CN103774881B - A kind of parallel type parking apparatus based on vehicle conveying robot - Google Patents

Abstract

The invention discloses a kind of parallel type vehicle conveying robot and parking apparatus, comprise the car of bracing frame, walking mechanism, Hoisting System and band rotary disk, support frame as described above comprises the crossbeam at column track and top, described walking mechanism is located at the bottom of column guide rail, described Hoisting System is located on the crossbeam at top, describedly treat that the car that can turn is located between column guide rail, promote just as left and right under can move up and down along column guide rail.The present invention has broken the limitation of conventional parking apparatus, improves Transport Vehicle efficiency, reduces the cost of whole equipment; Middle column civil engineering pillar region both can allow parallel type transfer robot run, and ground can allow again common vehicle pass through, and defined the multilevel traffic that parallel floor truck and common vehicle are run up and down simultaneously.Substantially increase the passage rate of vehicle.

Description

A parallel parking equipment based on vehicle handling robot

technical field

The invention mainly relates to parking equipment technical equipment.

Background technique

The current market competition in the emerging parking equipment industry is gradually escalating, and the number of vehicles owned by each family is gradually increasing. Users have higher and higher requirements for family garages, not only needing high efficiency, but also low prices. This poses a problem for us parking equipment manufacturers. , How to design a low-cost and stable parking equipment. The traditional lift and traverse products have power for each berth, and the equipment cost is high. At the same time, the traffic passage in front of the garage can only drive on the ground, and the access efficiency is low. Roadway stacking products need to occupy the entire roadway for the stacker to travel, and the efficiency of car access is low.

Parallel parking equipment can solve this problem. It is similar to a stacker but different, and it realizes the state that a parallel handling robot and a ground vehicle run at the same time. The utilization rate of the traffic channel is improved, and the efficiency of car access is improved. At the same time, the berth has no power, which also saves the overall cost of the equipment.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a parallel vehicle handling robot and parking equipment. Compared with the traditional lift and traverse parking equipment, each berth needs to be equipped with a motor and a transmission system, so that Each berth can be lifted or moved horizontally, and the cost is relatively high; compared with ordinary roadway stacking parking equipment or plane mobile parking equipment, the middle soil column area can not only allow parallel handling robots to run, but also the ground can allow ordinary vehicles Passage, forming a three-dimensional traffic in which parallel handling trolleys and ordinary vehicles run up and down at the same time. Greatly increased the speed of vehicles.

Technical solution: In order to achieve the above object, the present invention adopts the following technologies: a parallel vehicle handling robot, including a support frame, a walking mechanism, a lifting system and a car with a turntable, and the support frame includes a column track and a beam on the top , the walking mechanism is set at the bottom of the column guide rails, the lifting system is set on the top beam, and the car to be turned is set between the column guide rails, and can go up and down along the column guide rails under the same left and right lifting conditions. move.

It also includes a parking area with a multi-layer space structure, and the parking area is provided with multiple parking spaces; the vehicle handling robot is arranged in cooperation with the parking area.

The lift car with a rotary disc includes a car, a pressure-bearing wheel set, a guide wheel set and a rotary disc, wherein the rotary disc includes a car-carrying disc, a rotary motor and a dial, and the rotary motor connects with the dial through a sprocket structure. The transmission connection is realized, and the dial wheel is connected with the gear of the vehicle-carrying plate to drive the car-carrying plate to rotate; the pressure-bearing wheel set is fixed on the car, and the vehicle-carrying plate bears pressure on the pressure-bearing wheel; the guide wheel set is set on the The four corners of the car, the guide wheels and the column guide rails are pressed tightly.

The lifting system includes a lifting motor, a rotating shaft and a reel with a steel wire rope, the rotating shaft is fixed on the beam of the support frame, the lifting motor drives the rotating shaft to rotate through the sprocket structure, the reel is fixed on the rotating shaft, and the steel wire rope and Car connection.

The traveling mechanism includes a traveling motor fixed at the bottom of the column guide rail and a traveling wheel fixed at the bottom of the column guide rail, and the traveling motor drives the traveling wheel to rotate through the sprocket structure.

The parking area is a civil cement column area or a steel structure platform, the parking area is divided into two rows, and the vehicle handling robot is arranged between the two rows of parking areas.

The vehicle handling robot is provided with a position detection sensor.

The vehicle handling robot is provided with a safety detection switch.

The parking space is provided with a liftable protective fence.

