CN106930572B

CN106930572B - A kind of bicycle intelligence underground parking garage

Info

Publication number: CN106930572B
Application number: CN201710288018.XA
Authority: CN
Inventors: 叶涛; 刘瑞瑞; 武翀; 陈立; 方松
Original assignee: 武汉理工大学
Priority date: 2017-04-27
Filing date: 2017-04-27
Publication date: 2019-02-05
Also published as: CN106930572A

Abstract

The invention discloses a kind of bicycle intelligence underground parking garages, including at least garage parking main body, garage parking main body includes central axis, center bed, Multilayer parking platform and garage door, center bed is arranged around central axis, the layering of Multilayer parking platform is mounted in center bed, it further include central axis rotation module, center bed lifting module, four part of mechanical arm self-clamping module and garage door steering engine module, central axis rotation module is set to garage bottom and center axis connection；Center bed lifting module can install the rise and fall for control centre's vehicle frame on center shaft up or down；Mechanical arm self-clamping module be mounted on center bed lifting module on, including be located at center bed on can linear slide mechanical arm, be derived from driving for clamping and dragging；Garage door steering engine module is separately set in the inlet at the top of garage, for controlling the open and close of garage door.The present invention uses multilayered structure, increases bicycle parking space, full-automatic to stop, and user is not necessarily to enter garage parking.

Description

A kind of bicycle intelligence underground parking garage

Technical field

The present invention relates to garage parking technical fields, and in particular to a kind of bicycle intelligence underground parking garage.

Background technique

Existing parking device cannot achieve garage number without the underground three-dimensional garage for being specifically applied to bicycle parking and mostly According to backstage network centralized processing.For the region of public land resource anxiety, it can not effectively solve bicycle and disorderly stop to leave about, account for The problem of with public resource, while the outdoor of private bicycle is parked safety and cannot be ensured.

Summary of the invention

The technical problem to be solved by the present invention is to provide one kind for existing bicycle parking garage above shortcomings Bicycle intelligence underground parking garage increases bicycle parking space using multilayered structure, full-automatic to stop, and user is not necessarily to enter garage parking.

Used technical solution is the present invention to solve above-mentioned technical problem:

A kind of bicycle intelligence underground parking garage includes at least garage parking main body, and garage parking main body includes central axis, center Vehicle frame, Multilayer parking platform and garage door, center bed are arranged around central axis, and Multilayer parking platform is fixed on the support of garage bottom On, it further include central axis rotation module, center bed lifting module, mechanical arm self-clamping module and garage door steering engine module four Point, central axis rotation module is set to garage bottom and center axis connection, for adjusting the rotation of central axis to deposit bicycle Enter in the parking stall for parking bicycle of each layer in garage being circular layout；Center bed lifting module can pacify up or down Fill the rise and fall (evolution) for control centre's vehicle frame on center shaft；Mechanical arm self-clamping module is mounted on center vehicle Frame go up and down module on, including be located at center bed on can linear slide mechanical arm, for clamp and drag be derived from driving (guarantee oneself The stationarity of driving disengaging garage parking main body)；Garage door steering engine module is separately set in the inlet at the top of garage, for controlling The open and close of garage door.

According to the above scheme, the central axis rotation module include the first stepper motor, first bevel gear, second bevel gear with And bearing turntable, the output shaft of the first stepper motor are connect with first bevel gear, first bevel gear is engaged with second bevel gear, axis It forwards disk one end and is fixed on that bevel gear is upper, the other end is fixed in entire garage bottom support, central axis is turned by insertion bearing Groove on disk connect cooperation with central axis rotation module；First stepper motor drives first bevel gear rotation, first bevel gear Change the direction of motion and movement is transformed into second bevel gear, further drive shaft forwards disk as second bevel gear freely turns It is dynamic.

According to the above scheme, the center bed lifting module includes lifting motor module, six multi-directional balls, lifting motor mould Block includes that second stepper motor, gear and fixed rack gear on center shaft, central axis are arranged two, every central shaft arrangement Three multi-directional balls, three multi-directional balls are mounted on center bed and central axis connection, that is, are mounted in center bed and resist Three faces (playing the role of horizontal fixation, vertical scrolling) of every central axis, fixation is bolted in second stepper motor In center bed, the output axis connection of gear and second stepper motor, rack and pinion engagement, second stepper motor rotation, Band moving gear is moved up and down in rack gear, and then drives the raising and lowering of center bed on center shaft.

