Transmission system and design method of circulating stereo garage with variable chain length

Abstract

The present invention relates to a transmission system and design method for a circulating stereoscopic garage with a variable chain plate length, which adopts a chain plate composed of a telescopically connected chain plate fixed arm and a chain plate movable arm and a "Π"-shaped arc-shaped hanging beam shaft guide rail, and extends the chain plate movable arm in a rotating area. When the lateral spacing between vehicle carriers is small, a smaller stereoscopic garage volume than the prior art is obtained to improve its space utilization rate, and provide a method for designing a stereoscopic garage with optimal parameters for reducing the volume of the stereoscopic garage; a circulating stereoscopic garage with a vertical chain plate having a variable length, when the lateral spacing between vehicle carriers does not exceed the width of the vehicle carriers, a concave curved hanging beam shaft guide rail is provided in the rotating area below the vertical chain plate, and the parking angles of adjacent vehicle carriers are set accordingly, thereby reducing the parking height of the vehicle carriers, and the number of vehicles stored and retrieved simultaneously in the stereoscopic garage is increased to two, thereby reducing the waiting time for users.

Description

Technical Field

[0001] The invention relates to the field of stereo garages, and in particular to a transmission system and a design method for a circulating stereo garage with variable chain plate length. Background Art

[0002] Circulating stereoscopic car parks, such as the “vertical circulating stereoscopic car park” disclosed in Chinese patent CN105672712A, the “vertical circulating fork-type transmission mechanism and garage” disclosed in Chinese patent CN102041911A, and the “stereoscopic circulating double-layer parking garage” disclosed in Chinese patent CN106285109A, include vertical circulating stereoscopic car parks and horizontal circulating stereoscopic car parks.

[0003] like Figure 1 to Figure 4 As shown; the transmission system of the circulating stereo garage adopts the conveyor belt principle, uses two sets of transmission wheels 200, and drives two pairs of chains 300 to rotate in a circular manner under the drive of the power unit; a number of triangular chain plates, referred to as chain plates 400, are arranged at equal intervals on the chains 300; both ends of the hanging beam shaft 500 are hinged to the chain plates 400; the vehicle carrier 800 is suspended on the hanging beam shaft 500, and is driven by the chains 300 to reciprocate in a circular motion.

[0004] like Figure 3 As shown, the chain plate length 404 of the chain plate 400 of the prior art circulating stereoscopic car park, that is, the distance between the chain plate top center 406 and the chain plate bottom center 405, remains fixed.

[0005] In a circulating stereoscopic parking garage, a straight line passing through the axes of the relatively arranged transmission wheels 200 is called the longitudinal axis 900 of the stereoscopic parking garage; the longitudinal axes 900 of the vertical circulating stereoscopic parking garage and the horizontal circulating stereoscopic parking garage are respectively perpendicular to the ground and horizontal.

[0006] The circulating stereoscopic car park comprises a straight area 1000 and a rotating area 1001; in the straight area 1000, the chain 300 drives the chain plate 400, the hanging beam shaft 500 and the vehicle carrier 800 to perform a straight line motion along the longitudinal axis 900 of the stereoscopic car park; in the rotating area 1001, the chain 300 drives the chain plate 400, the hanging beam shaft 500 and the vehicle carrier 800 to perform a rotational motion to complete a rotation from one movement direction to an opposite direction; at any point in the rotating area 1001, the angle between the perpendicular line to the axis of the transmission wheel 200 and the longitudinal axis 900 of the stereoscopic car park is called the rotation angle of the point, and the rotation angle in the direction of the longitudinal axis 900 of the stereoscopic car park is defined as 0.

[0007] The types of transmission wheels 200 of the circulating stereo garage transmission system include sprockets and fork wheels; when a sprocket type transmission wheel 200 is used, the chain 300 rotates 180° around the axis of the transmission wheel 200 in the rotation area 1001, and the center motion trajectory 407 of the chain plate top is a semicircle with a radius equal to the sum of the transmission wheel radius 201 and the chain plate length 404; when a fork wheel type transmission wheel 200 is used, under the guidance of the chain guide rail, the chain 300 also rotates 180° around a center line perpendicular to the plane where the chain 300 is located in the rotation area 1001, and the center motion trajectory 407 of the chain plate top is also a semicircle, and the center line is called the chain The radius of the semicircle is called the rotation radius of the chain 300; the role of the fork wheel in the circulation type stereo garage transmission system is the same as that of the sprocket type transmission wheel 200 whose axis is located on the rotation center line of the chain 300 and whose radius is equal to the rotation radius of the chain 300; for the sake of simplicity, in the circulation type stereo garage transmission system using the fork wheel, the axis of the transmission wheel 200 described in this specification refers to the rotation center line of the chain 300, the axis of the transmission wheel 200 refers to the projection of the rotation center line of the chain 300 on the plane perpendicular to the rotation center line of the chain 300, and the transmission wheel radius 201 refers to the rotation radius of the chain 300.

[0008] The vehicle carrier 800 and the vehicle loaded thereon always maintain a horizontal direction and move translationally with the suspension beam shaft 500; the vehicle carrier 800 is approximately a cube in shape, and when viewed along the axis of the transmission wheel 200, the cross-section of the vehicle carrier 800 is approximately a rectangle; the width of the rectangle is called the width of the vehicle carrier 800, and the height of the rectangle is called the height of the vehicle carrier 800.

[0009] In the prior art circulating stereo garage transmission system, the turning radius of the vehicle carrier 800 is equal to the sum of the chain plate length 404 and the transmission wheel radius 201.

[0010] The length of the chain plate 404 is recorded as L, and the radius of the transmission wheel 201 is recorded as r; in the straight area 1000, the linear velocity of the vehicle frame 800 is equal to the average linear velocity of the chain 300; in the rotating area 1001, the vehicle frame 800, the chain plate 400 and the chain 300 rotate synchronously around the transmission wheel 200, and the angular velocity of the vehicle frame 800 is equal to the average angular velocity of the chain 300. Since the rotation radius of the vehicle frame 800 is equal to the sum of the length of the chain plate L and the radius of the transmission wheel r, the linear velocity of the vehicle frame 800 is (L+r) / r times the linear velocity of the vehicle frame 800 in the straight area 1000; in order to shorten the speed of storing and retrieving vehicles, the linear velocity of the chain 300 of the circulating stereo garage is generally around 0.4 m / s; at the moment when the chain plate 400 moves from the straight area 1000 to the rotating area 1001, and the chain plate 40 At the moment of moving from the rotating area 1001 to the straight area 1000, the linear speed of the chain plate 400, the hanging beam shaft 500, the vehicle carrier 800 and its load changes greatly in a short time; the larger the ratio of the chain plate length 404 to the transmission wheel radius 201, the greater the linear speed change, and the corresponding absolute value of the acceleration; the larger the absolute value of the acceleration, the greater the impact force applied to the chain 300 by the power system of the circulating stereo garage through the transmission wheel 200; if the absolute value of the acceleration of the vehicle carrier 800 is too large, the reliability of the chain 300 will be reduced, and the stability of the vehicle carrier 800 and its load will be reduced; due to the above reasons, there is an upper limit Km for the ratio K of the chain plate length 404 to the transmission wheel radius 201, K=L / r<=Km————(A1), usually Km is greater than 0.4 and less than 1.0.

[0011] The chain plates 400 of the circulating three-dimensional garage are arranged at equal intervals on the chain 300; the lengths of the chain 300 between the centers 405 of the bottoms of the two chain plates 400 connected to two adjacent carriages 800 are equal to each other, and this length is called the length of the chain 300 between the carriages 800, denoted as Len; for a circulating three-dimensional garage with a certain driving wheel radius r, chain plate length L, carriage 800 width w, and carriage 800 height h, there is a minimum value Lm for Len; if the length of the chain 300 between the carriages 800 of the circulating three-dimensional garage, Len < Lm, the carriages 800 will collide and the circulating three-dimensional garage cannot operate normally; if Len = Lm, two adjacent carriages 800 will approach and meet at a certain or certain positions, and the gap width between the carriages 800 in the straight-line area 1000 reaches the minimum value, and the minimum value of this gap width is called the longitudinal spacing 801 of the carriages, denoted as L1; if Len > Lm, then in the straight-line area 1000, the gap width between adjacent carriages 800 is greater than L1, and the efficiency of the circulating three-dimensional garage is not fully utilized; therefore, the circulating three-dimensional garage body usually operates with the longitudinal spacing 801 of the carriages, and there is an approaching encounter of adjacent carriages 800 in the circulating three-dimensional garage operating with the longitudinal spacing 801 of the carriages, and L1 is determined by the length of the chain 300 between the carriages 800 when adjacent carriages 800 have an approaching encounter.

[0012] The gap width between two adjacent rows of carriages 800 in the straight-line area 1000 of the circulating three-dimensional garage is called the transverse spacing 802 of the carriages, denoted as L2; usually, the transverse spacing 802 of the carriages of the horizontal and vertical circulating three-dimensional garages is not greater than 0.5h and 0.5w respectively.

[0013] When two adjacent vehicle carriers 800 are about to meet, the positions of the vehicle carriers 800 include three situations: the straight area 1000 and the straight area 1000, the straight area 1000 and the rotation area 1001, and the rotation area 1001 and the rotation area 1001; in the straight area 1000, the gap widths between the adjacent vehicle carriers 800 are equal to each other, and the vehicle carriers 800 will not collide even if the gap widths of the vehicle carriers 800 are close to zero. In the case where only the adjacent vehicle carriers 800 in the straight area 1000 are about to meet, L1=0; Since L1>=0, L1 is determined by the length of the chain 300 between the two vehicle carriers 800 when the vehicle carrier 800 in the rotating area 1001 is close to the adjacent vehicle carrier 800 in the straight area 1000 or the rotating area 1001; in the rotating area 1001, the vehicle carrier 800 rotates along a semicircular arc with a radius equal to the sum of the chain plate length L and the transmission wheel radius r, and the rotating space of the vehicle carrier 800 is semi-cylindrical, and the size of the rotating space is determined by the rotating radius L+r; when the rotating radius L+r is larger, the rotating space of the vehicle carrier 800 is larger, and the adjacent vehicle carriers 800 are closer. The vehicle frames 800 may move in the turning area 1001 at the same time and may meet each other close to each other; the larger the turning radius, the larger the width and volume of the stereo garage. Therefore, the turning radius of the vehicle frames 800 of the circulating stereo garage is usually smaller; when the turning radius L+r is small, the adjacent vehicle frames 800 will not be in the turning area 1001 at the same time. Therefore, the adjacent vehicle frames 800 in the turning area 1001 will not meet each other close to each other; when the turning radius L+r is small, if L1>0, there is a vehicle frame 800 in the turning area 1001 and Adjacent vehicle carriers 800 in the straight area 1000 are close to meeting; when the turning radius L+r is small, if L1=0, there are both close encounters of adjacent vehicle carriers 800 in the straight area 1000 and close encounters of vehicle carriers 800 in the turning area 1001 and adjacent vehicle carriers 800 in the straight area 1000; therefore, when the turning radius L+r is small, L1 is determined by the length of the chain 300 between two adjacent vehicle carriers 800 when the vehicle carriers 800 in the turning area 1001 and the adjacent vehicle carriers 800 in the straight area 1000 are close to meeting.

[0014] The smaller the volume of a circulating stereo garage that accommodates the same number of vehicle racks 800, the more vehicle racks 800 can be loaded into the circulating stereo garage under the same volume, and the higher the space utilization rate; the volume of the circulating stereo garage is proportional to the longitudinal length and transverse length of the circulating stereo garage; the transverse length of the circulating stereo garage depends on the transverse spacing 802 of the vehicle racks, and the smaller the transverse spacing 802 of the vehicle racks, the smaller the volume of the circulating stereo garage; the longitudinal length of the circulating stereo garage is equal to the length of the straight area 1000 plus twice the longitudinal length of the rotating area 1001; since the circulating stereo garage accommodates more vehicle racks 800, the longitudinal length of the circulating stereo garage is mainly determined by the longitudinal spacing 801 of the vehicle racks; when accommodating the same number of vehicle racks 800, the smaller the longitudinal spacing 801 of the vehicle racks, the smaller the volume of the circulating stereo garage.

[0015] The main disadvantage of the transmission system of the circulating stereoscopic car park in the prior art is that the longitudinal spacing 801 of the vehicle frames and the transverse spacing 802 of the vehicle frames restrict each other and cannot be both small at the same time; when the longitudinal spacing 801 of the vehicle frames in the circulating stereoscopic car park is small, the transverse spacing 802 of the vehicle frames is large; when the transverse spacing 802 of the vehicle frames is small, the longitudinal spacing 801 of the vehicle frames is large; when accommodating the same number of vehicle frames 800, the circulating stereoscopic car park has a larger volume, and the circulating stereoscopic car park accommodates fewer vehicle frames 800 under the same volume, and the space utilization rate is low.

[0016] The following takes the horizontal circulating stereo garage transmission system as an example to explain the mutual constraints between the longitudinal spacing 801 of the vehicle carrier and the transverse spacing 802 of the vehicle carrier, and the reason why the longitudinal spacing 801 of the vehicle carrier is larger when the transverse spacing 802 of the vehicle carrier is smaller.

[0017] The longitudinal spacing 801 of the vehicle frames of the horizontal circulating stereoscopic parking garage is denoted as L1', the length of the chain 300 between the vehicle frames 800 is denoted as Len', L1'=Len'-w————(A2), the lateral spacing 802 of the vehicle frames of the horizontal circulating stereoscopic parking garage is L2, L2=2*(L+r)-h————(A3); since L2 is generally not greater than 0.5h, according to formula (A3), L+r<=0.75h; for the same vehicle frame 800 height h, L2 is determined by the sum of the chain plate length 404 and the transmission wheel radius 201; the lateral spacing L2 of the vehicle frames is positively correlated with the sum of the chain plate length 404 and the transmission wheel radius 201, that is, L+r.

[0018] When the turning radius L+r of the vehicle carrier 800 is small, the process of the vehicle carrier 800 in the turning area 1001 approaching and meeting the adjacent vehicle carrier 800 is analyzed as follows.

[0019] See also Figure 4; The vehicle frame 800 of the horizontal circulation type stereo garage runs with a longitudinal spacing 801 of the vehicle frame, and the vehicle frame 800 rotates clockwise around the transmission wheel 200 whose axis is located at O'. The vehicle frame 800-1 is adjacent to the vehicle frame 800-2 and is in front of the vehicle frame 800-2; when the vehicle frame 800-1 enters the rotation area 1001 from the straight area 1000, the horizontal distance between it and the vehicle frame 800-2 is L1'; in the rotation area 1001 , the distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 in the horizontal direction changes with the change of the rotation angle θ' of the top center 406 of the chain plate connected to the vehicle carrier 800-1; when the vehicle carrier 800-1 is in the straight area 1000, the linear velocity is v1; when the vehicle carrier 800-1 is in the rotation area 1001, the linear velocity is (L+r)*v1 / r, and the horizontal velocity is v2, v2=v1*(L+r)*sin(θ') / r————(A4); In the initial stage of the rotation of the vehicle carrier 800-1, since L>0 and |θ'| is large, v2>v1, the horizontal distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 continues to increase; the vehicle carrier 800-1 continues to rotate, and when θ' reaches a certain angle θ'0, the horizontal speeds of the two vehicle carriers 800 are equal, the horizontal distance stops increasing, and the horizontal distance reaches a maximum value. The larger L+r is, the larger the maximum value of the horizontal distance is; from v1=v2, it can be obtained that sin(θ'0)=r / (L+r)————(A5); According to formula (A5), the larger L / r is, the smaller θ'0 is, the larger the angle of rotation of the vehicle carrier 800-1 is, and the larger the maximum value of the horizontal distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 is; According to formula (A4), the larger L+r is, the larger v2 is, and the larger the maximum value of the horizontal distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 is.