Beneficial effects: Compared with the prior art, the present invention has the following advantages: the handling robot and ordinary vehicles can run in the driving passage at the same time, and the access efficiency is high; the handling robot has its own safety detection switch and walking safety detection switch, and can be lifted The protective fence works together, and at the same time, the vehicle draws a safety warning line on the ground, which is safe and reliable, ensuring the safety of the vehicle; when the area is large, multiple handling robots can be arranged at the same time to improve work efficiency; the lift car is precisely guided by guide wheels, Accurate positioning ensures the reliability of the equipment; the equipment has a novel structure, can be flexibly arranged indoors and outdoors, and has low requirements for the installation environment.

This patent is safe and reliable, breaks the limitations of conventional parking equipment, improves the efficiency of car storage and retrieval, and reduces the cost of the entire equipment. It can be widely installed in private and public places such as hotels, hotels, schools, and villas. It is suitable for overall transportation and installation. The construction is convenient and the operation is simple.

Description of drawings

Fig. 1 is the structural representation of parallel parking equipment described in the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the left view of Fig. 1;

Fig. 4 is a schematic structural view of the vehicle handling robot of the present invention;

Fig. 5 is the left view of Fig. 4;

Figure 6 is an enlarged view at A-A in Figure 4;

Figure 7 is an enlarged view at the B-B place in Figure 4;

Fig. 8 is a schematic structural view of a car with a rotary disk according to the present invention;

Figure 9 is an enlarged view at A-A in Figure 8;

Fig. 10 is a left side view of Fig. 8 .

Among them, the vehicle handling robot 1, the column guide rail 11, the beam 12, the driving mechanism 13, the lifting system 14, the car with a turntable 15, the safety detection switch 16, the parking area 2, the protective fence 21, the vehicle 3, the traveling motor 131, Walking wheel 132, rotating shaft 141, reel 142, hoist motor 143, steel wire rope 144, sprocket wheel structure 145, car 151, dial wheel 152, rotary disk 153, car 154, guide wheel group 155, bearing wheel group 156.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, the parallel parking equipment includes a parallel handling robot, a movable protective fence on the berth, and a walking safety detection switch. The main components of the parallel handling robot are: steel structure, lift car with turntable, lifting system, walking mechanism, position detection device, safety detection device, protective fence, etc. The traveling mechanism is composed of a traveling motor, a large gear, a pinion, and a traveling wheel. The lifting system consists of a lifting motor, a lifting motor sprocket, a large sprocket, a drive shaft, a lifting wire rope, and a reel. The lift car is composed of a car, a slewing disk, a slewing motor, a slewing mechanism, and a two-way guide wheel.

Introduction to working principle:

Mechanical principle: The parallel handling robot is composed of a steel structure, a lifting car with a turntable, a lifting system, a walking mechanism, a position detection device, a safety detection device, etc.

The lift car can run up and down under the action of the lifting system. The lifting system consists of a lifting motor, a lifting motor sprocket, a large sprocket, a drive shaft, a lifting wire rope, and a reel. The motor provides power, which is transmitted to the reel through the chain sprocket. The reel rotates to drive the lifting wire rope, and the lifting car performs lifting movement under the tension of the lifting wire rope. There are two-way guide wheels at each of the 4 corners of the car. The guide wheels press the web and wing plates of the steel structure column rails, and 4 sets of bidirectional guide wheels work together to position the car in the X and Y axis directions to ensure the stable and precise operation of the lift car.

The center of the lift car is a rotary disc, which is composed of a car-carrying disc, a rotary motor, a sprocket, a chain, a bolt, a dial wheel, a pressure-bearing wheel group, and a guide wheel group. The slewing motor provides power, which is transmitted to the dial through the chain sprocket, and the dial moves the bolts uniformly welded on the car-carrying disc to make the car disc rotate. The entire vehicle-carrying disc is pressed on the uniformly distributed pressure-bearing wheels, which are fixed on the car, and the uniformly-distributed guide wheels provide guidance for the vehicle-carrying disc. This structure operates accurately, has a simple structure, and minimizes the thickness of the rotary disc. Provides comfort for ground vehicles driving into the turntable.

The entire parallel handling robot relies on 4 sets of synchronous walking mechanisms to provide walking power. The traveling mechanism is composed of a traveling motor, a large gear, a pinion, and a traveling wheel. 4 synchronous travel motors provide power. The power is transmitted to the road wheels through the gear set. Under the action of the frequency converter, the operating speed range of the parallel handling robot is very large. And the operation is precise, which provides the possibility for the robot to walk, accelerate and decelerate, and emergency braking to avoid vehicles.

In the area of 3 rows of civil cement columns side by side (take 3 rows as an example, multiple rows can be made), the upper and lower rows are made of cement floors, and vehicles are parked vertically side by side on the floors. There is a pedestrian passage at the rear end of the parking area on each floor. The area of the middle row of cement pillars is the driving channel for the passage of handling robots and ordinary vehicles. There is a liftable protective fence at the front end of the berth (near the driveway). When the handling robot runs to the front of the target vehicle berth, the protective fence is opened. The driver drives the vehicle into the handling robot. The handling robot detects whether there is a vehicle under it through its own photoelectric detection switch. When satisfied, the car on the handling robot descends and turns 90°. Descending to the ground, the vehicle leaves the handling robot and drives away along the driving channel.

