CN104481183A - Self-avoiding platform with grafting function and avoiding method implemented by self-avoiding platform - Google Patents

Self-avoiding platform with grafting function and avoiding method implemented by self-avoiding platform Download PDF

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Publication number
CN104481183A
CN104481183A CN201410746438.4A CN201410746438A CN104481183A CN 104481183 A CN104481183 A CN 104481183A CN 201410746438 A CN201410746438 A CN 201410746438A CN 104481183 A CN104481183 A CN 104481183A
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CN
China
Prior art keywords
ride
platform
frame platform
avoiding
frame
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Granted
Application number
CN201410746438.4A
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Chinese (zh)
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CN104481183B (en
Inventor
陈洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Large Dynamo-Electric Co Ltd Of Hat
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Nanjing Large Dynamo-Electric Co Ltd Of Hat
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Priority to CN201410746438.4A priority Critical patent/CN104481183B/en
Publication of CN104481183A publication Critical patent/CN104481183A/en
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Publication of CN104481183B publication Critical patent/CN104481183B/en
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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/02Small garages, e.g. for one or two cars
    • E04H6/06Small garages, e.g. for one or two cars with means for shifting or lifting vehicles

Abstract

The invention relates to a self-avoiding platform with a grafting function. The self-avoiding platform comprises a frame and a platform. The frame and the platform are arranged on a bearing surface, a platform access opening is formed in the frame, distance measuring sensors are arranged on the side walls of the frame and are opposite to the platform, a traveling gear is arranged at the bottom of the platform, and a lower pair can be formed by the traveling gear and the bearing surface. The avoiding method implemented by the self-avoiding platform includes a step of discharging the platform out of the frame, to be more specific, shifting the platform by the aid of driving wheels, starting to shift guide wheels at initial angles, recording rotation cycles by the aid of rotary encoders, and enabling the distance measuring sensors to provide data for a direction control motor to adjust the distance from the platform to the frame; a step of enabling the platform to transverse and rotate, to be more specific, controlling the rotation directions and rotation angles of the guide wheels by the aid of the direction control motor according to preset change angle information when infinitely large numerical values are simultaneously detected by the distance measuring sensors, and allowing the platform to move to the outer side of the opening of the frame after the rotation circles reach the circles preset by the rotary encoders on the driving wheels. The self-avoiding platform and the avoiding method have the advantages that positions can be yielded for upper-layer platforms by the self-avoiding platform, and the self-avoiding platform and the avoiding method are simple and practical.