[0020] After the vehicle carrier 800-1 reaches the rotation angle θ'0, it continues to rotate, and the horizontal distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 begins to decrease; at a certain moment, the two adjacent vertices of the rectangular cross-section of the two vehicle carriers 800 are infinitely close and meet at point P; since L+r<=0.75h, Figure 4It can be seen that when the vehicle carrier 800-1 and the vehicle carrier 800-2 are about to meet, the axis O' of the transmission wheel 200 is located above the vehicle carrier 800-1 and on the right side of the chain plate 400 connected to the vehicle carrier 800-2; therefore, the event of the vehicle carrier 800-1 and the vehicle carrier 800-2 being about to meet occurs within the interval (-π / 2, 0) of the rotation angle θ' of the vehicle carrier 800-1, and, before and when the event occurs, the vehicle carrier 800-2 is always located in the straight line area 1000; after the vehicle carrier 800-1 and the vehicle carrier 800-2 are about to meet, the vehicle carrier 800-1 continues to move under the vehicle carrier 800-2, and the horizontal distance between the vehicle carrier 800-1 and the vehicle carrier 800-2 increases again until they rotate out of the rotation area 1001, and there will never be a close encounter with the vehicle carrier 800-1.

[0021] Similarly, the process of the vehicle carrier 800-1 in the rotation area 1001 approaching and meeting another adjacent vehicle carrier 800 in front of it is exactly the same as the process of the vehicle carrier 800-1 approaching and meeting another adjacent vehicle carrier 800 in front of it, except that the movement directions are opposite; when the vehicle carrier 800-1 and another adjacent vehicle carrier 800 in front of it approach and meet at point P', the meeting point P' is within the range of (0, π / 2) of the rotation angle θ' of the vehicle carrier 800-1, and the meeting point P' and point P are in a mirror-symmetric relationship with respect to the longitudinal axis 900 of the stereo garage; therefore, in the rotation area 1001, the vehicle carrier 800-1 and the adjacent vehicle carrier 800 only approach and meet at point P or point P'.

[0022] Therefore, when the vehicle carrier 800-1 and the vehicle carrier 800-2 are about to meet at point P, the length Len' of the chain 300 between the vehicle carriers 800 is the minimum value of Len' for the circulating type stereo garage to ensure that the vehicle carriers 800 do not collide with each other. Len' determines the longitudinal spacing L1' of the vehicle carriers, as shown in formula (A2).

[0023] From the above analysis, it can be seen that by increasing the turning radius r+L or the ratio L / r of the carrier frame 800, the maximum value of the horizontal distance between the carrier frame 800-1 and the carrier frame 800-2 before the near encounter will increase, and the near encounter will not occur. The initial horizontal distance L1' between the carrier frame 800-1 and the carrier frame 800-2 can be reduced, and the longitudinal spacing L1' of the carrier frames is also reduced; therefore, the longitudinal spacing 801 of the carrier frames is negatively correlated with the turning radius r+L and L / r of the carrier frame 800, respectively.

[0024] In order to obtain a smaller longitudinal spacing 801 of the vehicle carriers, L / r is usually set near its upper limit Km and not greater than Km. Therefore, the longitudinal spacing 801 of the vehicle carriers is only related to the turning radius r+L of the vehicle carrier 800; since the turning radius r+L of the vehicle carrier 800 is positively correlated with the transverse spacing 802 of the vehicle carriers, when the sum of the chain plate length 404 and the transmission wheel radius 201 is small, the longitudinal spacing 801 of the vehicle carriers is negatively correlated with the transverse spacing 802 of the vehicle carriers; when the transverse spacing 802 of the vehicle carriers is small, the longitudinal spacing 801 of the vehicle carriers is large; when the longitudinal spacing 801 of the vehicle carriers is small, the transverse spacing 802 of the vehicle carriers is large; therefore, the volume of the stereo garage is larger; taking the parameters of a horizontal circulating stereo garage with w=2.4 meters, h=1.8 meters, r=0.6 meters, and L=0.5 meters as an example, L2=0.4 meters, and L1'=0.51 meters.

[0025] The vertical circulating stereoscopic car park and the horizontal circulating stereoscopic car park are basically the same except for the different working directions. By analyzing the lateral spacing 802 and the longitudinal spacing 801 of the vehicle carrier frames of the vertical circulating stereoscopic car park, the same conclusion as above can be drawn.

[0026] In the prior art vertical circulating stereoscopic parking garage, in the rotation area 1001 below, the vehicle frame 800 moves along a semicircle, and only when the rotation angle of the suspension beam shaft 500 connected to the vehicle frame 800 is 0, the suspension beam shaft 500 and the vehicle frame 800 reach their lowest points respectively, and the bottom of the vehicle frame 800 is close to the ground; a vehicle entrance and exit is provided in the central position of the rotation area 1001; when storing or retrieving a vehicle, the stereoscopic parking garage moves the vehicle frame 800 to the vehicle entrance and exit, and then the user performs a parking or retrieving operation on the vehicle frame 800; the time interval between two consecutive vehicle storage and retrieval operations is generally 1-2 minutes; when multiple users request to store or retrieve a vehicle at the same time, they need to wait in line, and the waiting time is relatively long.

[0027] When the turning radius R of the vehicle carrier 800 is greater than or equal to 0.73w, the lateral spacing 802 of the vehicle carriers in the vertical circulating stereoscopic car park is relatively large, and there is a situation where adjacent vehicle carriers 800 are in the turning area 1001 at the same time; when two adjacent vehicle carriers 800 move to the turning area 1001 on both sides of the stereoscopic car park longitudinal axis 900, and the absolute values ​​of the turning angles of the hanging beam shafts 500 connected to the two vehicle carriers 800 are equal, the height from the bottom of the vehicle carrier 800 to the ground is called the parking height, and the angle between the two hanging beam shafts 500 and the axis of the transmission wheel 200 is called the parking angle; only when the parking height is relatively small, a vehicle entrance and exit can be set at each of the two vehicle carriers 800 to store and retrieve two vehicles at the same time.

[0028] In the rotation area 1001, the turning radius of the car carrier 800 is R = r + L ————(A6); the relationship between R and the lateral spacing L2 of the car carriers of the vertical circulating three-dimensional garage is R = w / 2 + L / 2 ————(A7); the larger the lateral spacing 802 of the car carriers, the larger R; when two adjacent car carriers 800 are simultaneously in the rotation area 1001, the included angle of the two hanging beam shafts 500 connected to the car carrier 800 with respect to the axis center of the driving wheel 200 is always ψ, and ψ is the parking angle; the parking angle of the car carrier 800 is determined by the length Len of the chain 300 between two adjacent car carriers 800 and the radius r of the driving wheel 200, ψ = Len / r ————(A8); the value range of Len is related to the longitudinal spacing L1 of the car carriers of the three-dimensional garage, Len >= h + L1 ————(A9); the value range of the radius r of the driving wheel 200 is related to the upper limit Km of K, and the minimum value is rm. According to formula (A1) and formula (A6), r >= rm = R / (1 + Km) ————(A10).

[0029] Generally, the lateral spacing 802 of the car carriers of the vertical circulating three-dimensional garage does not exceed the width w of the car carrier 800 to achieve a higher space utilization rate; the ratio m of the height to the width of the car carrier 800 is m = h / w, within the range of [0.65, 0.95]; when the lateral spacing 802 of the car carriers of the vertical circulating three-dimensional garage does not exceed the width w of the car carrier 800, according to formula (A7), 0.5w <= R <= w, and the width of the three-dimensional garage does not exceed 3 times the width of the car carrier 800.

[0030] In the prior art vertical circulating three-dimensional garage, when the absolute values of the rotation angles of the two hanging beam shafts 500 connected to two adjacent car carriers 800 with a parking angle of ψ and simultaneously located in the lower rotation area 1001 are equal, the rotation angles are -ψ / 2 and ψ / 2 respectively. The height of the two hanging beam shafts 500 from the lowest point of the hanging beam shaft 500 is the parking height H, H = R*(1 - cos(ψ / 2)) ————(A11).

[0031] According to (A11), at the same R, the smaller ψ is, the smaller H is; by setting Len and r, the angle ψ can be changed. Reducing Len or increasing r can reduce ψ; when ψ > 120°, H > 0.5R >= 0.325w, and the parking height of the car carrier 800 is relatively large, and only one vehicle can be stored and retrieved in the three-dimensional garage at a time.

[0032] When ψ<=120°, ψ has a lower limit due to the constraint of the adjacent vehicle carriers 800 meeting each other. Under the same R and the same size of the vehicle carrier 800, for the same transmission wheel radius 201, the longitudinal spacing L1 of the vehicle carriers of the three-dimensional parking garage is the same. If there is no adjacent vehicle carrier 800 meeting each other in the three-dimensional parking garage, Len>h+L1. If there is an adjacent vehicle carrier 800 meeting each other, Len=h+L1. Therefore, according to formula (A8), when there is an adjacent vehicle carrier 800 meeting each other, the parking angle ψ is smaller and the parking height H is also smaller. Under the same R and the same size of the vehicle carrier 800, if there is only an adjacent vehicle carrier 800 meeting each other in the straight line area 1000, L en=h. If the radius of the driving wheel 201 is increased until the vehicle carrier 800 in the rotating area 1001 is close to the adjacent vehicle carrier 800, Len=h. The longitudinal spacing 801 of the vehicle carriers remains unchanged. According to formula (A8), the parking angle ψ is smaller and the parking height is also smaller. Therefore, under the same R and the same size of the vehicle carrier 800, when the vehicle carrier 800 in the rotating area 1001 is close to the adjacent vehicle carrier 800, the parking angle ψ of the vehicle carrier 800 reaches the minimum value ψ0, ψ>=ψ0————(A12), ψ0 is the parking angle of the adjacent vehicle carrier 800 when the vehicle carrier 800 in the rotating area 1001 is close to the adjacent vehicle carrier 800.

[0033] When the vehicle carrier 800 in the rotation area 1001 is close to the adjacent vehicle carrier 800, the horizontal and vertical distances between the two suspension beam axes 500 connected to the vehicle carrier 800 are respectively equal to the width w and height h of the vehicle carrier 800.

[0034] When ψ<=120°, 0.73w<=R<=w, and there is a situation where the vehicle carrier 800 in the rotation area 1001 is close to the adjacent vehicle carrier 800, the length of the chain 300 between the vehicle carriers 800 is Len=h+L1————(A13), and the parking angle of the vehicle carrier 800 is, ψ0=π / 2-arcsin(1-h / R)+arcsin(w / R-1)————(A14); according to According to formula (A14), ψ0 is determined by R / w and m=h / w, ψ0 is negatively correlated with R / w and positively correlated with m; therefore, according to formula (A11), under the same R situation, when ψ=ψ0 and m takes the minimum value, H reaches the minimum value Hm; according to calculation and analysis of formula (A11) and formula (A14), Hm / w is only related to R and m, and Hm / w is negatively correlated with R; after calculation, Hm is in the range of 0.2w to 0.5w.

[0035] When ψ<=120°, 0.5w<=R<0.73w, when there is a situation where the vehicle carrier 800 in the turning area 1001 is close to the adjacent vehicle carrier 800, the longitudinal spacing L1 of the vehicle carriers is relatively large, and the space utilization rate of the stereoscopic car park is not high; on the other hand, even if there is a situation where adjacent vehicle carriers 800 are in the turning area 1001 at the same time, compared with the situation where R>=0.73w, due to the increase of L1, according to formula (A13), Len increases, the parking angle of the vehicle carrier 800 increases, resulting in a larger parking height of the vehicle carrier 800, and the stereoscopic car park can only store and retrieve one vehicle at a time.

[0036] Summarizing the above situations, only when ψ<=120°, 0.73w<=R<=w, the parking height of the adjacent vehicle carrier 800 is relatively small, and its minimum value Hm is in the range of 0.2w~0.5w; even so, the parking height H is still relatively large, and the three-dimensional parking garage can only store and retrieve one car at a time.

[0037] Therefore, when the lateral spacing 802 of the vehicle loading frames in the multi-story parking garage does not exceed the width w of the vehicle loading frames 800, in the vertical circulating multi-story parking garage of the prior art, since the suspension beam axis 500 moves along an arc, the parking height of two adjacent vehicle loading frames 800 is relatively large, and the multi-story parking garage can only store and retrieve one vehicle at a time. When multiple users request to store and retrieve vehicles at the same time, the waiting time is relatively long.

[0038] Chinese patent CN106223677A discloses a "vertical circulation stereo garage with multiple parking spaces and two-way entry and exit", which points out a vertical circulation stereo garage that can store and retrieve two cars at the same time; each vehicle carrier 800 of the vertical circulation stereo garage can accommodate two cars, and when the vehicle carrier 800 moves to a position close to the ground, two cars can be stored and retrieved at the same time; at present, the vertical circulation stereo garages actually used all use vehicle carriers 800 that can accommodate one car, and the width of the stereo garage is about 2 to 3 times the width of one vehicle carrier 800, which occupies a small area and can make full use of scattered open space; while the width of the vertical circulation stereo garage in the patent is larger, about twice that of the vertical circulation stereo garage that uses vehicle carriers 800 that can accommodate one car, which cannot make full use of scattered open space and cannot solve the problem that the existing vertical circulation stereo garage can only store and retrieve one car at a time.

[0039] In summary, when the turning radius r+L of the vehicle carrier 800 is small, the vehicle carrier 800 in the turning area 1001 will encounter the adjacent vehicle carrier 800; the movement process of the vehicle carrier 800 in the turning area 1001 determines that the longitudinal spacing 801 of the vehicle carrier is negatively correlated with the transverse spacing 802 of the vehicle carrier. When the transverse spacing 802 of the vehicle carrier is small, the longitudinal spacing 801 of the vehicle carrier is large, and when the longitudinal spacing 801 of the vehicle carrier is small, the transverse spacing 802 of the vehicle carrier is large; therefore, the volume of the circulating stereo garage in the prior art is relatively large. The number of vehicle carriers 800 accommodated in the same volume is small, and the space utilization rate is low; in a vertical circulating stereoscopic parking garage, when the lateral spacing 802 of the vehicle carriers does not exceed the width of the vehicle carriers 800, two adjacent vehicle carriers 800 move to the two sides of the longitudinal axis 900 of the stereoscopic parking garage respectively, and when the absolute values ​​of the rotation angles of the hanging beam shafts 500 connected to the two vehicle carriers 800 are equal, the height of the bottom of the two vehicle carriers 800 from the ground is large. Therefore, the stereoscopic parking garage can only store or take out one car at a time. When multiple users request to store or take out cars at the same time, the users have a long waiting time. Summary of the invention

[0040] In view of this, the purpose of the present invention is to propose a transmission system and design method of a circulating stereoscopic garage with variable chain plate length. First, through the technical solution, the volume of the circulating stereoscopic garage is reduced while accommodating the same number of vehicle racks, so as to accommodate more vehicle racks under the same volume of the circulating stereoscopic garage, thereby improving the space utilization rate of the circulating stereoscopic garage; second, through the design method of the transmission system of the circulating stereoscopic garage with variable chain plate length, the implementation method and optimal design parameters are given for the design requirements of the longitudinal spacing of the vehicle racks and the lateral spacing of the vehicle racks; third, under the condition that the lateral spacing of the vehicle racks does not exceed 800 of the width of the vehicle racks, the parking height of the vehicle racks of the vertical circulating stereoscopic garage is reduced to increase the number of vehicles that can be stored and retrieved in the stereoscopic garage at the same time, thereby reducing the waiting time for users to store and retrieve vehicles.

[0041] In order to achieve the above object, the present invention is implemented according to the following technical solutions.

