阅读说明：本技术 基于柔性变胞机构的汽车搬运装置及平面移动立体车库 (Automobile carrying device and planar movement stereo garage based on flexible metamorphic mechanisms ) 是由 付强 覃克弘 章晗辰 周克雄 龙晓甜 陈家禄 于 2019-08-29 设计创作，主要内容包括：本发明提供了基于柔性变胞机构的汽车搬运装置及平面移动立体车库,属于立体停车技术领域。该汽车搬运装置包括平移装置、主回转装置、柔性变胞机构、次回转装置、载车平台和控制机构；所述载车平台安装在次回转装置上,所述次回转装置安装述柔性变胞机构上,所述柔性变胞机构安装在主回转装置上,所述主回转装置安装在平移装置上。本发明的汽车搬运装置用于立体车库为异形空间、多剪力墙结构、不均匀柱距分布等空间,可以进行伸缩,放入距离较远的车位,可以对待入位汽车进行旋转、角度微调,放入角度与平移轨道不垂直或平行的车位,从而提高空间的利用率。(The present invention provides automobile carrying devices and planar movement stereo garage based on flexible metamorphic mechanisms, belong to solid parking technical field.The automobile carrying device includes translating device, main slewing equipment, flexible metamorphic mechanisms, secondary slewing equipment, carrier loader platform and control mechanism；The carrier loader platform is mounted on time slewing equipment, and the secondary slewing equipment installation is stated on flexible metamorphic mechanisms, and the flexibility metamorphic mechanisms are mounted on main slewing equipment, and the main slewing equipment is mounted on translating device.Automobile carrying device of the invention is special-shaped space, more shear wall structures, uneven column away from spaces such as distributions for stereo garage, it can stretch, it is put into apart from farther away parking stall, can treat rotated into an automobile, angle adjustment, it is put into angle and translation track out of plumb or parallel parking stall, to improve the utilization rate in space.)

1. the automobile carrying device based on flexible metamorphic mechanisms, it is characterised in that: including translating device, main slewing equipment, flexibility Metamorphic mechanisms, secondary slewing equipment, carrier loader platform and control mechanism；The carrier loader platform is mounted on time slewing equipment, and described time Slewing equipment installation is stated on flexible metamorphic mechanisms, and the flexibility metamorphic mechanisms are mounted on main slewing equipment, the main revolution dress It sets and is mounted on translating device；

The translating device is carried out on two parallel tracks flat by the device that traversing driving device drive is arranged on Shifting movement；The main slewing equipment drives the device being disposed thereon to be rotated by driving motor；

The flexibility metamorphic mechanisms include two level-one fixed sections, two level-one telescopic segments, two second level fixed sections and two two Grade telescopic segment, the level-one fixed section, level-one telescopic segment, second level fixed section and second level telescopic segment are sequentially connected in order, wherein Two level-one fixed sections are provided separately in parallel, and level-one fixed section is fixed by the bracket at the top of main slewing equipment, often A flexible level-one telescopic segment, level-one telescopic segment and the second level fixed section of being socketed with is connected by shaft rotation inside a level-one fixed section It connects, flexible outside second level fixed section to be socketed with second level telescopic segment, two one end of second level telescopic segment far from level-one telescopic segment are logical It crosses rotation knot mechanism to be connected on main bearing beam, is fixedly connected with time slewing equipment at the top of the main bearing beam；Described one Grade telescopic segment, second level telescopic segment drive it flexible using linear motor；

The secondary slewing equipment drives carrier loader platform to rotate a certain angle by driving motor；It is provided on the carrier loader platform Carriage carrier；

The control mechanism and traversing driving device, driving motor, linear motor, rotation knot mechanism and carriage carrier control connect It connects.

2. the automobile carrying device according to claim 1 based on flexible metamorphic mechanisms, it is characterised in that: the second level is solid Section some set is determined in level-one telescopic segment, and socket part is connected using shaft, and second level fixed section outer wall and level-one are flexible There is the gap of 80-120mm between section inner wall.

