm shaft The part above engaged with two worm gears is oppositely oriented；It is in opposite direction when armful clamping bar of same group of worm gear is pressing from both sides wheel condition for non-armful, And to when embracing folder wheel condition conversion, two armfuls of clamping bars are rotated backward to parallel and be located at axletree front and rear sides；

The telescopic screw rod mechanism includes the telescopic screw rod nut being fixedly installed on wherein a set of robot base, passes through Telescopic screw rod bearing is rotatablely installed in the telescopic screw rod being connected on another set of robot base and with telescopic screw rod nut thread, And pass through telescopic screw rod reductor and the telescopic screw rod servomotor of flexible leading screw drive connection.

Preferably, described armful of clamping bar supporter includes embracing clamping bar box casting, and is fixedly connected on and embraces clamping bar casing Embrace lid casting plate on clamping bar in casting upper end.

Preferably, the base includes screw lift rectangular steel pipe and connects the machine of each screw lift rectangular steel pipe Device people's bottom plate.

Preferably, the shear shank includes shear shank support arm, connects shear shank support arm upper end and embraces clamping bar casing The shear shank upper support seat and shear shank upper support arm movable axis of casting, and connection shear shank support arm lower end and machine Support slipper seat and lower support connecting shaft sliding shoe under the shear shank of people's bottom plate.

Preferably, the telescopic screw rod nut is installed on robot bottom plate by telescopic screw rod nut bearing.

Compared with prior art, the utility model has the following advantages that：

1st, parking systems of the present utility model uses cylindrical structural, and vehicle is vertical by the elevator hoisting machine in capstan head Lifting, and be assigned to by handling robot system in the parking stall of each layer.Because the kinematic accuracy of capstan head is high, rotary resistance is small Power consumption is few, it is only necessary to and seldom torque can be turned, and it is very steady almost without any noise when rotating, although The whole weight of capstan head is concentrated on a point, but the utility model is on the tower body structure of capstan head and the basis of bottom of towe are strengthened Sufficient consideration is all done, tower bottom can be controlled within 10 tons per square meter pressure, so it is particularly suitable for building in cell.

2nd, parking systems outer ring of the present utility model can use cylindrical hollow configuration, build high 10 floor in building, every layer can 12 cars are parked, including one layer of 12 positions of waiting, can stop altogether 120 cars, take up an area just 254 square meters, the suggestion of 1-3 buildings Floor height 270cm, remaining story height 250cm.Berthed inwardly it is required that headstock is unified, capstan head can be adjusted headstock is unified during vehicle outbound Outwardly.Parking size：Within vehicle commander 530cm, within overall width 200cm, overall height 180cm-200cm（2.5 meters of -2.7 meters of floor heights）, axle Away from maximum 330cm, within minimum 180cm, wheelspan 180cm, within car body weight 2200kg.The utility model can be according to cell The actual conditions of landform, the parking area in garage is adjusted to non-cylindrical, every layer can be by 8,6,5,4,3 Diversified forms are laid out, and certain precondition is that capstan head is constant, and the garage parking on 5-8 parking stalls can build 8 layers, below 4 parking stalls Garage parking can only build less than 6 layers, the square meter of floor space 197 of 8,146 square meters of 5,103 square meters of 3；Flexibility And extremely well-adapted, it can meet that most of Support during Old City Reconstruction uses.