[0042] A circulating type stereo garage transmission system with variable chain plate length, comprising two sets of transmission wheels, two pairs of chains, chain plates, a hanging beam shaft and two sets of hanging beam shaft guide rails;

[0043] The axes of the transmission wheels are parallel to each other, and the two sets of transmission wheels are respectively arranged on both sides of the support frame;

[0044] The chain plates are fixed at corresponding positions of the two chains at equal intervals;

[0045] The two ends of the suspension beam shaft are respectively connected to the chain plates at corresponding positions on the two chains;

[0046] In the slewing area, the two sets of beam shaft guide rails are respectively arranged on both sides of the support frame to support and guide the beam shaft;

[0047] It is characterized in that the chain plate is composed of a chain plate fixed arm and a chain plate movable arm; the chain plate fixed arm is fixed on the chain; one end of the chain plate movable arm is fixed or hinged to one end of the suspension beam shaft; the chain plate fixed arm and the chain plate movable arm are telescopically connected; the suspension beam shaft guide rail in the rotating area is a "Π"-shaped arc-shaped continuous changing curve; through the connection and cooperation between the chain plate fixed arm and the chain plate movable arm, the suspension beam shaft guide rail constrains the chain plate movable arm of the chain plate to extend and retract in the length direction of the chain plate as the position of the suspension beam shaft on the suspension beam shaft guide rail changes.

[0048] As a further technical solution, the chain plate fixing arm is fixed on two adjacent chain link shafts of the chain; the chain plate movable arm is columnar, arranged in the chain plate fixing arm, and is slidably connected to the chain plate fixing arm.

[0049] As a further technical solution, the chain plate fixed arm includes a base plate and a slide groove; the left and right ends of the base plate are respectively fixed on two adjacent chain link shafts of the corresponding chain; the slide groove is arranged on the base plate along the chain direction; the chain plate movable arm includes a cantilever, a support arm and a slider; one end of the cantilever is hinged to the slider, and the other end is connected to one end of the suspension beam shaft; one end of the support arm is hinged to the center point of the cantilever, and the other end is hinged to the base plate on the extension line of the slide groove; the length of the cantilever is 1.8 to 2.2 times the length of the support arm; the slider and the slide groove are slidably connected.

[0050] As a further technical solution, the distance from the slide groove to the chain link axis is not less than 0.2 times the width of the vehicle carrier frame.

[0051] As a further technical solution, it also includes a chain plate lever and a shifting wheel, wherein a chain plate lever parallel to the axis of the transmission wheel is fixedly provided on the top of the chain plate fixing arm; the shifting wheel is coaxially arranged on one side of the transmission wheel or concentrically fixed on the transmission wheel, and the shifting wheel is meshed with the chain plate lever through the wheel tooth groove arranged on its outer edge.

[0052] As a further technical solution, the distance from the suspension beam shaft guide rail to the axis of the transmission wheel within the rotation angle range of (34°, 40°] and [-40°, -34°) in the rotation area is 1.2 to 1.65 times the sum of the chain plate length in the straight area and the radius of the transmission wheel.

[0053] As a further technical solution, the distance from the suspension beam shaft guide rail to the axis of the transmission wheel within the rotation angle range of (28°, 34°] and [-34°, -28°) in the rotation area is 1.2 to 1.6 times the sum of the chain plate length in the straight area and the transmission wheel radius.

[0054] As a further technical solution, the distance from the guide rail of the hanging beam shaft to the center of the driving wheel within the range of the rotation angles of [22°, 28°] and [-28°, -22°] in the rotation area is 1.15 to 1.45 times the sum of the length of the chain plate in the straight area and the radius of the driving wheel.

[0055] As a further technical solution, the outer shape of the guide rail of the hanging beam shaft in the rotation area below the vertical type circulating three-dimensional garage is a concave curve; the outer shapes of the guide rails of the hanging beam shaft from the upper left end to the -63° rotation angle and from the upper right end to the 63° rotation angle in the rotation area are straight lines perpendicular to the ground, and the distance from them to the center of the driving wheel in the rotation area is d0, and d0 is within the range of [0.54h + 0.38w, w]; the outer shape of the guide rail of the hanging beam shaft from -33° to 33° rotation angle in the rotation area is a horizontal line, and the distance from it to the center of the driving wheel in the rotation area is d1, and d1 is within the range of [d0 - 0.4w, d0 + 0.15w]; d0, d1 and ψ0 are a set of solutions of the following formula, max(d1 - d0 / tan(ψ0 / 2), 0) <= 0.15w, when d1 >= h, ψ0 = arctan((w - d0) / d1) + arctan(d0 / (d1 - h)), when d1 < h, ψ0 = h / d1 * [π / 2 + arctan((w - d0) / d1)]; ψ and H1 are a set of solutions of the following formula, H1 = max(d1 - d0 / tan(ψ / 2), 0), H1 <= 0.15w, ψ >= ψ0; the guide rail of the hanging beam shaft in the rotation area passes through point A in the ψ / 2 rotation angle direction and point A' in the -ψ / 2 rotation angle direction, and the height of point A and point A' from the horizontal guide rail of the hanging beam shaft in the rotation area is within the range of [H1, 0.15w]; the radius of the driving wheel in the rotation area is r, and the length of the chain between the carriages is Len, r = Len / ψ; in the above formulas, ψ is the parking angle of the carriage when two adjacent carriages are simultaneously in the rotation area, ψ0 is the parking angle of the adjacent carriage when the carriage with a rotation area in the three-dimensional garage approaches and meets the adjacent carriage, H1 is the height of the lowest position of the hanging beam shaft in the ψ / 2 and -ψ / 2 rotation angle directions from the horizontal guide rail of the hanging beam shaft, w is the width of the carriage, h is the height of the carriage, and h / w is within the range of [0.65, 0.95].

[0056] As a further technical solution, the d0 is not greater than 0.5h + 0.525w.

[0057] As a further technical solution, the ψ is not greater than 1.1ψ0.

[0058] A design method for the transmission system of a circulating three-dimensional garage with variable chain plate length, the chain plate is composed of a chain plate fixed arm and a chain plate movable arm, and the chain plate fixed arm and the chain plate movable arm are telescopically connected, including the following steps,

[0059] a. According to the horizontal spacing L2 of the vehicle frame, the radius of the transmission wheel is set to r = (L2 / 2 + s1 / 2) / (1 + Km), and the length of the chain plate in the straight area is set to L = Km * r; Km is the upper limit of the ratio of the length of the chain plate in the straight area to the radius of the transmission wheel. For horizontal circulating stereo garages or vertical circulating stereo garages, s1 is the height of the vehicle frame or the width of the vehicle frame respectively;

[0060] b. According to the longitudinal spacing L1 and the lateral spacing L2 of the vehicle carrier frame, according to the formula, L1 = max(-sqrt((s1+dL)*(L2+dL))+r*(π / 2+|θ|), 0), Tan|θ| = (s1 / 2-L2 / 2) / sqrt((s1+dL)*(L2+dL)), calculate dL and |θ|; c. In the rotation area, the front and rear two sets of beam shaft guide rails are respectively arranged at corresponding positions of the support frame to support and guide the beam shaft, and the beam shaft guide rail is a "Π"-shaped arc-shaped continuous changing curve; at the |θ| and -|θ| rotation angles in the rotation area, the distance from the beam shaft guide rail to the axis of the transmission wheel is set in the range of [L+dL+r, L+1.1dL+r].

[0061] The beneficial effects of adopting the above-mentioned technical scheme and design method are as follows: a circulating stereoscopic garage transmission system and design method with variable chain plate length, through the technical scheme, a variable length chain plate and a "Π"-shaped arc-shaped suspension beam shaft guide rail are adopted, and the chain plate movable arm is extended within a certain rotation angle range of the rotation area, so that under the condition of the same lateral spacing of the vehicle frames, a smaller longitudinal spacing of the vehicle frames is obtained than the circulating stereoscopic garage transmission system of the prior art, or under the condition of the same longitudinal spacing of the vehicle frames, a smaller lateral spacing of the vehicle frames is obtained than the circulating stereoscopic garage transmission system of the prior art; compared with the circulating stereoscopic garage of the prior art, under the condition of accommodating the same number of vehicle frames, the circulating stereoscopic garage with variable chain plate length of the present invention has a small volume, thereby accommodating more vehicle frames under the same volume of the stereoscopic garage, thereby improving the space utilization rate of the circulating stereoscopic garage; through the design method, a circulating stereoscopic garage with variable chain plate length is provided. The design of the garage transmission system provides optimal parameters of the transmission wheel radius, the chain plate length in the straight area and the shape of the beam shaft guide rail in the rotating area that meet the design requirements of the longitudinal spacing and lateral spacing of the vehicle carriers, so as to reduce the volume of the circulating three-dimensional garage. The ratio of the chain plate length in the straight area to the transmission wheel radius does not exceed its upper limit Km, and the maximum extension length of the chain plate in the rotating area relative to the chain plate in the straight area is minimized; the vertical circulating three-dimensional garage adopts the circulating three-dimensional garage transmission system with variable chain plate length of the present invention, through the setting of the shape of the beam shaft guide rail in the lower rotating area, the transmission wheel radius and the chain length between the vehicle carriers, when the two adjacent vehicle carriers move to the two sides of the longitudinal axis of the three-dimensional garage respectively and the absolute values ​​of the rotation angles of the beam shafts connected to the two vehicle carriers are equal, the height of the bottom of the two vehicle carriers from the ground is small, and the three-dimensional garage can store and retrieve two vehicles at the same time, shortening the waiting time when multiple users store and retrieve vehicles at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a schematic diagram of the structure of a vertical circulation type stereoscopic car park in the prior art.

[0063] Figure 2 It is a schematic diagram of the structure of a horizontal circulating stereoscopic car park in the prior art.

[0064] Figure 3 The figure is a schematic diagram of the installation structure of the chain plate and chain in the prior art.

[0065] Figure 4 The figure is a schematic diagram of the calculation principle of the vehicle carrier spacing in the prior art.

[0066] Figure 5 It is a schematic diagram of the calculation principle of the spacing between vehicle carriers of the present invention.

[0067] Figure 6 It is a curve showing the relationship between the longitudinal spacing of the vehicle carrier frames and the lateral spacing of the vehicle carrier frames of the present invention.

[0068] Figure 7 It is a schematic structural diagram of the rotary area of ​​the horizontal circulating stereo garage of the present invention.

[0069] Figure 8 It is a schematic structural diagram of the chain plate of the present invention.

[0070] Fig. 9 for Figure 8 Schematic diagram of the cross-sectional structure along the AA axis.

[0071] Fig.10 for Figure 8 Schematic diagram of the top view structure.

[0072] Fig.11 It is a structural schematic diagram of the horizontal circulation type stereoscopic car park of the present invention.

[0073] Fig.12 for Fig.11 Schematic diagram of the installation structure of the middle chain plate and chain.

[0074] Fig.13 for Fig.12 A schematic side structural cross-sectional view of .

[0075] Fig.14 for Fig.12 Schematic diagram of the top view structure.

[0076] Fig.15 for Fig.11 Schematic diagram of the local cross-section structure.

[0077] Fig.16 It is a schematic diagram of the revolving area of ​​a vertical circulating stereo garage with two vehicle entrances and exits of the present invention.

[0078] Fig.17 It is a schematic diagram of a vertical circulation type stereoscopic garage with two vehicle entrances and exits of the present invention.

[0079] Fig.18 for Fig.17 A local enlarged view of location I.

[0080] Fig.19 It is a front view of the chain plate adopting the connecting rod mechanism of the present invention when the chain plate movable arm is extended.

[0081] Fig. 20 The present invention is a side view of a chain plate adopting a connecting rod mechanism when the chain plate movable arm is extended.

[0082] Fig.21 It is a top view of the chain plate adopting the connecting rod mechanism of the present invention when the chain plate movable arm is extended.

[0083] Fig. 22It is a front view of the chain plate adopting the connecting rod mechanism of the present invention when the chain plate movable arm is retracted.

[0084] In the figure,

[0085] 100 support frame;

[0086] 200 transmission wheel, 201 transmission wheel radius;

[0087] 300 chain, 301 chain link shaft, 302 chain roller;

[0088] 400 chain plate, 403 chain plate lever, 404 chain plate length, 405 chain plate bottom center, 406 chain plate top center, 407 chain plate top center motion track, 410 chain plate fixed arm, 411 bottom plate, 412 slide groove, 420 chain plate movable arm, 421 cantilever, 422 support arm, 423 slider;

[0089] 500 hanging beam shaft, 501 hanging beam shaft roller;

[0090] 600 hanging beam shaft guide rail;

[0091] 700 toggle wheel, 701 wheel tooth groove;

[0092] 800 vehicle frame, 801 vehicle frame longitudinal spacing, 802 vehicle frame transverse spacing;

[0093] 900 vertical axis of the stereo garage;

[0094] 1000 straight line area, 1001 rotation area. DETAILED DESCRIPTION

[0095] The following is a specific embodiment with reference to the accompanying drawings. Figure 5-Figure 22 The technical solution of the present invention is further described.

[0096] The invention relates to a circulating type stereoscopic carport transmission system with variable chain plate length, comprising two sets of transmission wheels 200, two pairs of chains 300, chain plates 400, a hanging beam shaft 500 and two sets of hanging beam shaft guide rails 600;

[0097] The axes of the transmission wheels 200 are parallel to each other, and two sets of transmission wheels 200 are respectively arranged on both sides of the support frame 100;

[0098] The chain plates 400 are fixed at corresponding positions of the two pairs of chains 300 at equal intervals.

[0099] The two ends of the suspension beam shaft 500 are respectively connected to the chain plates 400 at corresponding positions on the two chains 300;

[0100] In the rotation area 1001, the two sets of beam shaft guide rails 600 are respectively arranged on both sides of the support frame 100 to support and guide the beam shaft 500;

[0101] The chain plate 400 is composed of a chain plate fixed arm 410 and a chain plate movable arm 420; the chain plate fixed arm 410 is fixed on the chain 300; one end of the chain plate movable arm 420 is fixed or hinged to one end of the suspension beam shaft 500; the chain plate fixed arm 410 and the chain plate movable arm 420 are telescopically connected; the suspension beam shaft guide rail 600 in the rotating area 1001 is a "Π"-shaped arc-shaped continuous changing curve; through the connection and cooperation between the chain plate fixed arm 410 and the chain plate movable arm 420, the suspension beam shaft guide rail 600 constrains the chain plate movable arm 420 of the chain plate 400 to telescope in the length direction of the chain plate 400 as the position of the suspension beam shaft 500 on the suspension beam shaft guide rail 600 changes.

[0102] As a further embodiment, the chain plate fixing arm 410 is fixed on two adjacent chain link shafts 301 of the chain 300 ; the chain plate movable arm 420 is columnar, disposed inside the chain plate fixing arm 410 , and is slidably connected to the chain plate fixing arm 410 .

[0103] As a further embodiment, the chain plate fixed arm 410 includes a bottom plate 411 and a slide groove 412; the left and right ends of the bottom plate 411 are respectively fixed on two adjacent chain link shafts 301 of the corresponding chain 300; the slide groove 412 is arranged on the bottom plate 411 along the direction of the chain 300; the chain plate movable arm 420 includes a cantilever 421, a support arm 422 and a slider 423; one end of the cantilever 421 is hinged to the slider 423, and the other end is connected to one end of the suspension beam shaft 500; one end of the support arm 422 is hinged to the center point of the cantilever 421 , and the other end is hinged to the bottom plate 411 on the extension line of the slide groove 412; the length of the cantilever 421, that is, the distance between the axis centers of the hinge shafts at both ends of the cantilever 421, is 1.8 to 2.2 times the length of the support arm 422, that is, the distance between the axis centers of the hinge shafts at both ends of the support arm 422; the slider 423 is slidably connected to the slide groove 412; the chain plate movable arm 420 and the chain plate fixed arm 410 form a Ross linear motion connecting rod mechanism, and the motion trajectory of the suspension beam shaft 500 relative to the chain 300 is a straight line or an approximate straight line perpendicular to the direction of the chain 300.