Description

Grafting formula certainly can evade ride and bypassing method thereof
Technical field
The present invention relates to a kind of ride, be specifically that a kind of grafting in evades ride in most three-dimensional parking device certainly, also relate to the bypassing method of this ride.
Background technology
Existing garage parking, generally parks all side by side, comparatively takes up space, if want vertical pile, so need to build corresponding floor in addition and realize, such as garage parking, roof, cost is higher; For this reason, disclose one in prior art and rotate lifting no dodge type upper-layer parking platform, see Chinese invention patent " rotating lifting no dodge type upper-layer parking platform " Authorization Notice No.: CN1284915C, upper-layer parking platform, by aggregate motion that is mobile, that rotate and be elevated, realizes putting down and packing up operation of upper-layer parking platform.When although this patent can realize upper-layer parking, the effect of lower floor's vehicle without the need to dodging, complicated structure, cost is higher, also there is many shortcomings: as adopted shifting roller and moving guide rail, easily slide, and is not easy location, and impact uses; Adopt elevating chain, noise is large, and lifting transmission is not steady; These are all unfavorable for promoting the use of, and need to improve.
Summary of the invention
Technical problem to be solved by this invention is, overcome the shortcoming of prior art, there is provided a kind of can be applicable to that most two-layer multi-storied garage evades ride certainly, this ride adopts the thinking contrary with current most prior art, allows lower floor's vehicle automatically dodge upper strata vehicle.
In order to solve above technical problem, the invention provides one and grafting formula certainly can evade ride, comprise and be placed in frame platform on bearing surface and ride, frame platform is provided with for ride into and out of opening, frame platform is provided with distance measuring sensor on the sidewall relative with ride, when this is to ensure that ride moves, moment and frame platform maintain a certain distance, and be provided with and can form the running gear (lower pair, the kinematic pair that two components are contacted by face and form is referred to as lower pair) of lower pair with bearing surface bottom ride.
The technical scheme that the present invention limits further is:
Further, running gear comprises drive motors, direction controlling motor, rotary encoder, the first turning cylinder, the second turning cylinder and is placed in directive wheel, the driving wheel of ride head and afterbody respectively, driving wheel to be in transmission connection drive motors by the first turning cylinder, directive wheel to be in transmission connection direction controlling motor by the second turning cylinder, distance measuring sensor is connected with the communication of direction controlling motor, direction controlling motor adjusts the deviation angle of directive wheel according to the testing result of distance measuring sensor in good time, thus reaches the final purpose revising ride attitude.
Further, (rotary encoder is that light harvesting mechanical & electrical technology is in the speed displacement sensor of one driving wheel and directive wheel to be all connected with rotary encoder.)。
Further, the side wall of ride and the side wall of frame platform are parallel to each other, this is the working strength in order to reduce distance measuring sensor, as long as ensure that ride and frame platform move in parallel, the side wall of ride is provided with the distance measuring sensor for monitoring vertical distance between described ride side wall and frame platform side wall.
Further, the air line distance of the side wall of ride and the side wall of frame platform controls in 20-150mm.
Further, the first turning cylinder between driving wheel is made up of differential mechanism and two pieces point rotating shafts being engaged on differential mechanism two ends that (differential mechanism, one can make rotary motion reach two axles from an axle, and makes the latter each other can with the differential attachment of different rotating speeds rotation.)。
Further, lower pair is the one in revolute pair, moving sets or sliding pair.
Can grafting formula from evading the bypassing method of ride, comprise step as follows:
Ride goes out frame platform step, drive motors drives differential mechanism to drive the driving wheel moving carriage-table of ride afterbody, the directive wheel of ride head with the angle being parallel to frame platform side wall for initial angle starts mobile, the rotary encoder record rotating cycle data on driving wheel and directive wheel; Distance measuring sensor in frame platform side wall works simultaneously, provides signal data to direction controlling motor to adjust the positive negative angle in directive wheel direction, makes the spacing of the left and right sides side wall of ride and frame platform control within the scope of 20-150mm;
The traversing spin step of ride, when distance measuring sensor measures infinitely great numerical value simultaneously, direction controlling motor controls direction that directive wheel rotates and angle according to the variation angle information preset, and after the number of turns preset of rotary encoder, ride moves to the outside of frame platform opening on the drive wheel;
Ride enters frame platform step, for the traversing spin step of ride and ride go out the inverse step of frame platform step.
The invention has the beneficial effects as follows: of the present invention from evading ride by the integration of robot ambulation technology and common vehicle drive technology is defined, this device intelligence degree is very high, but because its parts used are all on the market can firsthand electronic devices and components, so its cost is also cheaper than the three-dimensional ride of common lift-sliding on the contrary, and product structure is simple, is convenient to later maintenance.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is the polycrystalline substance schematic diagram of ride.
In figure: frame platform 1, ride 2, distance measuring sensor 3, drive motors 4, direction controlling motor 5, rotary encoder 6, the second turning cylinder 7, directive wheel 8, driving wheel 9, rotary encoder 10, differential mechanism 11, point rotating shaft 12.
Detailed description of the invention
embodiment 1
What the present embodiment provided grafting formula can evade ride certainly, comprise and be placed in frame platform 1 on bearing surface and ride 2, frame platform 1 is provided with for ride into and out of opening, the side wall of ride 2 and the side wall of frame platform 1 are parallel to each other, and the side wall of ride 2 is provided with the distance measuring sensor 3 for monitoring vertical distance between ride side wall and frame platform side wall; Running gear comprises drive motors 4, direction controlling motor 5, rotary encoder 6, first turning cylinder, the second turning cylinder 7 and is placed in directive wheel 8, the driving wheel 9 of ride head and afterbody respectively, driving wheel 9 to be in transmission connection drive motors 4 by the first turning cylinder, directive wheel 8 to be in transmission connection direction controlling motor 5 by the second turning cylinder 7, distance measuring sensor 3 is connected with direction controlling motor 5 communication, and driving wheel and directive wheel are all connected with rotary encoder 10.The first turning cylinder between driving wheel 9 is made up of differential mechanism 11 and the two pieces points of rotating shafts 12 being engaged on differential mechanism two ends.
Can grafting formula from evading the bypassing method of ride, comprise step as follows:
Ride goes out frame platform step, drive motors 4 drives differential mechanism 11 to drive driving wheel 9 moving carriage-table 2 of ride afterbody, the directive wheel 8 of ride 2 head is with the angle being parallel to frame platform side wall for initial angle starts mobile, and the rotary encoder 10 on driving wheel 9 and directive wheel 8 records rotating cycle data; Distance measuring sensor 3 in frame platform 1 side wall works simultaneously, provides signal data to direction controlling motor 5 to adjust the positive negative angle in directive wheel 8 direction, makes the spacing of the left and right sides side wall of ride 2 and frame platform 1 control within the scope of 20-150mm;
The traversing spin step of ride, when distance measuring sensor 3 measures infinitely great numerical value simultaneously, can determine that ride 2 sails out of frame platform 1 substantially, direction controlling motor 5 controls direction and the angle of directive wheel 8 rotation according to the variation angle information preset, and after the number of turns that rotary encoder 10 is preset on driving wheel 9, ride 2 moves to the outside of frame platform 1 opening;
Ride enters frame platform step, for the traversing spin step of ride and ride go out the inverse step of frame platform step.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.