3. the automobile carrying device according to claim 1 based on flexible metamorphic mechanisms, it is characterised in that: the translation dress It sets including supporting table, traversing driving device, travelling wheel and side guide wheel；The supporting table is longitudinally ipsilateral to be equipped with side guide wheel, support Travelling wheel is respectively installed, the traveling wheel is driven by traversing driving device and walked on four angles of platform；The main slewing equipment It is fixed at the top of the supporting table.

4. the automobile carrying device according to claim 1 based on flexible metamorphic mechanisms, it is characterised in that: the carrier vehicle is flat The first trolley track is provided at the top of platform, the first trolley track is arranged along the length direction of carrier loader platform；The carrier loader platform On be additionally provided with carriage carrier, the carriage carrier and the cooperation of the first trolley track are run, and the carriage carrier is combed It exchanges automobile carrier or rim clamp lifts formula automobile carrier；The carriage carrier and the control mechanism controlled connection.

5. the automobile carrying device according to claim 1 based on flexible metamorphic mechanisms, it is characterised in that: the rotation knot Mechanism includes turning to driving motor, drive sprocket, support column, main carrying thrust ball bearing and swivel head；Under the support column End is fixed on the described one end of second level telescopic segment far from level-one fixed section, and the upper end of the support column is equipped with master by bearing block Thrust ball bearing is carried, the swivel head is cylinder lid shape, and rotation skull sets the top for being fixed on main carrying thrust ball bearing And side, the annular outboard face of swivel head are gear-like, the drive sprocket is engaged with the outer surface of main carrying thrust ball bearing, The drive sprocket is fixed on the output shaft for turning to driving motor, and the steering driving motor is fixed on the support columns, The both ends of the main bearing beam are fixed at the top of two swivel heads.

6. the automobile carrying device according to claim 2 based on flexible metamorphic mechanisms, it is characterised in that: the main revolution Device includes main revolving bed, main revolving support, gear wheel, pinion gear and the first driving motor；The fixed peace of main revolving bed Mounted in the center of supporting table, the lower end of main revolving support is rotatably installed at the top of main revolving bed by bearing, revolving support it is upper End is fixedly connected with born of the same parents' mounting bracket is become, and gear wheel is fixedly mounted in the side of main revolving support, and pinion gear is mounted on the first transmission On the output shaft of motor, pinion gear and gear wheel are meshed, and the first driving motor is fixedly mounted on main revolving bed.

7. the automobile carrying device according to claim 2 based on flexible metamorphic mechanisms, it is characterised in that: the automobile is removed Shipping unit further includes Distance Judgment device, and the supporting table both lateral sides of the translating device are arranged in the Distance Judgment device.

8. the automobile carrying device according to claim 2 based on flexible metamorphic mechanisms, it is characterised in that: described revolution Device includes time revolving bed, secondary revolving support, gear wheel, pinion gear and the second driving motor；The secondary revolving bed is mounted on The lower end at the middle part of main bearing beam, secondary revolving support is rotatably installed at the top of time revolving bed by bearing, secondary revolving support Upper end is fixedly connected with carrier loader platform, and gear wheel is fixedly mounted in the side of secondary revolving support, and pinion gear is mounted on the second transmission electricity On the output shaft of machine, pinion gear and gear wheel are meshed, and the second driving motor is fixedly mounted on time revolving bed.

9. utilizing the planar movement stereo garage of the automobile carrying device of any of claims 1-8, it is characterised in that: Including stereo garage ontology, the use space of the stereo garage ontology is non-rectangle and non-square space.

10. planar movement stereo garage according to claim 9, it is characterised in that: the number of plies of the stereo garage ontology Be one layer or more, every layer at least provided with a translation channel, the one or both sides in the translation channel are equipped with parking stall, described to stop There are one or more parking stalls and translation channel out of plumb and not parallel in parking stall；In each translation channel along its length Equipped with two translating device running tracks, the automobile carrying device is slidably arranged in translating device by translating device and runs rail On road；The ground floor of stereo garage is equipped with 1 or 2 inbound/outbound process room, and inbound/outbound process room is equipped with lifting device, and the lifting device can be Oscilaltion in the vertical space of stereo garage, the lifting device surface are provided with carriage carrier track, and lifting device With the control mechanism controlled connection.