[0104] As a further embodiment, the distance from the slide groove 412 to the chain link shaft 301 is not less than 0.2 times the width of the vehicle carrier 800 .

[0105] As a further embodiment, the hanging beam shaft 500 is provided with hanging beam shaft rollers 501 at the left and right ends; the hanging beam shaft rollers 501 roll in the hanging beam shaft guide rails 600 .

[0106] As a further embodiment, it also includes a chain plate lever 403 and a shifting wheel 700, wherein a chain plate lever 403 parallel to the axis of the transmission wheel 200 is fixedly provided on the top of the chain plate fixing arm 410; the shifting wheel 700 is coaxially arranged on one side of the transmission wheel 200 or concentrically fixed on the transmission wheel 200, and the shifting wheel 700 is meshed with the chain plate lever 403 through the wheel tooth groove 701 arranged on its outer edge.

[0107] As a further embodiment, the distance from the suspension beam shaft guide rail 600 to the axis center of the transmission wheel 200 within the rotation angle range of (34°, 40°] and [-40°, -34°) of the rotation area 1001 is 1.2 to 1.65 times the sum of the chain plate length 404 of the straight area 1000 and the transmission wheel radius 201; the "(34°, 40°]" refers to an interval greater than 34° and less than or equal to 40°, and so on.

[0108] As a further embodiment, the distance from the suspension beam shaft guide rail 600 to the axis center of the transmission wheel 200 within the rotation angle range of (28°, 34°] and [-34°, -28°) of the rotation area 1001 is 1.2 to 1.6 times the sum of the chain plate length 404 of the straight area 1000 and the transmission wheel radius 201.

[0109] As a further embodiment, the distance from the suspension beam shaft guide rail 600 to the axis center of the transmission wheel 200 within the rotation angle range of [22°, 28°] and [-28°, -22°] of the rotation area 1001 is 1.15 to 1.45 times the sum of the chain plate length 404 of the straight area 1000 and the transmission wheel radius 201.

[0110] When the lateral spacing 802 of the vehicle frames is small, there is a close encounter between the vehicle frames 800 in the rotating area 1001 and the adjacent vehicle frames 800, and the length of the chain 300 between the two vehicle frames 800 determines the longitudinal spacing 801 of the vehicle frames; taking the horizontal circulating stereoscopic car park as an example, the following analyzes the phenomenon of the close encounter between the vehicle frames 800 in the rotating area 1001 and the adjacent vehicle frames 800 to explain the principle that when the lateral spacing 802 of the vehicle frames is small, under the same lateral spacing 802 of the vehicle frames, the longitudinal spacing 801 of the vehicle frames of the circulating stereoscopic car park transmission system with variable chain plate length of the present invention is smaller than the longitudinal spacing 801 of the vehicle frames of the circulating stereoscopic car park transmission system in the prior art.

[0111] See also Figure 5 The present invention provides a circulating type stereoscopic carport transmission system with variable chain plate length.

[0112] The longitudinal spacing 801 of the vehicle carrier is L1, and the transverse spacing 802 of the vehicle carrier is L2, where L2 is as shown in formula (A3); the radius 201 of the transmission wheel 200 is r, and the axis is located at point O; when the vehicle carrier 800 is in the straight area 1000, the chain plate length 404 of the chain plate 400 connected thereto, that is, the chain plate length 404 in the straight area 1000 is L.

[0113] The beam axis guide rail 600 of the rotation area 1001 is a "Π"-shaped arc-shaped continuous changing curve, which includes a connected curve T1C and a curve CT2. Points T1 and T2 are located at the rotation angles π / 2 and -π / 2, respectively, and point C is located in the direction of the longitudinal axis 900 of the three-dimensional parking garage; the coordinates of each point on the beam axis guide rail 600 are (x, y); on the T1C curve, y is a monotonic non-increasing function relative to x, and x is a monotonic non-decreasing function relative to y; on the CT2 curve, y is a monotonic non-decreasing function relative to x, and x is a monotonic non-decreasing function relative to y; in the [22°, 40 °] and [-40°, -22°], the beam shaft guide rail 600 is symmetrically arranged with respect to the longitudinal axis 900 of the multi-story parking garage; the distance between the beam shaft guide rail 600 in the rotating area 1001 and the axis O of the transmission wheel 200 is L+dL, where dL is the extension length of the chain plate 400 relative to the chain plate 400 in the straight area 1000; within the rotating angle range of [22°, 90°] and [-90°, -22°] of the rotating area 1001, the distance between the beam shaft guide rail 600 and the axis O of the transmission wheel 200, L+dL, is greater than L-0.1r.

[0114] The chain 300 rotates clockwise, and the vehicle frame 800-1 enters the rotation area 1001 from the upper part of the straight area 1000, and the vehicle frame 800-2 is located behind it; the vehicle frame 800-1 is close to the vehicle frame 800-2 in the rotation area 1001, that is, the upper left corner of the vehicle frame 800-1 and the lower right corner of the vehicle frame 800-2 are close to each other at point P; when the vehicle frame 800-1 and the vehicle frame 800-2 are close to each other, the vehicle frame 800-2 is located in the straight area 1000, the length of the chain plate 400-2 connected to the vehicle frame 800-2 is L, and the top of the chain plate of the chain plate 400-1 connected to the vehicle frame 800-1 is L. The center 406 is point M; the beam shaft guide rail 600 is arranged so that the distance from the beam shaft guide rail 600 at point M to the axis center of the transmission wheel 200 is greater than the sum of the chain plate length L in the straight area 1000 and the transmission wheel radius r, and point M is located within the rotation angle range of [-40°, -22°]; in the rotation area 1001, the chain plate top center motion trajectory 407 coincides with the beam shaft guide rail 600, and the sum of the length of the chain plate 400-1 and the transmission wheel radius r is equal to the distance L+dL+r between point M of the beam shaft guide rail 600 and the axis center of the transmission wheel 200, so the length of the chain plate 400-1 located at point M is L+dL, dL>0.

[0115] According to the setting of the distance from the hoisting beam shaft guide rail 600 to the center of the driving wheel 200 within the slewing angle ranges of [22°, 40°] and [-40°, -22°] of the slewing area 1001, and since L + r < 0.75h, through calculation, within the ranges of [22°, 40°] and [-40°, -22°] of the slewing angle, the horizontal distance (L + r + dL)*cos(|θ|) from the center 406 of the top of the link plate of the link plate 400-1 connected to the carrier frame 800-1 to the center of the driving wheel 200 is < h <= w; therefore, when the carrier frame 800-1 and the carrier frame 800-2 are approaching and meeting, the center O of the driving wheel 200 is located above the carrier frame 800-1 and to the right of the center 406 of the top of the link plate of the link plate 400 connected to the carrier frame 800-2. The event of the carrier frame 800-1 and the carrier frame 800-2 approaching and meeting occurs within the range of (-π / 2, 0) of the slewing angle θ of the link plate 400-1 connected to the carrier frame 800-1. And, when and before the event occurs, the carrier frame 800-2 is always located within the straight line area 1000.

[0116] As Figure 5 shown, the carrier frame 800-1 is within the slewing area 1001; due to the symmetrical setting of the hoisting beam shaft guide rail 600 within the slewing angle ranges of [22°, 40°] and [-40°, -22°] of the slewing area 1001, there is a mirror symmetry point M' of a point M on the hoisting beam shaft guide rail 600 with respect to the longitudinal axis 900 of the stereoscopic garage, and the slewing angle of the point M' is within the range of [22°, 40°]; when the center 406 of the top of the link plate of the carrier frame 800-1 moves to the point M, the horizontal distance between the carrier frame 800-1 and the carrier frame 800-2 reaches the minimum. Therefore, before this, the center 406 of the top of the link plate of the carrier frame 800-2 is always on the left side of the connection line between the point M and the point M'; due to the monotonicity of the curves of the hoisting beam shaft guide rail 600 on both sides of the point C, the hoisting beam shaft guide rail 600 between the point M and the point M' is located on the right side of the connection line between the point M and the point M'; therefore, during the movement of the center 406 of the top of the link plate of the carrier frame 800-1 from the point M to the point M', the center 406 of the top of the link plate of the link plate 400 connected to the carrier frame 800-1 is always on the hoisting beam shaft guide rail 600 between the point M and the point M', and the carrier frame 800-1 will not approach and meet the carrier frame 800-2.

[0117] When the top center 406 of the chain plate 400-1 is located at point T1, the horizontal distance between the vehicle frame 800-1 and the vehicle frame 800-2 is equal to L1; in the process of the top center 406 of the chain plate 400-1 moving from point T1 to point M', within the range of [22°, 90°] of the rotation angle θ of the top center 406 of the chain plate 400-1, the angle rotated by the chain 300 is π / 2-θ, the distance moved to the right by the vehicle frame 800-2 is equal to the length rotated by the chain 300, which is r*(π / 2-θ), and the horizontal distance between the vehicle frame 800-1 and the vehicle frame 800-2 is dx=L1+(r+L+dL)*cosθ-r*(π / 2-θ)————(1); since θ is within the said range, L1>=0, dL>=-0.1r, Km=L / r>0.4, after calculation, when the rotation angle θ of the top center 406 of the chain plate 400-1 is within the range of [22°, 90°], dx is always greater than 0, so the vehicle frame 800-1 will not meet the vehicle frame 800-2 close to each other; in the process of the top center 406 of the chain plate of the vehicle frame 800-1 moving from point M to point T2, due to the monotonicity of the CT2 section of the hanging beam shaft guide rail 600, the hanging beam shaft guide rail 600 is located below point M, and the vehicle frame 800-1 will not meet the vehicle frame 800-2 close to each other; therefore, in the circulating type three-dimensional parking garage transmission system with variable chain plate length of the present invention, the vehicle frame 800-1 located in the rotation area 1001 and the adjacent vehicle frame 800-2 located thereafter will only meet close to each other when the top center 406 of the chain plate of the chain plate 400-1 is at point M.

[0118] Similarly, in the circulating stereo garage transmission system with variable chain length of the present invention, the carrier frame 800-1 in the rotating area 1001 and the adjacent carrier frame 800 in front of it are close to meeting each other only when the top center 406 of the chain plate 400-1 is located at point M'; point M' and point M are mirror-symmetrical with respect to the longitudinal axis 900 of the stereo garage. Therefore, when the carrier frame 800-1 and the carrier frame 800-2 are close to meeting each other, the length Len of the chain 300 between the carrier frame 800-1 and the carrier frame 800-2 determines the longitudinal spacing L1 of the carrier frames, L1=Len-w————(2).

[0119] like Figure 4As shown, the transmission system of the circulating stereo garage in the prior art; the axis of the transmission wheel 200 is located at point O', and the motion trajectory 407 of the center of the top of the chain plate in the rotation area 1001 is semicircular; the chain plate length 404 and the transmission wheel radius 201 are respectively equal to the length L of the chain plate 400-2 and the transmission wheel radius r when the carrier frames 800 are about to meet in the circulating stereo garage transmission system with variable chain plate length of the present invention; when the carrier frames 800-1 and the carrier frames 800-2 are about to meet at point P, the chain plate top center 406 of the chain plate 400 connected to the carrier frame 800-1 is located at point M; at this time, the rotation angle of the chain plate top center 406 of the chain plate 400 connected to the carrier frame 800-1 relative to the axis O' of the transmission wheel 200 is θ'; the longitudinal spacing 801 of the carrier frames is L1', L1' is as shown in formula (A2); the lateral spacing 802 of the carrier frames is L2, L2 is as shown in formula (A3).

[0120] In the circulating stereo garage transmission system with variable chain plate length of the present invention, when the chain plate 400-1 moves to point M, the turning radius of the vehicle frame 800-1 is equal to the sum of the chain plate length L+dL of the chain plate 400 located at point M and the transmission wheel radius r, that is, r+L+dL, which is greater than the turning radius r+L of the vehicle frame 800-1 in the circulating stereo garage transmission system of the prior art; since the longitudinal spacing 801 of the vehicle frame is negatively correlated with the turning radius of the vehicle frame 800, therefore, under the same transmission wheel radius r and the same chain plate length L in the straight line area 1000, L1 <L1'。

[0121] The above conclusion is quantitatively explained below by calculating the longitudinal spacing 801 of the vehicle carrier frame.

[0122] See also Figure 5; In the circulating stereo garage transmission system with variable chain plate length of the present invention, when the vehicle carrier 800-1 and the vehicle carrier 800-2 are close to each other, the horizontal distance between the chain plate top center 406 of the chain plate 400-2 connected to the vehicle carrier 800-2 and the axis of the transmission wheel 200 is x0; observing the right triangle OMQ, the length of OM is r+L+dL, the length of OQ is hrL, and the length of QM, that is, the distance between the point M and the axis of the transmission wheel 200 along the longitudinal axis 900 of the stereo garage, is w-x0; therefore, Tan|θ|=(hrL) / (w-x0)————(3), w-x0=sqrt((h+dL)*(2r+2L+dL -h))————(4); The chain 300 between the chain plates 400 connected to the vehicle carrier 800-1 and the vehicle carrier 800-2 includes a chain 300 in a straight area 1000 with a length of x0 and a chain 300 in a rotating area 1001 with a length of r*(π / 2+|θ|), and its length is Len; Since the minimum value of Len is w, Len=max(x0+r*(π / 2+|θ|), w)————(5); According to formula (2) and formula (5), the longitudinal spacing L1 of the vehicle carrier is obtained as L1=max(-(w-x0)+r*(π / 2+|θ|), 0)————(6).

[0123] See also Figure 4 ; In the circulating stereo garage transmission system of the prior art, when the vehicle carrier 800-1 and the vehicle carrier 800-2 are about to meet, the horizontal distance between the top center 406 of the chain plate 400 connected to the vehicle carrier 800-2 and the axis O' of the transmission wheel 200 along the longitudinal axis 900 of the stereo garage is x0'; The same principle as the circulating stereo garage transmission system with variable chain plate length of the present invention, it can be obtained that Tan|θ'|=(hrL) / (w-x0')————(7), w-x0'=sqrt(h*(2r+2L-h))————(8); The longitudinal spacing 801 of the vehicle carriers is, L1'=max(-(w-x0')+r*(π / 2+|θ'|), 0)————(9).

[0124] In the transmission system of the circulating three-dimensional garage with variable chain plate length of the present invention, the length L + dL of the chain plate 400-1 of the chain plate 400 at point M is greater than the chain plate length L of the transmission system of the circulating three-dimensional garage in the prior art; by comparing formula (4) with formula (8), it is obtained that x0 < x0' ———— (10), and by comparing formula (3) with formula (7), it is obtained that |θ| < |θ'| ———— (11); according to formula (10) and (11), by comparing formula (6) and formula (9), it is obtained that L1 < L1'; therefore, in the case of the same driving wheel radius r and the same chain plate length L in the straight area 1000, the longitudinal spacing L1 of the carriages of the transmission system of the circulating three-dimensional garage with variable chain plate length of the present invention is smaller than the longitudinal spacing L1' of the carriages of the horizontal circulating three-dimensional garage transmission system in the prior art.

[0125] In the transmission system of the circulating three-dimensional garage with variable chain plate length of the present invention, according to formula (3) and formula (A3), it can be obtained that Tan|θ| = (h / 2 - L2 / 2) / (w - x0) ———— (12); according to formula (4) and formula (A3), it can be obtained that w - x0 = sqrt((h + dL)*(L2 + dL)) ———— (13); according to formula (A1) and formula (A3), it can be obtained that r = (L2 / 2 + h / 2) / (1 + K) ———— (14); according to formula (6) and formula (12) to formula (14), the relationship curve between L1 and L2 in the transmission system of the circulating three-dimensional garage with variable chain plate length of the present invention is obtained, as Figure 6 shown; Figure 6 which includes three curves such as dL = 0, 0.2h, 0.3h, and K = 0.9; when dL = 0, formula (3), formula (4), and formula (6) are respectively the same as formula (7), formula (8), and formula (9); therefore, the curve under the condition of dL = 0 also reflects the relationship between the longitudinal spacing 801 and the transverse spacing 802 of the carriages of the circulating three-dimensional garage in the prior art; from Figure 6 it can be seen that when the transverse spacing 802 of the carriage is relatively small, the longitudinal spacing 801 of the carriage of the circulating three-dimensional garage and the transverse spacing 802 of the carriage are negatively correlated.