3rd, handling robot system of the present utility model is a bright spot of the garage parking technology, and its maximum feature is to remove Fortune robot system is only run between automobile lower groove and elevator lifting machine platform, and its function is exactly to lift automobile, fortune Defeated automobile and put down automobile.It include two it is independent can automatically walk robot, the robot can lift voluntarily, It can open, withdraw and embrace clamping bar, be connected between Liang Tai robots with an electronic screw mandrel, its function is to be adapted to difference The demand of vehicle wheel base.The robot can be transported with parallel shuttle between the recess channels of automobile lower and elevator lifting platform OK, for its power resources in elevator lifting machine platform, it does not need storage battery power supply.The upper and lower two-part structure of the robot point, Its top devises one pair of unique armful clamping bar assembly, and it can take left and right two wheels of automobile simultaneously in one's arms, and it is only devised One servomotor and reductor, left and right two driven gears are driven to rotate by axis gear by it, left and right two driven Gear drives the doubly-linked worm screw rotation on coaxial respectively again, and it is dextrorotation that doubly-linked worm screw one, which is left-handed one, and doubly-linked worm screw is exactly Make use of this left and right rotation can produce the principle of forward and backward, drive four worm gears dynamic by left and right rotation, and by installed in Rotation is outflanked in clamping bar generation of embracing on worm gear disk, and is realized and is embraced folder and relieving motion to wheel, the mechanism make use of worm gear, snail The self-lock mechanism of bar, and left and right rotation can produce the principle of forward and backward, realize with left and right two wheels of a motor control Function.One screw lift of robot bottom medium design, its rotation can lift and put down top and embrace clamping bar assembly Mechanism.Robot bottom side is mounted with a servomotor and reductor, and it can be with by sprocket wheel and chain drive driving wheel The band forward and backward motion of mobile robot.Scissors-type retractable support arm is mounted between robot upper and lower part, for keeping robot Portion front and rear will not shift when lifting and putting down.Forward and backward one bottom of robot is mounted with an electronic screw mandrel, another bottom peace Feed screw nut's bearing is filled, they can adjust the spacing of Liang Ge robots, two machines by the rotation of electronic screw mandrel People is synchronous walking and synchronous working, does not have master, servant's relation between them.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work Under, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is alien invasion schematic diagram in garage parking of the present utility model；

Fig. 2 is garage parking front section view of the present utility model；

Fig. 3 is garage parking side sectional view of the present utility model；

Fig. 4 is garage parking outer layer parking area facade view of the present utility model；

Fig. 5 is that garage parking gyro of the present utility model rotates and upgrades capstan head elevational schematic view；

Fig. 6 is that the parking stall of garage parking 12 of the present utility model is parked top plan view；

Fig. 7 is header turning tower structure operation principle amplification plan view in garage parking of the present utility model；

Fig. 8 is parking storehouse chassis of the present utility model both frictional rotation wheel mechanism amplification plan views；

Fig. 9 is garage parking elevator lifting machine face operation principle enlarged diagram of the present utility model；

Figure 10 is garage parking elevator hoisting machine side operation principle enlarged diagram of the present utility model；

Figure 11 is garage parking capstan head traction sheave group of the present utility model and counterweight basket mechanism enlarged diagram；

Figure 12 is the parking stall top plan view of garage parking non-cylinder 8 of the present utility model；

Figure 13 is the parking stall top plan view of garage parking non-cylinder 6 of the present utility model；

Figure 14 is the parking stall top plan view of garage parking non-cylinder 5 of the present utility model；

Figure 15 is the parking stall top plan view of garage parking non-cylinder 4 of the present utility model；

Figure 16 is the parking stall top plan view of garage parking non-cylinder 3 of the present utility model；

Figure 17 is clamp device assembly operation principle top view in handling robot system top of the present utility model；

Figure 18 is handling robot system side operation principle sectional view of the present utility model；

Figure 19 is handling robot system lower running of the present utility model, lifting, roll adjustment operation principle top view；

Figure 20 is that wheel operating diagram is lifted in handling robot system front of the present utility model simulation；

Figure 21 is that wheel work top view is carried in forward and backward dual robot simulation of the present utility model；

Figure 22 is forward and backward dual robot lower mechanisms operation principle top view of the present utility model；

Figure 23 is forward and backward dual robot simulation carrier vehicle side schematic view of the present utility model；