The protective fence on the berth is always at the protective height, unless the vehicle needs to enter and exit. The area between the protective fence and the walking safety detection switch is the walking area of the parallel handling robot. When the protective fence is opened or the walking safety detection switch detects an obstacle, the handling robot must not walk. When the robot's built-in safety detection device detects an obstacle, the handling robot must not walk or descend.

The two rows of walking safety detection switch areas on the driving passage are safe areas, and ordinary vehicles can walk normally. Ordinary vehicles must drive normally in the safe area and must not exceed the warning line on the ground. Exceeding the warning line will stop the robot from running. Each berth is numbered. A position bumper is installed on the ground for the robot to judge its own position.

Vehicle driving out: the berth needs to press the driving out button, and wait for the robot to run directly in front of the target vehicle and open the protective fence before driving out.

Vehicles on the 2nd, 3rd, or multi-storey floors above the ground enter: You need to press the button at the entrance and exit position, wait for the robot to judge that there is no obstacle below and lower the car to the ground, and the indicator light on the robot will be on before driving into the car. After the robot runs to the front of the target parking space and the fence door is opened, it can drive into the parking space.

Vehicles on the first floor of the ground enter: You need to press the button at the entrance and exit position, wait for the robot to stop and walk, and the fence door is opened before entering the berth.

If the area is relatively large, multiple handling robots can also be arranged on one driveway to increase the speed of accessing vehicles.

Compared with the common parking equipment on the market today, its technical advantage lies in: in the area where the column is built by 3 rows of soil (this invention can also be used in the area where there is no column to be built by soil, and the platform is built by a steel structure), compared with the traditional lifting and lateral movement For parking equipment, each berth needs to be equipped with a motor and transmission system, so that each berth can be lifted or moved horizontally, and the cost is relatively high; compared with ordinary roadway stacking parking equipment or plane mobile parking equipment, the middle columns The area can not only allow parallel handling robots to run, but also allow ordinary vehicles to pass on the ground, forming a three-dimensional traffic in which parallel handling trolleys and ordinary vehicles run up and down at the same time. Greatly increased the speed of vehicles.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (7)

1. A kind of parallel parking equipment based on vehicle handling robot, it is characterized in that: also comprise the parking area of multilayer spatial structure, this parking area is provided with a plurality of parking stalls; Described vehicle handling robot cooperates with parking area to arrange; Vehicle The handling robot includes a support frame, a walking mechanism, a lifting system and a car with a turntable. The supporting frame includes a column track and a beam on the top. On the crossbeam, the car with a turntable is arranged between the guide rails of the uprights, and can move up and down along the guide rails of the uprights at the left and right sides of the lift; the car with a turntable includes a car, a pressure-bearing wheel set, a guide A wheel set and a rotary disc, wherein the rotary disc includes a car-carrying disc, a rotary motor and a dial, the rotary motor is connected to the dial through a sprocket structure, and the dial is connected to the car-carrying disc gear to drive the car-carrying disc to rotate The pressure-bearing wheel set is fixed on the car, and the vehicle-carrying disc bears pressure on the pressure-bearing wheel; the guide wheel set is arranged at the four corners of the car, and the guide wheel and the column guide rail are pressed together. 2. The parallel parking equipment according to claim 1, characterized in that: the lifting system includes a lifting motor, a rotating shaft and a reel with a wire rope, the rotating shaft is fixed on the crossbeam of the support frame, and the lifting motor passes through the sprocket structure Drive the rotating shaft to rotate, the reel is fixed on the rotating shaft, and the steel wire rope is connected with the car. 3. According to the described parallel parking equipment of claim 1, it is characterized in that: the traveling mechanism comprises a traveling motor fixed at the bottom of the column guide rail and a traveling wheel fixed at the bottom of the column guide rail, and the traveling motor drives the traveling wheel through a sprocket structure turn. 4. According to any one of claims 1-3, the parallel parking equipment is characterized in that: the parking area is a civil construction cement column area or a steel structure platform, the parking area is divided into two rows, and the vehicle handling robots are arranged in two rows between parking areas. 5. The parallel parking equipment according to claim 4, characterized in that: the vehicle handling robot is provided with a position detection sensor. 6. The parallel parking device according to claim 5, wherein the vehicle handling robot is provided with a safety detection switch. 7. The parallel parking equipment according to claim 6, characterized in that: the parking space is provided with a protective fence that can be raised and lowered.