[0126] Based on the same principle as the transmission system of the circulating three-dimensional garage in the prior art, the longitudinal spacing 801 of the carriages of the transmission system of the circulating three-dimensional garage with variable chain plate length of the present invention and the ratio K = L / r of the chain plate length L in the straight area 1000 to the driving wheel radius r are negatively correlated; by analyzing formula (12) to formula (14), it can be seen that under the same L2 and dL, |θ| and w - x0 are also the same. Further analyzing formula (6) and formula (14), the conclusion that L1 and K = L / r are negatively correlated is also obtained.

[0127] Under the same lateral spacing L2 of the vehicle carrier, according to formula (A3), the sum of the chain plate length 404 and the transmission wheel radius 201 L+r in the straight area 1000 of the circulating stereo garage transmission system with variable chain plate length of the present invention is the same as the L+r of the circulating stereo garage transmission system in the prior art; under the same ratio K=L / r, L and r of the circulating stereo garage transmission system with variable chain plate length of the present invention are respectively the same as the L and r of the circulating stereo garage transmission system in the prior art; in the circulating stereo garage transmission system with variable chain plate length of the present invention, at the moment when the chain plate 400 moves from the straight area 1000 to the rotating area 1001, and at the moment when the chain plate 400 moves from the rotating area 1001 to the straight area 1000, that is, when the chain plate 400 moves to the T1 and T2 positions of the hanging beam shaft guide rail 600, due to the existence of the power system of the circulating stereo garage The impact force exerted by the transmission wheel 200 on the chain 300 and the chain link shaft 301 by the system, the ratio of the chain plate length 404 to the transmission wheel radius 201 K=L / r has an upper limit Km as shown in formula (A1); because at the positions T1 and T2, the distance between the hanging beam shaft guide 600 and the axis of the transmission wheel 200 is not greater than the sum of the chain plate length L in the straight area 1000 and the transmission wheel radius r, therefore, the length of the chain plate 400 connected to the vehicle carrier 800 at the said position is not greater than the chain plate length L in the straight area 1000, and the ratio of the chain plate length 404 to the transmission wheel radius 201 is less than or equal to Km, which meets the requirements of formula (A1); therefore, under the same vehicle carrier lateral spacing L2, for each K=L / r<=Km, L1 of the circulating stereo garage transmission system with variable chain plate length of the present invention is smaller than L1' of the circulating stereo garage transmission system of the prior art.

[0128] Because when the lateral spacing 802 of the vehicle frames is small, the longitudinal spacing 801 of the vehicle frames of the circulating stereogram parking garage transmission system of the prior art and the circulating stereogram parking garage transmission system with variable chain plate length of the present invention are both negatively correlated with the lateral spacing 802 of the vehicle frames; at the same lateral spacing 802 of the vehicle frames, the longitudinal spacing 801 of the vehicle frames of the circulating stereogram parking garage transmission system with variable chain plate length of the present invention is smaller than the longitudinal spacing 801 of the vehicle frames of the circulating stereogram parking garage transmission system of the prior art; therefore, at the same longitudinal spacing 801 of the vehicle frames, the lateral spacing 802 of the vehicle frames of the circulating stereogram parking garage transmission system with variable chain plate length of the present invention is smaller than the lateral spacing 802 of the vehicle frames of the circulating stereogram parking garage transmission system of the prior art.

[0129] Therefore, for the horizontal circulating multi-story parking garage, it can be concluded that, under the condition of the same lateral spacing 802 of vehicle frames, the longitudinal spacing 801 of vehicle frames of the circulating multi-story parking garage transmission system with variable chain plate length of the present invention is smaller than the longitudinal spacing 801 of vehicle frames of the circulating multi-story parking garage transmission system in the prior art; under the condition of the same longitudinal spacing 801 of vehicle frames, the lateral spacing 802 of vehicle frames of the circulating multi-story parking garage transmission system with variable chain plate length of the present invention is smaller than the lateral spacing 802 of vehicle frames of the circulating multi-story parking garage transmission system in the prior art; when accommodating the same number of vehicle frames 800, the circulating multi-story parking garage adopting the circulating multi-story parking garage transmission system with variable chain plate length of the present invention has a smaller volume.

[0130] The vertical circulation type stereoscopic car park adopting the technical solution of the present invention and the horizontal circulation type stereoscopic car park adopting the technical solution of the present invention have the same principle except for the different working directions, and the above conclusion also holds true.

[0131] In the rotating area 1001, the wheel disc 700 is engaged with the chain plate lever 403 through the wheel disc tooth groove 701, which supports and guides the chain plate 400, and further drives the chain plate 400 to push the suspension beam shaft 500 and the vehicle carrier 800 to move.

[0132] As a further embodiment, the present invention relates to a design method for a circulating stereoscopic carport transmission system with a variable chain plate length, wherein the chain plate 400 is composed of a chain plate fixed arm 410 and a chain plate movable arm 420, and the chain plate fixed arm 410 and the chain plate movable arm 420 are telescopically connected, and the following steps are included:

[0133] a. According to the lateral spacing L2 of the vehicle frame, the radius of the transmission wheel 201 is set to r = (L2 / 2 + s1 / 2) / (1 + Km), and the length of the chain plate 404 in the straight area 1000 is set to L = Km * r; Km is the upper limit of the ratio of the length of the chain plate 404 in the straight area 1000 to the radius of the transmission wheel 201. For a horizontal type circulating stereo garage or a vertical type circulating stereo garage, s1 is the height of the vehicle frame 800 or the width of the vehicle frame 800 respectively;

[0134] b. According to the longitudinal spacing L1 of the vehicle carrier frame and the lateral spacing L2 of the vehicle carrier frame, according to the formula, L1=max(-sqrt((s1+dL)*(L2+dL))+r*(π / 2+|θ|), 0, Tan|θ|=(s1 / 2-L2 / 2) / sqrt((s1+dL)*(L2+dL)), calculate dL and |θ|; c. In the rotation area 1001, the front and rear two sets of beam shaft guide rails 600 are respectively arranged at corresponding positions of the support frame 100 to support and guide the beam shaft 500, and the beam shaft guide rail 600 is a "Π"-shaped arc-shaped continuous changing curve; at the |θ| and -|θ| rotation angles of the rotation area 1001, the distance from the beam shaft guide rail 600 to the axis center of the transmission wheel 200 is set in the range of [L+dL+r, L+1.1dL+r].

[0135] With regard to the design requirements that the longitudinal spacing 801 of the vehicle carrier frames is not greater than L1 and the lateral spacing 802 of the vehicle carrier frames is not greater than L2, the present invention proposes a design method for a circulating stereoscopic parking garage transmission system with a variable chain plate length, for calculating the optimal parameters of the transmission wheel radius 201, the chain plate length 404 of the chain plate 400 and the shape of the hanging beam shaft guide rail 600, so as to meet the design requirements, thereby achieving a smaller stereoscopic parking garage volume than the circulating stereoscopic parking garage in the prior art.

[0136] According to the same principle as the horizontal type circulating stereo garage, the formula corresponding to formula (6), formula (12) and formula (13) can be obtained for the vertical type circulating stereo garage running with the minimum longitudinal spacing of 801 for the vehicle carriers; more generally, for the horizontal type circulating stereo garage, let s1 = h, s2 = w, for the vertical type circulating stereo garage, let s1 = w, s2 = h, when the vehicle carrier 800 in the rotation area 1001 is close to the adjacent vehicle carrier 800, the chain plate 40 connected to the vehicle carrier 800 in the rotation area 1001 is 0 is denoted as θ, and the extension length of the chain plate 400 relative to the straight area 1000 is denoted as dL; for the circulating stereo garage transmission system with variable chain plate length, the following formula is valid: L1=max(-sqrt((s1+dL)*(L2+dL))+r*(π / 2+θ|), 0)————(15), Tan|θ|=(s1 / 2-L2 / 2) / sqrt((s1+dL)*(L2+dL))————(16).

[0137] By analyzing formula (15) to formula (16), it can be seen that L1 is negatively correlated with the extension length dL of the chain plate 400 when the vehicle carrier 800 in the rotation area 1001 is about to meet the adjacent vehicle carrier 800; under given L1, L2 and the radius r of the transmission wheel, the chain plate length L in the straight area 1000, the absolute value of the rotation angle |θ| of the chain plate top center 406 of the chain plate 400 when the vehicle carrier 800 is about to meet, and dL can be calculated; set |θ| in the rotation area 1001 The distance between the beam shaft guide rail 600 and the axis center of the transmission wheel 200 in the direction of the -|θ| rotation angle is not less than r+L+dL, which can ensure that the longitudinal spacing 801 of the vehicle carrier frame and the lateral spacing 802 of the vehicle carrier frame do not exceed the set values ​​L1 and L2 respectively; therefore, when dL>0 and the same lateral spacing 802 of the vehicle carrier frame, the longitudinal spacing 801 of the vehicle carrier frame of the circulating three-dimensional parking garage with variable chain plate length of the present invention is smaller than the longitudinal spacing 801 of the vehicle carrier frame of the circulating three-dimensional parking garage in the prior art.

[0138] Since the variable-length chain plate 400 of the present invention is composed of two parts connected to each other, when the extended length of the chain plate 400 is too large, the structural strength of the chain plate 400 will be reduced, thereby resulting in a reduced service life; therefore, under the premise of meeting the design requirements of the longitudinal spacing L1 of the carrier frame and the lateral spacing L2 of the carrier frame, dL should be as small as possible.

[0139] By analyzing formula (15) to formula (16), it can be seen that dL is positively correlated with the transmission wheel radius r; therefore, for a given vehicle carrier longitudinal spacing L1, vehicle carrier lateral spacing L2, vehicle carrier 800 width w and vehicle carrier 800 height h, the smaller the transmission wheel radius r, the smaller dL.

[0140] According to the same principle as formula (14), for the circulating stereoscopic parking garage transmission system with variable chain plate length, the transmission wheel radius 201 is r=(L2 / 2+s1 / 2) / (1+K)); according to the above analysis, when K=Km, r=(L2 / 2+s1 / 2) / (1+Km)————(17), the transmission wheel radius r reaches the minimum value, so dL reaches the minimum value; accordingly, the chain plate length 404 of the chain plate 400 in the straight area 1000 is L=Km*r————(18); in the above formula, Km is the upper limit K of the ratio K of the chain plate length L in the straight area 1000 to the transmission wheel radius r.

[0141] According to formula (17), the radius r of the transmission wheel is set; according to formula (18), the chain plate length L of the chain plate 400 in the straight area 1000 is set; according to formula (15) and formula (16), dL and |θ| are calculated; on the front and rear sides of the support frame 100, a beam shaft guide rail 600 is respectively set in the rotation area 1001, and the beam shaft guide rail 600 is a "Π"-shaped arc-shaped continuous changing curve; at the |θ| and -|θ| rotation angles of the rotation area 1001, the distance from the beam shaft guide rail 600 to the axis center of the transmission wheel 200 is set in the range of [L+dL+r, L+1.1dL+r].

[0142] According to the above-mentioned design method for the transmission system of a circulating stereoscopic car park with variable chain plate length, the longitudinal spacing 801 of the vehicle carrier and the lateral spacing 802 of the vehicle carrier do not exceed their corresponding set values ​​respectively. At the same time, the ratio of the chain plate length L in the straight area 1000 to the transmission wheel radius 201 meets the requirement of not exceeding its upper limit Km, and the maximum value of the extension length dL of the chain plate 400 in the rotating area 1001 relative to the chain plate 400 in the straight area 1000 reaches the minimum; compared with the transmission system of the circulating stereoscopic car park in the prior art, the design method of the transmission system of the circulating stereoscopic car park with variable chain plate length of the present invention reduces the longitudinal spacing 801 of the vehicle carrier under the same lateral spacing 802 of the vehicle carrier, thereby reducing the volume of the circulating stereoscopic car park.

[0143] As a further embodiment, the profile of the suspension beam shaft guide rail 600 in the slewing area 1001 below the vertical type circulating three-dimensional garage is a concave curve; the profiles of the suspension beam shaft guide rails 600 from the upper left end to the -63° slewing angle and from the upper right end to the 63° slewing angle in the slewing area 1001 are straight lines perpendicular to the ground, and the distance from the axis of the driving wheel 200 in the slewing area 1001 is d0, and d0 is in the range of [0.54h + 0.38w, w]; the profiles of the suspension beam shaft guide rails 600 from the -33° to 33° slewing angles in the slewing area 1001 are horizontal lines, and the distance from the axis of the driving wheel 200 in the slewing area 1001 is d1, and d1 is in the range of [d0 - 0.4w, d0 + 0.15w]; d0, d1 and ψ0 are a set of solutions of the following formula, max(d1 - d0 / tan(ψ0 / 2), 0) <= 0.15w, when d1 >= h, ψ0 = arctan((w - d0) / d1) + arctan(d0 / (d1 - h)), when d1 < h, ψ0 = h / d1 * [π / 2 + arctan((w - d0) / d1)]; ψ and H1 are a set of solutions of the following formula, H1 = max(d1 - d0 / tan(ψ / 2), 0), H1 <= 0.15w, ψ >= ψ0; the suspension beam shaft guide rail 600 in the slewing area 1001 passes through point A in the ψ / 2 slewing angle direction and point A' in the -ψ / 2 slewing angle direction, and the height of points A and A' from the horizontal suspension beam shaft guide rail 600 in the slewing area 1001 is in the range of [H1, 0.15w]; the radius 201 of the driving wheel in the slewing area 1001 is r, and the length of the chain 300 between the load carriages 800 is Len, r = Len / ψ; in the above formulas, w is the width of the load carriage 800, h is the height of the load carriage 800, and m = h / w is in the range of [0.65, 0.95].

[0144] See Figure 16 to Figure 18 ; The drive system of the vertical type circulating three-dimensional garage with variable chain plate length of the present invention.

[0145] For the drive system of the vertical type circulating three-dimensional garage with variable chain plate length of the present invention, when the lateral spacing 802 of the load carriages does not exceed the width of the load carriage 800, when two adjacent load carriages 800 move to both sides of the longitudinal axis 900 of the three-dimensional garage and the absolute values of the slewing angles of the two suspension beam shafts 500 connected to the two load carriages 800 are equal, the height of the bottom of the load carriage 800 from the ground is not greater than 0.15w, and the two load carriages 800 can access vehicles simultaneously; the following is an explanation thereof.

[0146] A rectangular coordinate system XOY is established on a plane perpendicular to the axis of the transmission wheel 200; in the XOY coordinate system, the position coordinates of each point on the suspension beam shaft guide rail 600 of the rotating area 1001 can be expressed as y=f(x); f(x) is a second-order differentiable continuous function, and when the function curve is located above the tangent line at any point thereon or on the tangent line, the function curve is called a concave curve.

[0147] The driving wheel radius 201 of the driving wheel 200 in the lower rotating area 1001 is r, and the axis is located at point O; the hanging beam shaft guide rail 600 in the rotating area 1001 includes straight hanging beam shaft guide rails 600 in the vertical direction on the left and right sides and the horizontal direction at the bottom, and concave curved hanging beam shaft guide rails 600 at the lower left and lower right; the various parts of the hanging beam shaft guide rails 600 are smoothly connected to form a concave curve; on the plane perpendicular to the axis of the driving wheel 200, the vertical direction of the hanging beam shaft guide rail 600 is at a distance of d0 to the axis of the driving wheel 200, and the horizontal direction of the hanging beam shaft guide rail 600 is at a distance of d1 to the axis of the driving wheel 200.