[technical field]

The present invention relates to solid parking technical field, in particular to a kind of automobile carrying device based on flexible metamorphic mechanisms And the planar movement stereo garage using it.

[background technique]

Stereo garage is widely used in surface structures, hypogee, but traditional stereo garage is usually required that and set Standby use space is rectangular or square space, not strong away from adaptability to irregular column.To special-shaped space, more shear wall structures, Uneven column is not high away from use environments space utilization rates such as distributions, will result in the waste in space, therefore, it is necessary to one kind to fit Automobile carrying device and stereo garage for special-shaped space, more shear wall structures, uneven column away from use environments such as distributions.

[summary of the invention]

To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of, and the car carrying based on flexible metamorphic mechanisms fills It sets and using its planar movement stereo garage, which is controlled using metamorphic mechanisms, and haulage equipment can be as required Random automobile, which is placed, changes direction, can preferably cooperate irregular building or irregular space, to improve space utilization rate.

In order to achieve the above objectives, the technical scheme adopted by the invention is that:

Based on the automobile carrying device of flexible metamorphic mechanisms, including translating device, main slewing equipment, flexible metamorphic mechanisms, Secondary slewing equipment, carrier loader platform and control mechanism；The carrier loader platform is mounted on time slewing equipment, the secondary slewing equipment peace Dress is stated on flexible metamorphic mechanisms, and the flexibility metamorphic mechanisms are mounted on main slewing equipment, and the main slewing equipment is mounted on flat On moving device；

The translating device drives the device being arranged on enterprising in two parallel tracks by traversing driving device Row translational motion；The main slewing equipment drives the device being disposed thereon to be rotated by driving motor；

The flexibility metamorphic mechanisms include two level-one fixed sections, two level-one telescopic segments, two second level fixed sections and two A second level telescopic segment, the level-one fixed section, level-one telescopic segment, second level fixed section and second level telescopic segment are sequentially connected in order, Wherein, two level-one fixed sections are provided separately in parallel, and level-one fixed section is fixed by the bracket on main slewing equipment top Portion, each level-one fixed section inside is flexible to be socketed with a level-one telescopic segment, and level-one telescopic segment and second level fixed section pass through shaft Rotation connection, it is flexible outside second level fixed section to be socketed with second level telescopic segment, two second level telescopic segments far from level-one telescopic segment one End is connected on main bearing beam by rotation knot mechanism, is fixedly connected with time slewing equipment at the top of the main bearing beam； The level-one telescopic segment, second level telescopic segment drive it flexible using linear motor；Make flexible change by the driving of rotation knot mechanism Two second level telescopic segments, main bearing beam form a parallelogram mechanism in born of the same parents mechanism；

The secondary slewing equipment drives carrier loader platform to rotate a certain angle by driving motor；It is set on the carrier loader platform It is equipped with carriage carrier；

The control mechanism is removed with traversing driving device, driving motor, linear motor driving, steering driving mechanism, trolley Fortune device is connected with rotation knot mechanism controls.

In the present invention, it is preferable that in level-one telescopic segment, socket part uses to be turned described some set of second level fixed section Axis connection, and have the gap of 80-120mm between second level fixed section outer wall and level-one telescopic segment inner wall.

In the present invention, it is preferable that the translating device includes supporting table, traversing driving device, travelling wheel and side guide wheel；Institute It states that supporting table is longitudinally ipsilateral to be equipped with side guide wheel, travelling wheel is respectively installed on four angles of supporting table, the traveling wheel passes through cross Move driving mechanism driving walking；The main slewing equipment is fixed at the top of the supporting table.

In the present invention, it is preferable that be provided with the first trolley track at the top of the carrier loader platform, the first trolley track is along load The length direction of vehicle platform is arranged；Carriage carrier, the carriage carrier and the first trolley are additionally provided on the carrier loader platform Track cooperation operation, the carriage carrier are that combed exchange automobile carrier or rim clamp lift formula automobile carrier；It is described small Vehicle carrier and the control mechanism controlled connection.