In figure：1-tower top herringbone steel truss girder, 2-tower top aluminium alloy decoration plate, 3-automobile, 4-outer tower steel pipe column, 5-outer tower vertical horizontal beam, 6-outer tower time crossbeam, 7-outer tower main beam, 8-automobile tray, 9-H profile steel post, 10-robot fortune Defeated track girder, 11-garage parking ramp, 12-lifting lift plate, 13-lift plate support arm, 14-support arm base, 15-lift plate liter Rocking arm, 16-screw lift, 17-elevating screw, the vertical chute of 18-counterweight basket, 19-bulb bearing, 20-ball head drop Hold outer race, 21-handling robot system, 22-permanent-magnetic traction motor group, 23 Wai Ta roofs, 24-Elevator weight sensor basket, 25- Capstan head square column, 26-capstan head top herringbone steel truss girder, 27-regulating center bearing base, 28-self-aligning bearing, 29-steel wire rope End retainer ring, 30-traction sheave, 31-capstan head top girder, 32-steel wire rope, the vertical chute of 33-elevator hoisting machine, 34-turn Tower scissors beam, 35-capstan head annular secondary beam, 36-elevator hoisting machine, 37-lift traction sheave, 38-capstan head chassis herringbone Steel truss girder, 39-speed reducer for servo motor group, 40-drive sprocket, 41-chain, 42-rotated by movable sprocket, 43-rubber Wheel, 44-capstan head underground negative one layer, 45-gyro capstan head pedestal, 46-underground negative one layer circle borehole wall, 47-robot groove Passage, 48-chute clamping plate, 49-robot adhesion wheel, 50-adhesion wheel driving key, support slipper under 51-shear shank Seat, 52-connecting shaft sliding shoe, 53-shear shank support arm, 54-doubly-linked worm shaft, 55-worm gear, 56-driven wheel are supported down Axle bed, 57-driven wheel, 58-rectangle square steel tube, 59-robot bottom plate, 60-axis input driving key, 61-axis subtract Fast machine, 62-axis servomotor, 63-telescopic screw rod nut bearing, 64-telescopic screw rod nut, the transmission of 65-adhesion wheel Axle, 66-embrace clamping bar, 67-driven gear, 68-driven gear driving key, 69-driving gear, the transmission of 70-driving gear Key, 71-watched by movable sprocket, 72-axis, 73-screw lift rectangular steel pipe, 74-screw lift, 75-telescopic screw rod Take motor, 76-telescopic screw rod reductor, 77-telescopic screw rod bearing, 78-telescopic screw rod driving key, 79-telescopic screw rod, 80-worm-wheel shaft, 81-embrace clamping bar on lid casting plate, 82-embrace clamping bar box casting, 83-main driving wheel reductor bearing, 84-main drive chain wheel shaft, 85-main driving wheel reductor, 86-main transmission power enter key, 87-main driving wheel servo electricity Machine, 88-main transmission chain, 89-main transmission drive sprocket, 90-elevating screw servomotor, 91-shear shank upper support Arm movable axis, 92-shear shank upper support seat.

Embodiment

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

Can be three-dimensional to whole gyros rotation hoisting type in addition to handling robot system with basic understanding from Fig. 1-11 The structure situation and operation principle in garage parking；Automobile 3 is slowly waited area into garage, at this moment waited by garage parking ramp 11 Area's lifting lift plate 12 has been lifted, and robot recess channels 47 are blunted, and driver's car locking that need to only get off is left away, remaining work Give handling robot system 21 and elevator hoisting machine 36 goes to complete.It can be seen that 10 layers of Wai Ta parking areas are one The cylindrical, hollow annular high building of individual fixation, it is divided equally by 12 outer tower steel pipe columns 4 and 12 H profile steel posts 9 by inside and outside two circles arranges Row composition circular abutment group.Header portion has：Outer 5 outer tower of tower vertical horizontal beam time crossbeam 6 and outer tower main beam 7 form, in addition to vapour Car supporting plate 8 and robotic conveyance track girder 10, along with tower top herringbone steel truss girder 1, Wai Ta roofs 23 and tower top aluminium alloy fill Plaque 2, the basic framework of parking area high building just progressively shape.One floor of outer tower is the area that waits for having 12 parking stalls, its work( Can be in order to which vehicles passing in and out buffers and designs, there are a rectangular robot recess channels lower section for position of each waiting 47, it is prepared exclusively for handling robot system 21.Due to worry driver drive into when produce psychological shade, it is and anti- Only automobile is slipped into groove, and the utility model specially devises the lifting lift plate protection system of complete set, its operation principle It is：Lift plate support arm 13 is installed on support arm base 14, lift plate support arm 13 lifts lifting lift plate 12, lift plate lifting again Rocking arm 15 is connected to the other end of lifting lift plate 12, before screw lift 16 drives elevating screw 17 to drive lift plate elevating rocker arm 15 After move, can will lifting lift plate 12 lift and put down, screw lift 16 is cross-brace in the side of robot recess channels 47 On wall.