[0148] The chain plate movable arm 420 of the chain plate 400 expands and contracts in the length direction of the chain plate 400 as the position of the hanging beam shaft 500 on the hanging beam shaft guide rail 600 changes. Therefore, in the rotating area 1001, the movement trajectory of the hanging beam shaft 500 is a concave curve that coincides with the hanging beam shaft guide rail 600.

[0149] In the rotating area 1001, when the chain plate 400 is located at the upper left end or the upper right end of the rotating area 1001, the chain plate length 404 of the chain plate 400 is recorded as L0, d0=r+L0————(19); the lateral spacing 802 of the carrier frame is L2, L2=2*(L0+r)-w————(20); according to formula (19) and formula (20), d0=w / 2+L2 / 2————(21); the upper and lower limits of the values ​​of d0 and d1 are determined according to the width and height of the carrier frame 800; according to the value range of d0 and formula (21), L2 is in the range of [1.08h-0.24w, w]; according to the value range of m, L2 is in the range of [0.462w, w], L2 does not exceed the width of the carrier frame 800, and d0 is in the range of [0.731w, w].

[0150] The lateral spacing L2 between the vehicle carriers is relatively large, and there is a situation where two adjacent vehicle carriers 800 are in the rotation area 1001 at the same time.

[0151] In the rotating area 1001, the vehicle carrier 800 moves along a curve parallel to the suspension beam shaft guide rail 600; when two adjacent vehicle carriers 800 are located in the rotating area 1001 at the same time, the angle between the two suspension beam shafts 500 connected to the two vehicle carriers 800 and the axis of the transmission wheel 200, that is, the parking angle of the vehicle carrier 800, is always equal, denoted as ψ.

[0152] The parking angle ψ of the vehicle carrier 800 is determined by the length Len of the chain 300 between adjacent vehicle carriers 800 and the radius r of the transmission wheel; when the sprocket type transmission wheel 200 is used in the rotation area 1001, or when the fork wheel type transmission wheel 200 is used and the chain guide is an arc, r = Len / ψ (22); when the fork wheel type transmission wheel 200 is used in the rotation area 1001 and the chain guide is a non-circular arc, the rotation area 1 The motion trajectory of the chain 300 in 001 can be fitted by a semicircular arc line; the arc line is symmetrical with respect to the longitudinal axis 900 of the three-dimensional parking garage, the radius is equal to d0-L0, and the bottom of the arc is located at the lowest point of the chain 300, and the center point O of the semicircular arc line is determined accordingly; the role played by the chain 300 in the rotating area 1001 is the same as that of the chain 300 rotating around the transmission wheel 200 with a radius of d0-L0 and an axis located at point O, so formula (22) still holds.

[0153] like Fig.17 and Fig.18 As shown, when two adjacent vehicle carriers 800 move to the positions shown by vehicle carrier 800-1 and vehicle carrier 800-2, respectively, the two vehicle carriers 800 are respectively located on both sides of the longitudinal axis 900 of the stereo garage, and the rotation angles of the suspension beam shafts 500 connected to the two vehicle carriers 800 are respectively equal to ψ / 2 and -ψ / 2.

[0154] The horizontal beam shaft guide rail 600 in the rotating area 1001 is the lowest point of the beam shaft guide rail 600 in the rotating area 1001. When the vehicle carrier 800 moves to the horizontal beam shaft guide rail 600, the height of the bottom of the vehicle carrier 800 from the ground is 0; therefore, the distance from the beam shaft 500 in the ψ / 2 and -ψ / 2 rotating angle directions to the horizontal beam shaft guide rail 600 is the parking height of the vehicle carrier 800.

[0155] The beam shaft guide rail 600 of the rotating area 1001 is within a rectangle enclosed by the outer edges and extension lines of the beam shaft guide rail 600 in the vertical direction on the left and right sides of the three-dimensional parking garage and in the horizontal direction at the bottom; within the rectangle, the rays along the ψ / 2 and -ψ / 2 rotation angle directions of the rotating area 1001 and passing through the axis O of the transmission wheel 200 intersect with the extension lines of the vertical beam shaft guide rail 600 and the horizontal beam shaft guide rail 600 and their extension lines at points A1 and A1', respectively; therefore, the lowest positions of the beam shaft 500 in the ψ / 2 and -ψ / 2 rotation angle directions are located at points A1 and A1', respectively, and their heights from the horizontal beam shaft guide rail 600 are recorded as H1, H1=max(d1-d0 / tan(ψ / 2),0)————(23).

[0156] According to formula (23), under the same d0 and d1, the smaller ψ is, the smaller H1 is; the smaller ψ is, the smaller the distance between the vehicle carrier 800 in the turning area 1001 and the adjacent vehicle carrier 800 is, and the lower limit of ψ should ensure that the adjacent vehicle carriers 800 do not collide; according to the same principle as the vertical circulating multi-story parking garage in the prior art, under the same d0, d1 and the same size of the vehicle carrier 800, when the vehicle carrier 800 in the turning area 1001 and the adjacent vehicle carrier 800 are close to each other, the parking angle of the vehicle carrier 800 reaches the minimum value ψ0; therefore, ψ>=ψ0————(24), ψ0 is the parking angle of the adjacent vehicle carrier 800 when the vehicle carrier 800 in the turning area 1001 and the adjacent vehicle carrier 800 are close to each other in the multi-story parking garage.

[0157] The close encounter of two adjacent vehicle carriers 800 that are simultaneously in the rotation area 1001 and the close encounter of two adjacent vehicle carriers 800 that are respectively in the rotation area 1001 and the straight area 1000 are examined.

[0158] like Fig.16 , Fig.17 As shown; the beam shaft guide rails 600 of the rotating area 1001 include straight beam shaft guide rails 600 in the vertical direction on the left and right sides and the horizontal direction at the bottom, and concave curved beam shaft guide rails 600 at the lower left and lower right; since the shapes of the beam shaft guide rails 600 at the lower left and lower right are concave curves, according to the rotating angle range of the straight beam shaft guide rails 600 of the rotating area 1001, calculations show that when the vehicle carrier 800 of the rotating area 1001 is close to the adjacent vehicle carrier 800, the two beam shafts 500 connected to the two vehicle carriers 800 are respectively located in the horizontal direction of the rotating area 1001, and the beam shaft guide rails 600 in the vertical direction of the rotating area 1001 or the beam shaft guide rails 600 in the straight area 1000.

[0159] When d1>=h, when adjacent vehicle carriers 800 in the rotation area 1001 are about to meet; Fig.17As shown, the carrier frames 800-1' and 800-2' are approaching each other; the two suspension beam shafts 500 connected to the carrier frames 800-1' and 800-2' are respectively located on the suspension beam shaft guide rails 600 in the horizontal direction and the vertical direction of the slewing area 1001; the vertical distance between the two suspension beam shafts 500 is equal to the height h of the carrier frame 800, and the horizontal distance is equal to the width w of the carrier frame 800; therefore, the angles of the two suspension beam shafts 500 connected to the carrier frames 800-1' and 800-2' relative to the axis of the driving wheel 200 are ψ = ψ0, ψ0 = arctan((w - d0) / d1) + arctan(d0 / (d1 - h)), d1 >= h ————(25).

[0160] When d1 < h, when the carrier frame 800 in the slewing area 1001 approaches the adjacent carrier frame 800 in the straight area 1000; as Fig.16 shown, the carrier frames 800-1' and 800-2' are approaching each other; the suspension beam shaft 500 connected to the carrier frame 800-2' is located on the suspension beam shaft guide rail 600 in the vertical direction of the straight area 1000, and the suspension beam shaft 500 connected to the carrier frame 800-1' is located on the suspension beam shaft guide rail 600 in the horizontal direction of the slewing area 1001; the vertical distance between the two suspension beam shafts 500 is equal to the height h of the carrier frame 800, and the horizontal distance is equal to the width w of the carrier frame 800; therefore, the length of the chain 300 between the carrier frames 800 is Len = h - d1 + π*r / 2 + r*arctan((w - d0) / d1) ————(26); when the two carrier frames 800 move to the slewing area 1001 at the same time, the angles of the two suspension beam shafts 500 connected to the two carrier frames 800 relative to the axis of the driving wheel 200 are ψ = ψ0. Substituting into formula (22) and according to formula (26), it can be obtained that ψ0 = Len / (Len + d1 - h)*[π / 2 + arctan((w - d0) / d1)], d1 < h ————(27); since ψ0 is positively correlated with Len, the minimum value Lm of the length Len of the chain 300 between adjacent carrier frames 800 is the height h of the carrier frame 800. Substituting Len = Lm = h into formula (27), the minimum value of ψ0 is obtained as ψ0 = h / d1*[π / 2 + arctan((w - d0) / d1)], d1 < h ————(28).

[0161] When the parking angle ψ of the vehicle carrier 800 is ψ0, according to formula (23), the lowest position of the suspension beam shaft guide rail 600 in the directions of the rotation angles of ψ0 / 2 and -ψ0 / 2 is at a height of max(d1-d0 / tan(ψ0 / 2), 0) from the suspension beam shaft guide rail 600 in the horizontal direction; let H0=max(d1-d0 / tan(ψ0 / 2), 0)<=0.15w————(29), ψ0 is as shown in formulas (25) and (28).

[0162] The calculation and analysis show that when d0 is in the interval [0.54h+0.38w, w], d1 is in the interval [d0-0.4w, d0+0.15w], and m is in the interval [0.65, 0.95], for any values ​​of d0, d1 and m within the range, formula (25), formula (28) and formula (29) have infinite solutions with respect to ψ0, and the minimum value of H0 is equal to 0; therefore, formula (25), formula (28) and formula (29) have solutions with respect to d There are an infinite number of solutions of d0, d1 and ψ0; select one of the solutions, d0, d1 and ψ0, set the distance from the vertical beam shaft guide 600 on both sides of the rotation area 1001 to the axis center of the transmission wheel 200 to be equal to d0, set the distance from the horizontal beam shaft guide 600 to the axis center of the transmission wheel 200 in the rotation area 1001 to be equal to d1, then the lowest position of the beam shaft 500 in the rotation angle directions of ψ0 / 2 and -ψ0 / 2, the height from the horizontal beam shaft guide 600 is in the interval [H0, 0.15w].

[0163] According to the setting values ​​of d0 and d1, the parking angle ψ of the vehicle carrier 800 is set to be any one of the solutions of formula (23), formula (24) and the following formula, H1<=0.15w————(30); By comparing formula (23), formula (30) and formula (29), it can be seen that there is at least one solution about ψ in formula (23), formula (24) and formula (30); According to the solution of ψ and the corresponding value of H1 in formula (23), the lowest position of the suspension beam axis 500 in the directions of ψ / 2 and -ψ / 2 rotation angles, i.e., point A1 and point A1', is in a height from the horizontal suspension beam axis guide rail 600 within the range of [H1, 0.15w], and the minimum value of H1 is equal to 0.

[0164] Therefore, there are infinite points A and A' on the line segment OA1 in the ψ / 2 rotation angle direction and the line segment OA1' in the -ψ / 2 rotation angle direction, respectively, and the heights of points A and A' from the horizontal suspension beam shaft guide rail 600 are in the range of [H1, 0.15w].

[0165] The beam shaft guide rail 600 in the ψ / 2 and -ψ / 2 rotation angle directions of the rotation area 1001 is set to be a concave curve passing through point A and point A' respectively; the height of the beam shaft guide rail 600 at point A and point A' from the horizontal beam shaft guide rail 600 is in the interval [H1, 0.15w]; the minimum value of H1 is 0, therefore, the height of the beam shaft guide rail 600 at point A and point A' from the horizontal beam shaft guide rail 600 is in the interval [0, 0.15w].

[0166] In the vertical type variable length chain plate circulating stereoscopic parking garage of the present invention, according to formula (22), the length Len of the chain 300 between adjacent vehicle carriers 800 and the radius r of the transmission wheel 200 of the rotation area 1001 are set, then the angle between the suspension beam shaft 500 connected to two adjacent vehicle carriers 800 in the rotation area 1001 and the axis of the transmission wheel 200, i.e., the parking angle, is equal to ψ; the value range of Len is as shown in formula (A9); the lower limit of the radius r of the transmission wheel 200 is as shown in formula (A10) , the upper limit of r is d1; when the chain plate 400 is located at the upper left or right end of the rotation area 1001, the chain plate length 404 of the chain plate 400 is L0, as shown in formula (19); when the hanging beam shaft 500 connected to the carrier frame 800-1 moves to a rotation angle of ψ / 2, the hanging beam shaft 500 connected to the carrier frame 800-2 moves to a rotation angle of -ψ / 2, and the two hanging beam shafts 500 are respectively located at point A and point A', and the height from the horizontal hanging beam shaft guide rail 600 is in the range of [0, 0.15w].

[0167] The minimum and maximum lengths of the chain plate 400 are determined according to the outer dimensions of the suspension beam shaft guide rail 600 in the swivel area 1001 .

[0168] A vehicle entrance and exit are respectively arranged on both sides of the longitudinal axis 900 of the three-dimensional parking garage and at the positions of the hanging beam shaft guide rail 600 at the -ψ / 2 rotation angle and the ψ / 2 rotation angle of the turning area 1001. When two adjacent hanging beam shafts 500 move to the -ψ / 2 rotation angle and the ψ / 2 rotation angle respectively, the parking heights of two adjacent vehicle carriers 800 connected to the hanging beam shaft 500 are within the range of [0, 0.15w]. Since the parking height is relatively small, even if the parking height is greater than 0, a slope can be arranged in front of the vehicle entrance and exit to guide the vehicle in and out.

[0169] Since the lateral spacing L2 of the vehicle carriers is relatively large, the longitudinal spacing 801 of the vehicle carriers of the circulating type stereoscopic car park with a variable vertical chain plate length of the present invention is relatively small.

[0170] Therefore, in the vertical circulating stereoscopic parking garage adopting the circulating stereoscopic parking garage transmission system with variable chain plate length of the present invention, when the lateral spacing 802 of the vehicle carriers does not exceed the width of the vehicle carriers 800, when the two adjacent vehicle carriers 800 move to the two sides of the stereoscopic parking garage longitudinal axis 900 of the rotating area 1001 below and the absolute values ​​of the rotation angles of the two hanging beam shafts 500 connected to the vehicle carriers 800 are equal, the heights of the bottoms of the two vehicle carriers 800 from the ground are within the range of [0, 0.15w], and the two vehicle carriers 800 can store and retrieve vehicles at the same time; compared with the vertical circulating stereoscopic parking garage in the prior art, the vertical circulating stereoscopic parking garage adopting the circulating stereoscopic parking garage transmission system with variable chain plate length of the present invention effectively reduces the parking height of the vehicle carriers 800, can store and retrieve two vehicles at the same time, and shortens the waiting time when multiple users store and retrieve vehicles at the same time.

[0171] As a further embodiment, the d0 is not greater than 0.5h+0.525w.

[0172] In the vertical type chain plate length variable circulation type stereo garage transmission system of the present invention, according to the height and width of the vehicle frame 800, the distance d0 from the beam shaft guide rails 600 on the left and right sides of the rotation area 1001 to the axis of the transmission wheel 200 of the rotation area 1001 is set within the range of [0.54h+0.38w, 0.5h+0.525w]; according to formula (21), under the above setting of d0, the lateral spacing L2 of the vehicle frame of the stereo garage does not exceed the width of the vehicle frame 800; After calculation and analysis, under the above settings, the same method as when the above d0 is in the range of [0.54h+0.38w, w] is adopted to set the length Len of the chain 300 between the hanging beam axis 500, the transmission wheel radius 201 and the vehicle carrier 800 in the rotating area 1001, and the parking height of adjacent vehicle carriers 800 is not greater than 0.15w; since the upper limit of d0 can be set according to the height and width of the vehicle carrier 800, when h<0.95w, a smaller lateral spacing L2 of the vehicle carriers can be obtained.