In the present invention, it is preferable that rotation knot mechanism includes turning to driving motor, drive sprocket, support column, main carrying Thrust ball bearing and swivel head；The lower end of the support column is fixed on the one end of second level telescopic segment far from level-one fixed section, described The upper end of support column is equipped with main carrying thrust ball bearing by bearing block, and the swivel head is cylinder lid shape, rotates skull If being fixed on the top and side of main carrying thrust ball bearing, the annular outboard face of swivel head is gear-like, the drive sprocket It being engaged with the outer surface of main carrying thrust ball bearing, the drive sprocket is fixed on the output shaft for turning to driving motor, The steering driving motor is fixed on the support columns, and the both ends of the main bearing beam are fixed at the top of two swivel heads.

In the present invention, it is preferable that the main slewing equipment includes main revolving bed, main revolving support, gear wheel, pinion gear with And first driving motor；The main revolving bed is fixedly mounted on the center of supporting table, and the lower end of main revolving support is turned by bearing Dynamic to be mounted at the top of main revolving bed, the upper end of revolving support is fixedly connected with born of the same parents' mounting bracket is become, and the side of main revolving support is solid Dingan County fills gear wheel, and pinion gear is mounted on the output shaft of the first driving motor, and pinion gear and gear wheel are meshed, the first transmission Motor is fixedly mounted on main revolving bed.

In the present invention, it is preferable that the automobile carrying device further includes Distance Judgment device, and the Distance Judgment device is set Set the supporting table both lateral sides in the translating device.

In the present invention, it is preferable that the secondary slewing equipment includes time revolving bed, secondary revolving support, gear wheel, pinion gear with And second driving motor；The secondary revolving bed is mounted on the middle part of main bearing beam, and the lower end of secondary revolving support is turned by bearing Dynamic to be mounted at the top of time revolving bed, the upper end of secondary revolving support is fixedly connected with carrier loader platform, and the side of secondary revolving support is fixed Gear wheel is installed, pinion gear is mounted on the output shaft of the second driving motor, and pinion gear and gear wheel are meshed, the second transmission electricity Machine is fixedly mounted on time revolving bed.

The present invention also provides a kind of planar movement stereo garages, are removed using the above based on the automobile of flexible metamorphic mechanisms Shipping unit comprising stereo garage ontology, the use space of the stereo garage ontology are non-rectangle and non-square space.

Preferably, the number of plies of the stereo garage ontology be one layer or more, every layer at least provided with a translation channel, it is described The one or both sides for translating channel are equipped with parking stall, there is one or more parking stalls and translation channel out of plumb in the parking stall And it is not parallel；Two translating device running tracks, the car carrying dress are equipped in each translation channel along its length It sets and is slidably arranged in translating device running track by translating device；The ground floor of stereo garage is equipped with 1 or 2 inbound/outbound process Room, inbound/outbound process room be equipped with lifting device, the lifting device can the oscilaltion in the vertical space of stereo garage, the lifting Apparatus surface is provided with carriage carrier track, and lifting device and the control mechanism controlled connection.

Due to the adoption of the above technical scheme, the invention has the following advantages:

1, carrier of the invention includes translating device, main slewing equipment, flexible metamorphic mechanisms, secondary slewing equipment, carrier vehicle Platform and control mechanism, main slewing equipment, which can be treated, carries out 90 ° of rotations into automobile, and flexible metamorphic mechanisms can be by electronic Stretch mode will be stretched out wait enter an automobile, and be swung using quadrangular mechanism, thus the farther away parking in approximated position Position, then the angle into automobile is treated by secondary slewing equipment and is finely adjusted, make to be aligned wait enter an automobile with parking stall, to make It is consistent with the direction on parking stall wait enter an automobile, and then realize parking.The present invention automobile can be stopped into translation direction in each In the parking stall of kind angle, preferably cooperate irregular building or irregular space.

2, this parking systems can preferably cooperate irregular building or irregular space, to improve the use to space Rate.

[Detailed description of the invention]

Fig. 1 is the overall structure diagram of the automobile carrying device provided by the present invention based on flexible metamorphic mechanisms.

Fig. 2 is that the structure at another visual angle of the automobile carrying device provided by the present invention based on flexible metamorphic mechanisms is shown It is intended to.