In it can be seen from the figure that tower be one it is pointed at both ends likeness in form gyro steel construction turriform rotor, its pinnacle of a pagoda part by Regulating center bearing base 27 and self-aligning bearing 28 form, and they respectively connected herringbone steel at the top of outer top of tower steel truss girder 1 and capstan head Trusses 26.Capstan head is welded by 6 capstan head square columns 25, capstan head annular secondary beam 35 and capstan head scissors beam 34, and it also includes Herringbone steel truss 26 at the top of capstan head chassis herringbone steel truss girder 38 and capstan head, bottom of towe gyro part is by bulb bearing 19 and bulb Bearing outer race 20 is formed, and they are arranged on the gyro capstan head pedestal 45 of capstan head underground negative one layer 44 and are slidably matched, and they are propped up Support whole capstan head low speed rotation.

In addition to the tower body part of capstan head, it is exactly elevator hoisting machine system that remaining is most important, their operation principle It is：Permanent-magnetic traction motor group 22 is mounted on the side platform of one layer of floor indicator of capstan head, and it and Elevator weight sensor basket 24 are firm It is the right another side for being arranged on lift well of a first from left well, as long as permanent-magnetic traction motor group 22 rotates, you can on driving steel wire rope 32 Lower motion, steel wire rope 32 drive two traction sheaves 30 each positive and negative rotation of tower top, and steel wire rope 32 passes through two traction sheaves 30 Two other 30 each autorotation of traction sheave is driven respectively, and the traction sheave 30 of the top of Elevator weight sensor basket 24 leads downwards steel wire rope 32 Draw, steel wire rope 32 after the traction sheave on Elevator weight sensor basket 24 around being pulled up again, by steel wire end retainer ring 29 by steel wire rope One end is fixed.The other end of steel wire rope 32 turns to lower section by the traction sheave 30 at the top of elevator hoisting machine, further through elevator liter Draw to top after drop machine traction sheave 37, and be fixed in by steel wire rope retainer ring 29 below tower top steel truss girder, it is so whole Elevator lifting and counterweight and balance system just set up, as long as permanent-magnetic traction motor group 22 rotates, elevator hoisting machine 36 Can balance exercise one on the other with Elevator weight sensor basket 24.The vertical chute 33 of elevator hoisting machine chute 18 vertical with counterweight basket by Chute clamping plate 48 is fixed on capstan head annular secondary beam 35.

The power of capstan head is to rotate train by the rubber friction for being symmetrically mounted on the lower section of capstan head chassis herringbone steel truss girder 38 What system provided, their operation principle is：Speed reducer for servo motor group 39 drive drive sprocket 40 rotate, drive chain 41 and by Movable sprocket 42 rotates, and drives rubber rotating wheel 43 to be rotated along the underground negative one layer circle borehole wall 46 again by movable sprocket 42, so turns The power of tower is just generated, and in addition also matched electronics indexing detection management system etc. is not just introduced here .

Figure 12-16 is it can be seen that different deformation knots of the utility model from every layer of 8 parking stall to every layer of 3 parking stall The scheme of structure, garage parking of the present utility model can be designed by the actual conditions of cell, can arrange for 8,6,5,4 Position, the layout of the diversified forms such as 3, certain precondition are to rotate and upgrade that turret structure is constant, and the garage parking on 5-8 positions parking stall can To build 8 layers, the garage parking below 4 parking stalls can only build 6 layers, the square meter of floor space 197 of 8, the floor space of 5 146 square meters, the square meter of floor space 103 of 3.