[0173] As a further embodiment, the ψ is not greater than 1.1ψ0.

[0174] In the vertical type chain plate variable length circulating type multi-story parking garage transmission system of the present invention, the parking angle ψ of the vehicle carrier 800 in the turning area 1001 is equal to or close to the parking angle ψ0 of the vehicle carrier 800 when the vehicle carrier 800 in the turning area 1001 is in close contact with the adjacent vehicle carrier 800, that is, under the same d0 and d1 conditions, the parking angle ψ is equal to or close to its minimum value; at this time, the multi-story parking garage operates at or close to the longitudinal spacing 801 of the vehicle carriers, and the length Len of the chain 300 between adjacent vehicle carriers 800 reaches or approaches its minimum value, Len=h+L1————(31), so as to further improve the space utilization rate of the multi-story parking garage.

[0175] Embodiment 1: Figure 7-Figure 15 As shown, the circulating type stereo garage transmission system with variable chain plate length of the present invention comprises two sets of transmission wheels 200, two pairs of chains 300, chain plates 400, hanging beam shafts 500, and two sets of hanging beam shaft guide rails 600;

[0176] The axes of the transmission wheels 200 are parallel to each other, and two sets of transmission wheels 200 are respectively arranged on both sides of the support frame 100;

[0177] The chain plates 400 are fixed at corresponding positions of the two pairs of chains 300 at equal intervals.

[0178] The two ends of the suspension beam shaft 500 are respectively connected to the chain plates 400 at corresponding positions on the two chains 300;

[0179] In the rotation area 1001 , the two sets of suspension beam shaft guide rails 600 are respectively arranged on both sides of the support frame 100 to support and guide the suspension beam shaft 500 .

[0180] like Figure 12-14 As shown; the chain plate 400 is composed of a chain plate fixed arm 410 and a chain plate movable arm 420; the chain plate fixed arm 410 is fixed on two adjacent chain link shafts 301 of the chain 300, and a cavity perpendicular to the chain 300 is provided in the center thereof; the chain plate movable arm 420 is columnar, and its lower part is arranged in the cavity of the chain plate fixed arm 410 and can slide in the cavity, and its upper end is located above the chain plate fixed arm 410 and is hinged to the suspension beam shaft 500; through the sliding connection between the chain plate movable arm 420 and the chain plate fixed arm 410, the suspension beam shaft guide rail 600 constrains the chain plate movable arm 420 of the chain plate 400 to extend and retract in the length direction of the chain plate 400 as the position of the suspension beam shaft 500 on the suspension beam shaft guide rail 600 changes.

[0181] Both ends of the suspension beam shaft 500 are provided with suspension beam shaft rollers 501 ; the suspension beam shaft rollers 501 roll in the suspension beam shaft guide rails 600 .

[0182] like Figure 7-Figure 10As shown; it also includes a chain plate lever 403 and a paddle wheel 700, a chain plate lever 403 parallel to the axis of the transmission wheel 200 is fixedly provided on the top of the chain plate fixed arm 410; the chain plate lever 403 is located on the perpendicular bisector of the line connecting the end points on the same side of the two chain link shafts 301 of the fixed chain plate 400; the paddle wheel 700 is coaxially arranged on one side of the transmission wheel 200, and the paddle wheel 700 engages with the chain plate lever 403 through the wheel tooth grooves 701 to drive the chain plate lever 403 to rotate; the number of wheel tooth grooves 701 on the paddle wheel 700 is equal to the number of tooth grooves of the transmission wheel 200; the wheel tooth grooves 701 are located on the bisector of the angle between two adjacent tooth grooves of the transmission wheel 200 and the axis of the transmission wheel 200.

[0183] The beam shaft guide rail 600 in the rotating area 1001 is a "Π"-shaped arc curve; the shape of the beam shaft guide rail 600 in the rotating area 1001 within the rotating angle range of [75°, 90°] and [-90°, -75°] is a horizontal line; the shape of the beam shaft guide rail 600 in the rotating area 1001 within the rotating angle range of [-25°, 25°] is a vertical straight line, which is perpendicular to the longitudinal axis 900 of the multi-story parking garage; the above-mentioned sections of the beam shaft guide rails 600 in the rotating area 1001 are smoothly connected by the beam shaft guide rails 600 with curved shapes; the distance from the beam shaft guide rail 600 to the axis center of the transmission wheel 200 in the rotating angle range of [34°, 40°] and [-40°, -34°] of the rotating area 1001 is 1.3 times the sum of the chain plate length 404 in the straight area 1000 and the transmission wheel radius 201.

[0184] In the straight area 1000 , the support frame 100 is provided with beam shaft guide rails 600 parallel to the chain 300 .

[0185] like Figure 7-Figure 15 As shown, the horizontal circulation stereoscopic car park of the present invention is in operation.

[0186] In the straight area 1000, the chain 300, driven by the transmission wheel 200, drives the chain plate 400 fixed on the chain 300 to move in the horizontal direction, the chain plate movable arm 420 is inserted in the chain plate fixed arm 410, and the suspension beam shaft 500 is hinged to the chain plate movable arm 420. At this time, the chain plate movable arm 420 is in a retracted state, and the chain plate length 404 is minimum.

[0187] In the rotating area 1001, the chain 300, driven by the transmission wheel 200, drives the chain plate 400 to rotate; the suspension beam shaft roller 501 rolls in the suspension beam shaft guide rail 600 to support the suspension beam shaft 500, and at the same time, the chain plate movable arm 420 extends and retracts along with the position of the suspension beam shaft guide rail 600, and the chain plate movable arm 420 is in an extended state.

[0188] A chain plate lever 403 parallel to the axis of the transmission wheel 200 is fixedly provided at the top of the chain plate fixed arm 410, and the chain plate lever 403 is located on the perpendicular bisector of the line connecting the end points on the same side of the two chain link shafts 301 of the fixed chain plate 400; the shifting wheel 700 coaxial with the transmission wheel 200 is engaged with the chain plate lever 403 through the wheel plate tooth groove 701, further driving the chain plate movable arm 420 to push the suspension beam shaft 500 and the vehicle carrier 800 to move.

[0189] The embodiment of the vertical circulation type stereoscopic car park is basically the same as the above-mentioned embodiment of the horizontal circulation type stereoscopic car park, except for the different working directions. The principles are basically the same and will not be repeated here.

[0190] Embodiment 2: Figure 17 to Figure 22 As shown, the circulating type stereo garage transmission system with variable chain plate length of the present invention comprises two sets of transmission wheels 200, two pairs of chains 300, chain plates 400, hanging beam shafts 500, and two sets of hanging beam shaft guide rails 600;

[0191] The axes of the transmission wheels 200 are parallel to each other, and two sets of transmission wheels 200 are respectively arranged on both sides of the support frame 100;

[0192] The chain plates 400 are fixed at corresponding positions of the two pairs of chains 300 at equal intervals.

[0193] The two ends of the suspension beam shaft 500 are respectively connected to the chain plates 400 at corresponding positions on the two chains 300;

[0194] In the rotation area 1001 , the two sets of suspension beam shaft guide rails 600 are respectively arranged on both sides of the support frame 100 to support and guide the suspension beam shaft 500 .

[0195] like Figure 19-22As shown, the chain plate 400 is composed of a chain plate fixed arm 410 and a chain plate movable arm 420; the chain plate fixed arm 410 includes a bottom plate 411 and a slide groove 412, the two ends of the bottom plate 411 are respectively fixed on the two adjacent chain link shafts 301 of the corresponding chain 300, and the slide groove 412 is arranged at the upper end of the bottom plate 411 along a direction parallel to the chain 300; the chain plate movable arm 420 includes a cantilever 421, a support arm 422 and a slider 423; the two ends of the cantilever 421 are respectively hinged to the slider 423 and one end of the suspension beam shaft 500; one end of the support arm 422 The end is hinged to the center point of the cantilever 421, and the other end of the support arm 422 is hinged to the bottom plate 411 on the extension line of the slide groove 412; the slider 423 and the slide groove 412 are slidably connected, and the left and right ends of the slide groove 412 are provided with limit stops to prevent the slider 423 from falling out; the length of the cantilever 421 is twice the length of the support arm 422; the chain plate movable arm 420 and the chain plate fixed arm 410 form a Ross linear motion connecting rod mechanism, and the motion trajectory of the suspension beam shaft 500 relative to the chain 300 is a straight line perpendicular to the chain 300 passing through the bottom center 405 of the chain plate.

[0196] Both ends of the suspension beam shaft 500 are provided with suspension beam shaft rollers 501 ; the suspension beam shaft rollers 501 roll in the suspension beam shaft guide rails 600 .

[0197] See also Fig.17 and Fig.18 ; Taking the outer dimensions of the vehicle carrier 800 with a height of h = 1.8 meters and a width of w = 2.4 meters, the design requirements of the longitudinal spacing 801 of the vehicle carrier L1 = 0.02w and the parking height H = 0.05w as an example, the implementation of the circulating three-dimensional parking garage transmission system with a variable length of the vertical chain plate of the present invention is explained.

[0198] like Fig.17 As shown, the turning area 1001 under the three-dimensional parking garage.

[0199] In the rotating area 1001, the beam shaft guide rails 600 are respectively arranged on the front and rear sides of the support frame 100; the beam shaft guide rails 600 are "Π"-shaped concave curves symmetrical with respect to the longitudinal axis 900 of the three-dimensional parking garage; the beam shaft guide rails 600 on the left and right sides of the rotating area 1001 are straight lines perpendicular to the ground, and the distances from the axis of the transmission wheel 200 of the rotating area 1001 are both d0; the beam shaft guide rails 600 below the rotating area 1001 are straight lines in the horizontal direction, and the distance from the axis of the transmission wheel 200 of the rotating area 1001 is d1; arc-shaped beam shaft guide rails 600 are arranged between the linear beam shaft guide rails 600, which are smoothly connected to the adjacent linear beam shaft guide rails 600.

[0200] The radius 201 of the driving wheel in the rotating area 1001 is denoted as r; when two adjacent vehicle carriers 800 are located in the rotating area 1001, the angle between the two suspension beam shafts 500 connected to the two vehicle carriers 800 and the axis point O of the driving wheel 200 is denoted as ψ; at the rotating angles of 90° and -90°, the chain plate length 404 of the chain plate 400 is denoted as L0, and the ratio of L0 to the driving wheel radius 201 is K=L0 / r<=Km, Km=0.9————(32).

[0201] The ray along the direction of the rotation angle ψ / 2 and passing through the axis point O of the driving wheel 200 intersects with the extension line of the vertical hanging beam shaft guide rail 600 on the right side of the rotation area 1001 and the extension line of the horizontal hanging beam shaft guide rail 600 in the rotation area 1001. The intersection point closest to point O is point A1, and the height of point A1 from the horizontal hanging beam shaft guide rail 600 is recorded as H1.

[0202] When a vehicle carrier 800 in the turning area 1001 is close to an adjacent vehicle carrier 800, the parking angle ψ of the adjacent vehicle carrier 800 is ψ=ψ0, where ψ0 is as shown in formula (25) and formula (28).

[0203] Under the same d1, the larger d0 is, the smaller ψ0 is, which is more conducive to obtaining a smaller parking height of the vehicle carrier 800; the ratio of the height h of the vehicle carrier 800 to the width w of the vehicle carrier 800 is m=0.75; since the parking height H required by the design is relatively small, d0=0.865w is set.

[0204] Along the radial direction of the transmission wheel 200, the distance from A1 to the outer edge of the transmission wheel 200 is La1, where La1 represents the chain plate length 404 of the chain plate 400 connected to the suspension beam shaft 500 at point A1; La1 = d0 / sin(ψ0 / 2)-r, ψ0 / 2> = arctan(d0 / d1)————(33); La1 = d1 / cos(ψ0 / 2), ψ0 / 2 <arctan(d0 / d1)————(34)。

[0205] Within the value range of d1, for each value of d1, ψ0 is calculated according to formula (25) and formula (28); ψ=ψ0 is substituted into formula (23) to calculate H0; ψ=ψ0 is substituted into formula (22) and formula (31) to calculate r; L0 and K are calculated according to formula (19) and formula (32); La1 is calculated according to formula (33) and formula (34); several groups of typical data are listed as shown in Table 1;

[0206] Table 1

[0207]

[0208]

[0209] The design value of parking height is H, which requires H0<=H————(35); in Table 1, H0 / w in the first group of data does not conform to formula (35) and is discarded.

[0210] The value of d1 also needs to consider two factors: whether the ratio K of the chain plate length 404 of the chain plate 400 at the rotation angles of 90° and -90° to the radius 201 of the transmission wheel meets the requirements of formula (32), and the chain plate length 404 of the chain plate 400 when the suspension beam shaft 500 is located in the direction of the rotation angle ψ / 2 and the rotation angle -ψ / 2; K should not exceed its upper limit Km; if La1 is too large, when the suspension beam shaft 500 is located in the direction of the rotation angle ψ / 2 and the rotation angle -ψ / 2, the chain plate length 404 of the chain plate 400 connected to the suspension beam shaft 500 increases, the structural strength of the chain plate 400 decreases, and thus the service life of the chain plate 400 is reduced, so La1 should be as small as possible.

[0211] Analysis shows that the larger d1 is, the smaller K is, the larger La1 is, and vice versa. According to the above analysis, referring to Table 1, d1 is selected as a compromise, and d1=0.815w is set. Accordingly, ψ0=95.1°; setting ψ=96°, it is calculated that r=0.46w, L0=0.41w, K=0.88; according to formula (23), it is obtained that H1=0.025w.

[0212] like Fig.18 As shown, point A is selected on the line segment OA1, and the height of point A from the lowest point of the beam shaft guide rail 600 is equal to H; on the right side of the rotation area 1001, an arc-shaped beam shaft guide rail 600 with an arc of π / 2 is set through point A, and its two ends are tangently connected to the beam shaft guide rail 600 in the vertical direction and the beam shaft guide rail 600 in the horizontal direction of the rotation area 1001 respectively; the beam shaft guide rail 600 on the left side of the rotation area 1001 is symmetrically arranged with the beam shaft guide rail 600 on the right side; when the beam shaft 500 connected to two adjacent vehicle carriers 800 is respectively located in the direction of rotation angle ψ / 2 and rotation angle -ψ / 2, the height of the beam shaft 500 from the beam shaft guide rail 600 in the horizontal direction of the rotation area 1001 is equal to H.

[0213] When the suspension beam shaft 500 moves to the rotation angles of -ψ / 2 and ψ / 2 in the rotation area 1001, the chain plate length 404 of the chain plate 400 connected thereto reaches the maximum value Lmax, as shown in FIG. Fig.19 When the chain plate 400 moves to the 0° rotation angle of the rotation area 1001, the chain plate length 404 of the chain plate 400 reaches the minimum value Lmin, as shown in FIG. Fig. 22As shown; according to the maximum length Lmax and the minimum length Lmin of the chain plate 400, the movement range of the chain plate movable arm 420 along the length direction of the chain plate 400 is set; a slide groove 412 is set at the upper end of the bottom plate 411, and the distance from the slide groove 412 to the chain link shaft 301 is about 0.3w; there is a certain distance between the slide groove 412 and the chain 300, which is conducive to reducing the size of the chain plate movable arm 420 and improving the structural strength of the chain plate 400.

[0214] In the turning area 1001 below the stereoscopic car park, two vehicle entrances and exits are arranged at symmetrical positions on both sides of the longitudinal axis 900 of the stereoscopic car park. When the hanging beam shaft 500 connected to two adjacent vehicle carriers 800 moves to the turning angles of -ψ / 2 and ψ / 2 respectively, the height of the bottom of the vehicle carrier 800 from the ground is equal to H, so that vehicles can be stored and retrieved at the same time.