Fig. 3 is the visual angle figure along axis direction of flexible metamorphic mechanisms in the present invention；

Enlarged drawing in Fig. 4 Fig. 1 at A；

Fig. 5 is the first course of work of the automobile carrying device based on flexible metamorphic mechanisms signal provided by the present invention Figure；

Fig. 6 is second of course of work signal of the automobile carrying device provided by the present invention based on flexible metamorphic mechanisms Figure；

Fig. 7 is the third course of work signal of the automobile carrying device provided by the present invention based on flexible metamorphic mechanisms Figure；

Fig. 8 is parking systems provided by the present invention.

Wherein, 1- translating device, 11- supporting table, 12- travelling wheel, 13- traversing driving device, 14- side guide wheel, 2- master return Rotary device, the first driving motor of 21-, the main revolving bed of 22-, the main revolving support of 23-, 3- flexibility metamorphic mechanisms, 31- level-one are fixed Section, 32- level-one telescopic segment, 33- second level fixed section, 34- second level telescopic segment, 35- shaft, 4- slewing equipment, 41- transmission electricity Machine, 42- revolving support, the second driving motor of 43-, 5- carrier loader platform, the main bearing beam of 6-, 7- rotation knot mechanism, 71- rotation Head, 72- support column, 73- turn to driving motor, the main carrying thrust ball bearing of 74-, car carrying of the 8- based on flexible metamorphic mechanisms Device, two translating device running tracks of 9-, the parking stall 10-, 20- lifting device, 30- civil engineering column.

[specific embodiment]

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Attached drawing Only for illustration, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent, in order to more Illustrate a specific embodiment of the invention well, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product Size, it will be understood by those skilled in the art that in attached drawing certain known features, component and its explanation may omit be understood that , it is based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts Every other embodiment, shall fall within the protection scope of the present invention.

In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " connection " shall be understood in a broad sense, such as may be fixed connection or may be dismantle connection, or integral connection；It can be Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in invention.

Automobile carrying device of the invention for stereo garage be special-shaped space, more shear wall structures, uneven column away from point The spaces such as cloth can stretch, and be put into apart from farther away parking stall, can treat rotated into an automobile, angle adjustment, put Enter angle and translation track out of plumb or parallel parking stall, to improve the utilization rate in space.

Referring to Fig. 1,2, the present invention is based on the automobile carrying devices of flexible metamorphic mechanisms, including translating device 1, main revolution dress Set 2, flexible metamorphic mechanisms 3, secondary slewing equipment 4, carrier loader platform 5 and control mechanism；The main slewing equipment 2 is mounted on translation dress It sets on 1, the flexibility metamorphic mechanisms 3 are mounted on main slewing equipment 2, and flexible metamorphic mechanisms 3 are stated in the secondary installation of slewing equipment 4 On, the carrier loader platform 5 is mounted on time slewing equipment 4；

In the present invention, translating device 1 drives the device that is arranged on parallel at two by traversing driving device 13 Translational motion is carried out on track, i.e., runs on the translation track of parking systems；Specifically, translating device 1 includes supporting table 11, traversing driving device 13, travelling wheel 12 and side guide wheel 14；11 longitudinal direction of supporting table is ipsilateral to be equipped with side guide wheel 14, supporting table 11 Four angles on travelling wheel 12 is respectively installed, the traveling wheel 12 passes through the driving walking of traversing driving device 13；The main revolution Device 2 is fixed on 11 top of supporting table.Traversing driving device 13 uses motor.

Referring to Fig. 1, main slewing equipment 2 drives the device being disposed thereon to be rotated by driving motor；Specifically, main Slewing equipment 2 includes main revolving bed 22, main revolving support 23, gear wheel, pinion gear and the first driving motor 21；The master returns Swivel base 22 is fixedly mounted on the center at 11 top of supporting table, and the lower end of main revolving support 23 is rotatably installed in main revolution by bearing Seat top 22, the upper end of revolving support 23 are fixedly connected with born of the same parents' mounting bracket is become, and the side of main revolving support 23 is fixedly mounted big Gear, pinion gear are mounted on the output shaft of the first driving motor 21, and pinion gear and gear wheel are meshed, the first driving motor 21 It is fixedly mounted on main revolving bed 22.When work, 21 rotation driving pinion of the first driving motor rotation, pinion gear drives canine tooth Wheel rotation, gear wheel drive main revolving support 23 to rotate, and main revolving support 23 drives change born of the same parents' mounting bracket rotation thereon.