Figure 17-23 is that handling robot system of the present utility model is discussed in detail, and handling robot system 21 is this practicality One bright spot of novel parking storehouse technology, its maximum feature are handling robot systems 21 only in automobile lower robot groove Being run between passage 47 and elevator hoisting machine 36, its front and rear range ability is short, simple and practical so ultrahigh in efficiency, it Function is exactly to lift automobile, carrier and put down automobile.It include two it is independent can automatically walk robot, should Robot can be lifted voluntarily, can be opened, be withdrawn and embrace clamping bar 66, be connected between Liang Tai robots with a telescopic screw rod 79, Its function is to be adapted to the demand of different vehicle wheel bases.The robot clamping bar 66 can be with free shuttling in automobile when packing up Run between the robot recess channels 47 and elevator hoisting machine 36 of bottom, its power resources are dragged in elevator lifting machine platform Cable offer is draged, it does not need storage battery power supply.The upper and lower two-part structure of the robot point；Its top devises one pair of uniqueness Embrace clamping bar assembly, it can take left and right two wheels of automobile simultaneously in one's arms, and it only devises a He of axis servomotor 62 Axis reductor 61, it inputs driving key 60 by axis and drives axis 72 to rotate, and driving gear driving key 70 drives actively again Gear 69 rotates, and driving gear 69 drives left and right two driven gears 67 each to rotate respectively, driven gear driving key 68 and band Dynamic doubly-linked worm shaft 54 rotates, the rotation direction of worm screw on two doubly-linked worm shafts 54, and one is left-handed, and one is dextrorotation, doubly-linked snail Bar 54 is exactly the principle that make use of this left and right rotation to produce forward and backward, can once drive four worm gears 55 respectively by it is left, Dextrorotation rotate, and by worm gear 55 embrace clamping bar 66 produce outflank rotating torque, realize to wheel embrace folder and Motion is decontroled, the mechanism make use of worm gear, the self-lock mechanism of worm screw, and left and right rotation to produce the principle of forward and backward, realize With the function of left and right two wheels of a motor control.Worm gear 55 is arranged on by worm-wheel shaft 80 and embraces lid casting plate 81 on clamping bar Between armful clamping bar box casting 82.

Robot bottom is made up of four parts, will be hereafter introduced one by one：

1st, robot bottom medium design one screw lift 74 and elevating screw servomotor 90, its rotation can A clamping bar assembly mechanism is embraced to lift and put down, is connected to above it embrace a clamping bar box casting 82, lower section is connected to screw mandrel lifting Machine rectangular steel pipe 73 is simultaneously fixed on robot bottom plate 59, and screw lift rectangular steel pipe 73 and robot bottom plate 59 form machine The base of people.

2nd, robot bottom side is mounted with a main driving wheel servomotor 87 and main driving wheel reductor 85, and it passes through Main driving wheel reductor bearing 83 is fixed on robot bottom plate 59.Main transmission power enter key 86 passes through main transmission drive sprocket 89 send power by movable sprocket 71 and adhesion wheel power transmission shaft 65 by main transmission chain 88 to, and adhesion wheel power transmission shaft 65 is again Connection adhesion wheel driving key 50 drives robot adhesion wheel 49 to move, adhesion wheel power transmission shaft 65, driven wheel axle bed 56 And driven wheel 57 is separately mounted on the rectangular steel pipe 90 of robot both sides, respectively there are the dynamical system of oneself in front and rear Liang Bu robots System.

3rd, between robot top and the bottom, the right and left is respectively mounted with a set of shear shank, the shear shank support arm 53 of shear shank It front and rear will not shift, shear shank upper support seat 92 and cut for keeping robot upper part to embrace when clamping bar assembly is lifted and put down Knife rest upper support arm movable axis 91 is connected to embrace on clamping bar box casting 82, support slipper seat 51 and lower support company under shear shank Axle sliding shoe 52 is connected on robot bottom plate 59.

What the 4th, Liang Tai robots were otherwise varied is：A telescopic screw rod servomotor 75 is mounted with one bottom plate and is stretched Screw mandrel reductor 76, they are connected on telescopic screw rod bearing 77, and telescopic screw rod bearing 77 is fixed on robot bottom plate 59 On, telescopic screw rod driving key 78 connects telescopic screw rod 79, and sends power to another robot.The machine of another robot The ledge of device people bottom plate 59 is mounted with a telescopic screw rod nut bearing 63 and telescopic screw rod nut 64, and it passes through in receiving The rotary torsion of one robot telescopic screw rod 79, can adjust the distance between Liang Ge robots, and Liang Ge robots are synchronous Walking and synchronous working, there is no master, servant's relation between them, Liang Tai robots are altogether by 7 Serve Motor Controls, except this it Image optical system is also equipped with outer robot and apart from detecting system, is connected with trailing cable between them, this part is equal Conventional prior can be used, is not just described in detail here.