Claims (8)

1. grafting formula certainly can evade ride, comprise and be placed in frame platform on bearing surface and ride, frame platform is provided with for ride into and out of opening, it is characterized in that: described frame platform is provided with distance measuring sensor on the sidewall relative with ride, be provided with bottom described ride and can form the running gear of lower pair with bearing surface.
2. according to claim 1 can grafting formula from evading ride, it is characterized in that: described running gear comprises drive motors, direction controlling motor, rotary encoder, the first turning cylinder, the second turning cylinder and is placed in directive wheel, the driving wheel of ride head and afterbody respectively, described driving wheel to be in transmission connection drive motors by the first turning cylinder, described directive wheel to be in transmission connection direction controlling motor by the second turning cylinder, and described distance measuring sensor is connected with the communication of described direction controlling motor.
3. according to claim 2 can grafting formula from evading ride, it is characterized in that: described driving wheel and directive wheel are all connected with rotary encoder.
4. according to claim 1 can grafting formula from evading ride, it is characterized in that: the side wall of described ride and the side wall of described frame platform are parallel to each other, and the side wall of described ride is provided with the distance measuring sensor for monitoring vertical distance between described ride side wall and frame platform side wall.
5. according to claim 4 can grafting formula from evading ride, it is characterized in that: the air line distance of the side wall of described ride and the side wall of described frame platform controls in 20-150mm.
6. according to claim 2 can grafting formula from evading ride, it is characterized in that: the first turning cylinder between described driving wheel is made up of differential mechanism and two pieces points of rotating shafts being engaged on differential mechanism two ends.
7. according to claim 1 can grafting formula from evading ride, it is characterized in that: described lower pair is the one in revolute pair, moving sets or sliding pair.
8. can grafting formula from evading the bypassing method of ride, it is characterized in that: comprise step as follows:
Ride goes out frame platform step, drive motors drives differential mechanism to drive the driving wheel moving carriage-table of ride afterbody, the directive wheel of ride head with the angle being parallel to frame platform side wall for initial angle starts mobile, the rotary encoder record rotating cycle data on driving wheel and directive wheel; Distance measuring sensor in frame platform side wall works simultaneously, provides signal data to direction controlling motor to adjust the positive negative angle in directive wheel direction, makes the spacing of the left and right sides side wall of ride and frame platform control within the scope of 20-150mm;
The traversing spin step of ride, when distance measuring sensor measures infinitely great numerical value simultaneously, direction controlling motor controls direction that directive wheel rotates and angle according to the variation angle information preset, and after the number of turns preset of rotary encoder, ride moves to the outside of frame platform opening on the drive wheel;
Ride enters frame platform step, for the traversing spin step of ride and ride go out the inverse step of frame platform step.
CN201410746438.4A 2014-12-08 2014-12-08 Graftable formula evades ride and its bypassing method certainly Active CN104481183B (en)

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CN104481183B CN104481183B (en) 2017-05-31

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106801528A (en) * 2015-11-26 2017-06-06 吴江市聚力机械有限公司 A kind of multi-storied garage sweep prevents from pressing from both sides car system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4853074U (en) * 1971-10-09 1973-07-09
NZ199976A (en) * 1981-03-13 1985-01-31 Woehr Otto Gmbh Garage with rolling and elevating parking slabs
CN1563644A (en) * 2004-04-19 2005-01-12 梁渤涛 No dodge type in moving rotating and falling upper layer parking platform
GR1006444B (en) * 2008-04-18 2009-06-16 Βασιλειος Τζανετης Platform for manoeuvreless parking and exit of vehicles from a parking lot
CN102162310A (en) * 2011-02-15 2011-08-24 金华法 Mobile lifting avoidance-free upper parking deck
CN102535915A (en) * 2012-02-03 2012-07-04 无锡普智联科高新技术有限公司 Automatic parking system based on mobile robot trolley
CN204343739U (en) * 2014-12-08 2015-05-20 南京冠大机电有限公司 Grafting formula certainly can evade ride

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4853074U (en) * 1971-10-09 1973-07-09
NZ199976A (en) * 1981-03-13 1985-01-31 Woehr Otto Gmbh Garage with rolling and elevating parking slabs
CN1563644A (en) * 2004-04-19 2005-01-12 梁渤涛 No dodge type in moving rotating and falling upper layer parking platform
GR1006444B (en) * 2008-04-18 2009-06-16 Βασιλειος Τζανετης Platform for manoeuvreless parking and exit of vehicles from a parking lot
CN102162310A (en) * 2011-02-15 2011-08-24 金华法 Mobile lifting avoidance-free upper parking deck
CN102535915A (en) * 2012-02-03 2012-07-04 无锡普智联科高新技术有限公司 Automatic parking system based on mobile robot trolley
CN204343739U (en) * 2014-12-08 2015-05-20 南京冠大机电有限公司 Grafting formula certainly can evade ride

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
2012注册公用设备工程师考试专业基础课精讲精练 暖通空调及动力专业;赵静野;《2012注册公用设备工程师考试专业基础课精讲精练 暖通空调及动力专业》;20120430;全文 *
赵静野: "《2012注册公用设备工程师考试专业基础课精讲精练 暖通空调及动力专业》", 30 April 2012 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106801528A (en) * 2015-11-26 2017-06-06 吴江市聚力机械有限公司 A kind of multi-storied garage sweep prevents from pressing from both sides car system

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Address after: No. 18, Bafan Road, jinniuhu street, Liuhe District, Nanjing, Jiangsu Province, 210000

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