Referring to Fig. 1,2 and 3, flexible metamorphic mechanisms 3 include two level-one telescopic segments 32, two of level-one fixed section 31, two Second level fixed section 33 and two second level telescopic segments 34, the level-one fixed section 31, level-one telescopic segment 32, second level fixed section 33 and two Grade telescopic segment 34 is sequentially connected in order, wherein two level-one fixed sections 31 are provided separately in parallel, and level-one fixed section 31 It is fixed by the bracket to stretch inside main 23 top of slewing equipment, each level-one fixed section 31 and is socketed with a level-one telescopic segment 32, level-one telescopic segment 32 is rotatablely connected with second level fixed section 33 by shaft 35, is stretched outside second level fixed section 33 and is socketed with two Grade telescopic segment 34, two one end of second level telescopic segment 34 far from level-one telescopic segment 32 pass through rotation knot mechanism 7 and are connected to main hold It carries on crossbeam 6, time slewing equipment 4 is fixedly connected at the top of the main bearing beam 6；The level-one telescopic segment 32, second level are flexible Section 34 drives it flexible using linear motor；Keep two second levels in flexible metamorphic mechanisms 3 flexible by the driving of rotation knot mechanism 7 Section 34, main bearing beam 6 form a parallelogram mechanism, so as to deform, carry out angle adjustment.Wherein, excellent Select some set of second level fixed section 33 in level-one telescopic segment 32, socket part is connected using shaft 35, and second level fixed section There is the gap of 80-120mm between 33 outer walls and level-one telescopic segment inner wall, so that second level fixed section 33 be facilitated to rotate around the shaft.

In the present invention, rotation knot mechanism 7 is pushed away including steering driving motor 73, drive sprocket 731, support column 72, main carrying Power ball bearing 74 and swivel head 71；The lower end of the support column 72 is fixed on one of second level telescopic segment 33 far from second level telescopic segment 32 The upper end at end, the support column 72 is equipped with main carrying thrust ball bearing 74 by bearing block, and the swivel head 71 is round barrel cover Sub- shape, swivel head 71 cover the top and side for setting and being fixed on main carrying thrust ball bearing 74, and the annular outboard face of swivel head 71 is Gear-like, the drive sprocket 731 are engaged with the outer surface of main carrying thrust ball bearing 74, and the drive sprocket 731 is fixed on On the output shaft for turning to driving motor 73, the steering driving motor 732 is fixed on support column 72, and the main carrying is horizontal The both ends of beam 6 are fixed on two swivel heads, 71 top.

In the present invention, two shafts 35, two rotation knot mechanisms 7 make flexible metamorphic mechanisms form a parallelogram machine Structure, in use, turning to driving motor 73 after linear motor 34 drives level-one telescopic segment 32, second level telescopic segment 34 to extend and driving drive Movable sprocket 731 rotates, and drive sprocket 731 drives swivel head 71 to rotate, and swivel head 71 drives main bearing beam 6 and second level telescopic segment 33 occur relative motion, and second level fixed section 33 is so as to adjust mutual angle.

Referring to Fig. 1, secondary slewing equipment 4 drives carrier loader platform 5 to rotate a certain angle by driving motor 41；Specifically, Secondary slewing equipment 4 includes time revolving bed 41, secondary revolving support 42, gear wheel, pinion gear and the second driving motor 43；Described time Revolving bed 41 is mounted on the middle part of main bearing beam 6, and the lower end of secondary revolving support 42 is rotatably installed in time revolving bed by bearing 41 tops, the upper end of secondary revolving support 42 are fixedly connected with carrier loader platform 5, and canine tooth is fixedly mounted in the side of secondary revolving support 42 Wheel, pinion gear are mounted on the output shaft of the second driving motor 43, and pinion gear and gear wheel are meshed, and the second driving motor 43 is solid Dingan County is mounted on time revolving bed 41.When work, 43 rotation driving pinion of the second driving motor rotation, pinion gear drives gear wheel Rotation, gear wheel drive time revolving support 42 to rotate, and secondary revolving support 42 drives carrier loader platform 5 thereon to rotate.