[0215] like Fig.17 As shown, there is a turning area 1001 above the multi-story parking garage; the suspension beam shaft guide rail 600 is set to be semicircular, with a radius equal to d0; the transmission wheel radius 201 is denoted as r', which is slightly smaller than the transmission wheel radius r of the turning area 1001 below; in the turning area 1001, the chain plate length 404 of the chain plate 400 remains unchanged, denoted as L0'; L0'=d0-r'————(36), and accordingly, the chain plate length L0' of the chain plate 400 of the turning area 1001 is set to be slightly larger than L0.

[0216] On the left and right sides of the straight area 1000 of the stereo garage, hanging beam shaft guide rails 600 are respectively arranged along the vertical direction, which are smoothly connected to the hanging beam shaft guide rails 600 of the upper and lower rotating areas 1001 respectively.

[0217] like Fig. 20 As shown, a chain roller 302 is coaxially arranged on the link shaft 301 of the chain 300 .

[0218] like Figure 16 to Figure 22 As shown, the circulating type stereoscopic carport transmission system with variable chain plate length of this embodiment is in operation.

[0219] When the circulating stereoscopic car park receives a request to store or retrieve a vehicle, the driving wheel 200 is driven to rotate; the driving wheel 200 drives the chain 300 counterclockwise, as well as the chain plate 400 connected to the vehicle carrier 800-1 and the vehicle carrier 800-2 to rotate; the hanging beam shaft roller 501 rolls in the hanging beam shaft guide rail 600, and the hanging beam shaft guide rail 600 supports and guides the hanging beam shaft 500, and the chain plate movable arm 420 of the chain plate 400 connected to the hanging beam shaft 500 is extended and retracted according to its position on the hanging beam shaft guide rail 600.

[0220] The vehicle carrier 800-1 moves to the lower rotation area 1001; initially, the vehicle carrier 800-1 is located at a rotation angle of 0° in the rotation area 1001; the vehicle carrier 800-1 moves to the right along the horizontal beam shaft guide rail 600, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 is the minimum value Lmin, such as Fig. 22 As shown; the vehicle carrier 800-2 moves downward along the left vertical beam shaft guide rail 600; when the beam shaft 500 connected to the vehicle carrier 800-1 reaches a rotation angle of ψ / 2, the beam shaft 500 connected to the vehicle carrier 800-2 reaches a rotation angle of -ψ / 2, and the two beam shafts 500 are located on the left and right arc-shaped beam shaft guide rails 600, and the distance from the horizontal beam shaft guide rail 600 is H. The two vehicle carriers 800 are respectively located at the left and right vehicle entrances and exits, reaching the parking position; at this time, the chain plate length 404 of the chain plate 400 reaches the maximum value Lmax, as shown in FIG. Fig.19 As shown; when the circulating stereo garage receives a request for accessing a vehicle involving the vehicle carrier 800-1 and the vehicle carrier 800-2, the driver can access the vehicle from the two vehicle carriers 800 at the same time.

[0221] The chain 300 continues to rotate; the beam shaft 500 connected to the vehicle carrier 800-1 enters the straight beam shaft guide rail 600 on the right, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 is reduced; when the beam shaft 500 connected to the vehicle carrier 800-1 reaches a rotation angle of 90°, the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 is L0; the beam shaft 500 connected to the vehicle carrier 800-2 enters the horizontal beam shaft guide rail 600, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-2 is reduced.

[0222] The chain 300 continues to rotate; the beam shaft 500 connected to the vehicle carrier 800-1 enters the straight area 1000 and moves upward along the beam shaft guide rail 600 on the right side of the stereo garage until it reaches the upper end of the beam shaft guide rail 600 on the right side, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 gradually changes from L0 to L0'.

[0223] The chain 300 continues to rotate; the beam shaft 500 connected to the carrier frame 800-1 enters the upper rotation area 1001, the beam shaft 500 moves along the arc-shaped beam shaft guide rail 600, and the chain plate length 404 of the chain plate 400 connected to the carrier frame 800-1 is maintained at L0'.

[0224] The chain 300 continues to rotate; the beam shaft 500 connected to the vehicle carrier 800-1 enters the straight area 1000, and moves downward along the beam shaft guide rail 600 on the left side of the stereo garage until it reaches the lower end of the beam shaft guide rail 600 on the left side of the straight area 1000, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 gradually changes from L0' to L0.

[0225] The chain 300 continues to rotate; the beam shaft 500 connected to the vehicle carrier 800-1 enters the lower rotation area 1001 and enters the vertical beam shaft guide rail 600, and the chain plate length 404 of the chain plate 400 connected to the vehicle carrier 800-1 gradually increases; when the beam shaft 500 connected to the vehicle carrier 800-1 reaches a rotation angle of -ψ / 2, the beam shaft 500 connected to another adjacent vehicle carrier 800 reaches a rotation angle of ψ / 2, and the two beam shafts 500 are respectively located on the left and right sides of the curved beam shaft guide rails 600, and the two adjacent vehicle carriers 800 reach the parking position; at this time, the chain plate length 404 of the chain plate 400 reaches the maximum value, Lmax; the vehicle carrier 800-1 continues to rotate, and the beam shaft 500 connected to the vehicle carrier 800-1 enters the horizontal beam shaft guide rail 600 until it reaches a rotation angle of 0°.

[0226] When the transmission wheel 200 rotates clockwise, the movement rules of the vehicle carrier 800, the suspension beam shaft 500 and the chain plate 400 are the same as the movement rules when the transmission wheel 200 rotates counterclockwise, and will not be repeated.

[0227] In the above-mentioned embodiment of the technical solution of the present invention, a power unit, a chain guide and a vehicle carrier holding device are also provided; the power unit includes a reduction motor, a transmission mechanism and other devices, which drive the transmission wheel 200 to rotate, and then drive the front and rear two pairs of chains 300 to move; the vehicle carrier holding device ensures that the vehicle carrier 800 is always in a horizontal state no matter where the vehicle carrier 800 is; a chain guide is provided next to the chain 300 in the straight area 1000, and the chain 300 moves along the chain guide; the power unit, the vehicle carrier holding device and the chain guide are prior arts and will not be repeated here.

[0228] Embodiment 3: The design method of the transmission system of the circulating stereo garage with variable chain plate length of the present invention, wherein the chain plate 400 is composed of a chain plate fixed arm 410 and a chain plate movable arm 420, and the chain plate fixed arm 410 and the chain plate movable arm 420 are slidably connected, comprising the following steps:

[0229] a. According to the requirement of the horizontal spacing L2 of the vehicle frame and the requirement of the ratio K of the chain plate length 404 to the transmission wheel radius 201 of the circulating stereo garage as shown in formula (A1), the transmission wheel radius r is set according to formula (17), and the chain plate length L of the straight area 1000 is set according to formula (18); Km is the upper limit of the ratio of the chain plate length 404 to the transmission wheel radius 201 of the straight area 1000. For the horizontal circulating stereo garage or the vertical circulating stereo garage, s1 is the height of the vehicle frame 800 or the width of the vehicle frame 800 respectively;

[0230] b. According to the longitudinal spacing L1 of the vehicle frame and the lateral spacing L2 of the vehicle frame, dL and |θ| are calculated according to formula (15) and formula (16);

[0231] c.See Figure 5 and Fig.11 ; In the rotation area 1001, the front and rear two groups of beam shaft guide rails 600 are respectively arranged at corresponding positions of the support frame 100 to support and guide the beam shaft 500; the beam shaft guide rail 600 is a "Π"-shaped arc-shaped continuous changing curve; at the rotation angles |θ| and -|θ| in the rotation area 1001, the distance from the beam shaft guide rail 600 to the axis of the transmission wheel 200 is set to be equal to L+dL+r; the distance between the beam shaft guide rail 600 and the axis of the transmission wheel 200 at the rotation angles π / 2 and -π / 2 is set to be equal to the sum of the chain plate length 404 of the chain plate 400 in the straight area 1000 and the transmission wheel radius 201.

[0232] When the chain plate 400 moves to the |θ| and -|θ| rotation angles in the rotation area 1001, the chain plate 400 reaches a maximum length, which is L+dL; when the chain plate 400 moves to the straight area 1000, the chain plate length 404 reaches a minimum value, which is equal to L; according to the maximum and minimum values ​​of the chain plate length 404, the dimensions of the chain plate fixed arm 410 and the chain plate movable arm 420 are designed.

[0233] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A circulating type stereo garage transmission system with variable chain plate length, comprising two sets of transmission wheels, two pairs of chains, chain plates, a hanging beam shaft and two sets of hanging beam shaft guide rails; The axes of the transmission wheels are parallel to each other, and the two sets of transmission wheels are respectively arranged on both sides of the support frame; The chain plates are fixed at corresponding positions of the two chains at equal intervals; The two ends of the suspension beam shaft are respectively connected to the chain plates at corresponding positions on the two chains; In the slewing area, the two sets of beam shaft guide rails are respectively arranged on both sides of the support frame to support and guide the beam shaft; It is characterized in that The chain plate is composed of a chain plate fixed arm and a chain plate movable arm; the chain plate fixed arm is fixed on the chain; one end of the chain plate movable arm is fixed or hinged to one end of the suspension beam shaft; the chain plate fixed arm and the chain plate movable arm are telescopically connected; the suspension beam shaft guide rail in the slewing area is a "Π"-shaped arc-shaped continuous changing curve; through the connection and cooperation between the chain plate fixed arm and the chain plate movable arm, the suspension beam shaft guide rail constrains the chain plate movable arm of the chain plate to telescope in the length direction of the chain plate as the position of the suspension beam shaft on the suspension beam shaft guide rail changes; Among them, the distance from the guide rail of the hanging beam shaft to the axis center of the transmission wheel in the rotation angle range of (34°, 40°] and [-40°, -34°) in the rotation area is 1.2 to 1.65 times the sum of the chain plate length and the transmission wheel radius in the straight area; the distance from the guide rail of the hanging beam shaft to the axis center of the transmission wheel in the rotation angle range of (28°, 34°] and [-34°, -28°) in the rotation area is 1.2 to 1.6 times the sum of the chain plate length and the transmission wheel radius in the straight area; the distance from the guide rail of the hanging beam shaft to the axis center of the transmission wheel in the rotation angle range of [22°, 28°] and [-28°, -22°] in the rotation area is 1.15 to 1.45 times the sum of the chain plate length and the transmission wheel radius in the straight area.

2. The transmission system of a circulating stereo garage with variable chain length according to claim 1 is characterized in that: The chain plate fixing arm is fixed on two adjacent chain link shafts of the chain; the chain plate movable arm is columnar, arranged in the chain plate fixing arm, and is slidably connected to the chain plate fixing arm.

3. The transmission system of a circulating stereo garage with variable chain length according to claim 1 is characterized in that: The chain plate fixed arm includes a base plate and a slide groove; the left and right ends of the base plate are respectively fixed on two adjacent chain link shafts of the corresponding chain; the slide groove is arranged on the base plate along the chain direction; the chain plate movable arm includes a cantilever, a support arm and a slider; one end of the cantilever is hinged to the slider, and the other end is connected to one end of the suspension beam shaft; one end of the support arm is hinged to the center point of the cantilever, and the other end is hinged to the base plate on the extension line of the slide groove; the length of the cantilever is 1.8 to 2.2 times the length of the support arm; the slider and the slide groove are slidably connected.

4. The transmission system of a circulating stereo garage with variable chain length according to claim 3 is characterized in that: The distance from the slide groove to the chain link shaft is not less than 0.2 times the width of the vehicle carrier frame.

5. The transmission system of a circulating stereo garage with variable chain length according to claim 1 is characterized in that: It also includes a chain plate lever and a shifting wheel disc. A chain plate lever parallel to the axis of the transmission wheel is fixedly provided on the top of the chain plate fixing arm. The shifting wheel disc is coaxially arranged on one side of the transmission wheel or concentrically fixed on the transmission wheel. The shifting wheel disc is meshed with the chain plate lever through the wheel disc tooth groove arranged on its outer edge.

6. The circulating type stereo garage transmission system with variable chain length according to any one of claims 1 to 5, characterized in that: The outer shape of the suspension beam shaft guide rail in the rotation area below the vertical circular multi-story garage is a concave curve; the outer shapes of the suspension beam shaft guide rails from the upper left end to the -63° rotation angle and from the upper right end to the 63° rotation angle in the rotation area are straight lines perpendicular to the ground, and the distance from them to the center of the driving wheel in the rotation area is d0, and d0 is within the range of [0.54h + 0.38w, w]; the outer shape of the suspension beam shaft guide rail from the -33° to 33° rotation angle in the rotation area is a horizontal line, and the distance from it to the center of the driving wheel in the rotation area is d1, and d1 is within the range of [d0 - 0.4w, d0 + 0.15w]; d0, d1, and ψ0 are a set of solutions of the following formula, max(d1 - d0 / tan(ψ0 / 2), 0) <= 0.15w, when d1 >= h, ψ0 = arctan((w - d0) / d1) + arctan(d0 / (d1 - h)), when d1 < h, ψ0 = h / d1 * [π / 2 + arctan((w - d0) / d1)]; ψ and H1 are a set of solutions of the following formula, H1 = max(d1 - d0 / tan(ψ / 2), 0), H1 <= 0.15w, ψ >= ψ0; the suspension beam shaft guide rail in the rotation area passes through point A in the ψ / 2 rotation angle direction and point A' in the -ψ / 2 rotation angle direction, and the height of points A and A' from the horizontal suspension beam shaft guide rail in the rotation area is within the range of [H1, 0.15w]; the radius of the driving wheel in the rotation area is r, and the length of the chain between the carriages is Len, r = Len / ψ; in the above formulas, ψ is the parking angle of the carriage when two adjacent carriages are simultaneously in the rotation area, ψ0 is the parking angle of the adjacent carriage when the carriage with a rotation area in the multi-story garage is approaching and meeting the adjacent carriage, H1 is the height of the lowest position of the suspension beam shaft in the ψ / 2 and -ψ / 2 rotation angle directions from the horizontal suspension beam shaft guide rail, w is the width of the carriage, h is the height of the carriage, and h / w is within the range of [0.65, 0.95].

7. The transmission system of a circulating stereo garage with variable chain length according to claim 6 is characterized in that: The d0 is not greater than 0.5h + 0.525w.

8. The transmission system of a circulating stereo garage with variable chain length according to claim 6 is characterized in that: The ψ is not greater than 1.1ψ0.

9. A design method for a circulating type stereoscopic carport transmission system with a variable chain plate length as claimed in claim 1, wherein the chain plate is composed of a chain plate fixed arm and a chain plate movable arm, and the chain plate fixed arm and the chain plate movable arm are telescopically connected, characterized in that: It includes the following steps a. According to the lateral spacing L2 of the carriages, set the radius of the driving wheel as r = (L2 / 2 + s1 / 2) / (1 + Km), and set the length of the chain plate in the straight area as L = Km * r; Km is the upper limit of the ratio of the length of the chain plate in the straight area to the radius of the driving wheel. For a horizontal circular multi-story garage or a vertical circular multi-story garage, s1 is the height of the carriage or the width of the carriage respectively. b. According to the longitudinal spacing L1 and the lateral spacing L2 of the carriages, based on the formulas L1 = max(-sqrt((s1 + dL)*(L2 + dL)) + r*(π / 2 + |θ|), 0), Tan|θ| = (s1 / 2 - L2 / 2) / sqrt((s1 + dL)*(L2 + dL)), calculate dL and |θ|. c. In the rotation area, the front and rear two sets of beam shaft guide rails are respectively arranged at corresponding positions of the support frame to support and guide the beam shaft, and the beam shaft guide rail is a "Π"-shaped arc-shaped continuous changing curve; at the |θ| and -|θ| rotation angles in the rotation area, the distance from the beam shaft guide rail to the axis of the transmission wheel is set in the range of [L+dL+r, L+1.1dL+r].

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