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

Claims (7)

1. parking systems, including handling robot system are transformed in a kind of community parking position, there is the outer tower of sandwich construction, it is and outer The capstan head that tower coordinates, more sets are installed on cylinder bottom, for driving the rubber friction of turret rotated to rotate wheel system, and installation In the elevator hoisting machine system in capstan head；Underground negative one layer circular well is provided with the ground of the capstan head lower end；The outer tower A floor to wait area, remainder layer is as parking area；It is characterized in that：The outer tower includes more root posts, and connection column Form the crossbeam of floor levels support；One floor of the outer tower wait area respectively wait position set for handling robot system pass through Robot recess channels；Each parking stall of each layer parking area of the outer tower is respectively provided with the machine to be passed through for handling robot system People's conveying track beam, conveying track beam both sides set automobile tray；Lifting lift plate is provided with the robot recess channels to protect Protecting system；The lifting lift plate protection system includes the lifting lift plate in robot recess channels region, one end and lifting Lift the lift plate support arm that plate is be hinged, the other end is hinged a support arm base, one end elevating rocker arm be hinged with lifting lift plate, with liter The be hinged elevating screw of the rocking arm other end, and the screw lift of driving elevating screw action drop；The support arm base is consolidated Determine in mounting foundation；The capstan head is the steel construction turriform rotor of a likeness in form gyro pointed at both ends；Its pinnacle of a pagoda passes through aligning axle Hold and be connected with outer column overhead, bottom of towe is supported on gyro capstan head pedestal by bulb bearing.

2. parking systems is transformed in community parking position according to claim 1, it is characterised in that：The rubber friction rotates Wheel system includes being installed on capstan head bottom, the rubber rotating wheel contacted with underground negative one layer circle wall friction, is installed on capstan head The speed reducer for servo motor group of lower end, and drive connection rubber rotating wheel and the chain gear transmission machine of speed reducer for servo motor group Structure.

3. parking systems is transformed in community parking position according to claim 1, it is characterised in that：The transfer robot system System includes two sets of robots connected by telescopic screw rod mechanism, and is driven by telescopic screw rod reductor and telescopic screw rod mechanism The telescopic screw rod servomotor of dynamic connection；

Two machines include base per capita, the robot adhesion wheel being installed on by adhesion wheel power transmission shaft on base, lead to The driven wheel that driven wheel axle bed is installed on base is crossed, armful clamping bar assembly of base upper end is installed on by shear shank, with And it is installed on the screw lift that the lifting of clamping bar assembly is embraced in the middle of the base driving；

What described armful of clamping bar assembly included being connected with screw lift upper end and shear shank upper end embraces clamping bar supporter, rotational installation In embrace a clamping bar box casting midline, parallel and one end is provided with the axis of driving gear with the center line, two be rotatablely installed in armful It is located on clamping bar box casting and respectively the doubly-linked worm shaft of axis both sides, is connected by axis decelerator with axis drive Axis servomotor, and two groups be symmetrically rotatablely installed in embrace clamping bar box casting on and engaged respectively with two doubly-linked worm shafts Worm gear；The worm gear includes two worm gears, is fixedly installed respectively on worm gear by embracing clamping bar；On the doubly-linked worm shaft with The part of two worm gears engagement is oppositely oriented；It is in opposite direction when armful clamping bar of same group of worm gear is pressing from both sides wheel condition for non-armful, and To when embracing folder wheel condition conversion, two armfuls of clamping bars are rotated backward to parallel and be located at axletree front and rear sides；

The telescopic screw rod mechanism includes the telescopic screw rod nut being fixedly installed on wherein a set of robot base, by flexible Screw mandrel bearing is rotatablely installed in the telescopic screw rod being connected on another set of robot base and with telescopic screw rod nut thread, and Pass through telescopic screw rod reductor and the telescopic screw rod servomotor of flexible leading screw drive connection.

4. parking systems is transformed in community parking position according to claim 3, it is characterised in that：Described armful of clamping bar supporter Including embracing clamping bar box casting, and it is fixedly connected on lid casting plate on armful clamping bar for embrace clamping bar box casting upper end.

5. parking systems is transformed in community parking position according to claim 3, it is characterised in that：The base includes screw mandrel Lift rectangular steel pipe and the robot bottom plate for connecting each screw lift rectangular steel pipe.

6. parking systems is transformed in community parking position according to claim 3, it is characterised in that：The shear shank includes cutting Knife rest support arm, connect shear shank support arm upper end and embrace shear shank upper support seat and the shear shank top of clamping bar box casting Support slipper seat and lower support under support arm movable axis, and the shear shank of connection shear shank support arm lower end and robot bottom plate Connecting shaft sliding shoe.

7. parking systems is transformed in community parking position according to claim 3, it is characterised in that：The telescopic screw rod nut It is installed on by telescopic screw rod nut bearing on robot bottom plate.