Referring to Fig. 1, carriage carrier 51 is provided on carrier loader platform 5；Specifically, the top of carrier loader platform 1 is provided with One trolley track, the first trolley track are arranged along the length direction of carrier loader platform 5；Carriage carrier is additionally provided on carrier loader platform 5 51, the carriage carrier 51 and the cooperation of the first trolley track are run, and the carriage carrier 51 is combed exchange car carrying Device or rim clamp lift formula automobile carrier；The carriage carrier 51 and the control mechanism controlled connection.The knot of carrier loader platform 5 Structure is existing mature technology, does not draw its structure in detail herein.

The control mechanism and traversing driving device, driving motor, linear motor, steering driving mechanism, carriage carrier It is connected with rotation knot mechanism controls.Specifically, control mechanism and traversing driving device 13, the first driving motor 21, second are driven Motor 43, linear motor 34 turn to driving motor 73, the control connection of carriage carrier 51.

Using the present invention, when the length direction on parking stall is parallel with translation track, with reference to Fig. 5, need to treat into vapour Vehicle is rotated by 90 °, and carriage carrier 51 will be wait enter on a car carrying to carrier loader platform 5, and control mechanism controls the first driving motor The 21 certain angles of rotation, make main revolving support rotate 90 °, i.e. drive supporting table and wait enter 90 ° of a vehicle rotary, then control small Vehicle carrier 51 is by car carrying to parking stall.

Using the present invention, when the length direction on parking stall with translation track vertical but parking stall farther out from translation track when, With reference to Fig. 7, need that parking of automobile position could be entered after extending.Control mechanism control linear motor makes level-one telescopic segment 32, second level After telescopic segment 34 is retractable to the length of needs, then carriage carrier 51 is controlled by car carrying to parking stall.In figure, by parking stall The small cube on side is civil engineering column 30, due to the irregular presence of civil engineering column 30, so that setting and the ordinary stereo on parking stall Garage is different.

Using the present invention, when the length direction on parking stall not parallel also out of plumb parallel with translation track, with reference to Fig. 6, It needs to adjust the angle again after extending.Control mechanism control linear motor makes level-one telescopic segment 32, second level telescopic segment stretch 34 to be reduced to After the length needed, then controlling steering driving motor 73 makes flexible metamorphic mechanisms become a parallelogram by rectangle, from And adjust the angle placed；Driving motor 43 is controlled again to be rotated, so that carrier loader platform 5 is aligned with parking stall, control mechanism Carriage carrier 51 is controlled again by car carrying to parking stall.

The automobile carrying device of the invention based on flexible metamorphic mechanisms, this stereo garage sheet can be used in parking systems The use space of body is non-rectangle and non-square space；Referring to Fig. 8, this stereo garage ontology and other parking systems one Sample, for save space, the number of plies be one layer or more, every layer at least provided with a translation channel, the one or both sides for translating channel are set There is parking stall 10, being particular in that in parking stall has one or more parking stalls 10 and translation channel out of plumb and not parallel； Two translating device running tracks 9 are equipped in each translation channel along its length, automobile carrying device of the invention passes through flat Moving device 1 is slidably arranged in translating device running track 9；The ground floor of stereo garage is equipped with 1 or 2 inbound/outbound process room, disengaging Library room be equipped with lifting device 20, lifting device can the oscilaltion in the vertical space of stereo garage, lifting device surface setting There are carriage carrier track, and lifting device and the control mechanism controlled connection.In use, reaching inbound/outbound process wait enter an automobile Room, for carriage carrier by car carrying to lifting device 20, lifting device 20 rises to automobile to the layer where parking stall, small By on car carrying to carrier loader platform, translating device 1 is moved close to parking stall vehicle carrier, and flexible metamorphic mechanisms carry out Operation is by car carrying to on parking stall.

Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair Bright patent claim, it is all the present invention suggested by technical spirit under completed same changes or modifications change, should all belong to In the covered the scope of the patents of the present invention.