According to the above scheme, the mechanical arm self-clamping module includes mechanical arm, third stepper motor and digital steering engine, third step It is mounted on mechanical arm bottom into motor, digital steering engine is connect with mechanical arm, and digital steering engine drives mechanical arm top gear, passes through tooth Wheel engagement makes the clip for being connected to mechanical arm front open and clamp, and bicycle is unclamped and clamped, ensure that bicycle in Smooth motion on heart vehicle frame；Meanwhile in the case where mechanical arm clamps bicycle, third stepper motor is in center bed track Upper advance facilitates being taken into and taking out for bicycle.

According to the above scheme, the garage door steering engine module includes steering engine guide rail and steering engine, and garage door is mounted on steering engine guide rail On, steering engine is connect with steering engine guide rail.

According to the above scheme, the steering engine uses big torsion metal master tooth rudder MG996r steering engine.

According to the above scheme, which further includes control system and background server, and control system includes GPS/GPRS mould Garage car storage amount, information are passed through TCP/ for obtaining garage location information by block, drive module, GPS/GPRS module Udp protocol is transferred to background server, and background server connects GPS/GPRS module and cell phone client, fixed for realizing garage Position and the communication with cell phone client；First stepper motor of drive module and central axis rotation module, center bed go up and down mould The second stepper motor of block, the third stepper motor of mechanical arm self-clamping module are connected with the steering engine of garage door steering engine module, are used for The first stepper motor, second stepper motor, third stepper motor, steering engine movement are controlled after receiving the information of cell phone client, with It completes bicycle parking and pick-up acts.

The working principle of the invention: when user's arrival underground parking garage, check that the related of garage is believed by cell phone client Breath, and relevant operation is carried out in cell phone client, user's operation information passes through GPS/GPRS mould after background server is handled Control system in block and garage communicates, and after control system receives the information of cell phone client, is controlled by drive module related The movement of motor, to complete bicycle parking and pick up the car.Specifically: central axis rotation module and center bed lifting module associated movement make Center bed is lifted to top exit, and garage door steering engine module controls the switch of garage door, and the movement of mechanical arm self-clamping module will be used The bicycle at family sandwiches center bed, and central axis rotation module and center bed go up and down module task again, bicycle are sent into Vacant landing, to complete bicycle parking work, pick-up work is then opposite.Intelligence is mainly reflected in the control system in garage It can be by recording rotation situation of each motor during primary access vehicle, to record parking quantity in garage and park position It sets, the automatic arrangement stand and record that next time parks may be implemented.

Compared with prior art, the invention has the following advantages:

1, it is mainly made of, and uses the bicycle hoistable platform and parking stall of parking garage entrances and subsurface on ground Multilayered structure, every layer of parking stall are annular array arrangement, increase bicycle parking space；

2, intelligent underground parking garage takes full-automatic parking, and user is not necessarily to enter garage parking, uses cell phone client Request is picked up the car and parking, and garage is fixed bicycle using the mechanical arm in mechanical arm self-clamping module, automatically by bicycle It is stored in garage corresponding position.

Detailed description of the invention

Fig. 1 is the overall structure diagram of bicycle intelligence underground parking garage of the present invention；

Fig. 2 is the structural schematic diagram of central axis rotation module of the present invention；

Fig. 3 is the structural schematic diagram that center bed of the present invention goes up and down module；

Fig. 4 is the design diagram of multi-directional ball in Fig. 3；

Fig. 5 is the structural schematic diagram of mechanical arm self-clamping module of the present invention；

Fig. 6 is the structural schematic diagram of garage door steering engine module of the present invention；

In figure, 1- central axis rotation module, 2- center bed goes up and down module, 3- mechanical arm self-clamping module, 4- garage door rudder Machine module, the first stepper motor of 11-, 12- first bevel gear, 13- second bevel gear, 14- bearing turntable, 21- the second stepping electricity Machine, 22- rack gear, 23- multi-directional ball, 24- center bed, 31- third stepper motor, 32- number steering engine, 33- mechanical arm, 41- vehicle Ku Men, 42- steering engine guide rail, 43- steering engine.

Specific embodiment

Below in conjunction with attached drawing to principles and features of the present invention further description, example is served only for illustrating this Invention, and non-limiting application range of the invention.

As shown in Figure 1, bicycle intelligence underground parking garage described in the embodiment of the present invention, includes at least garage parking main body, Garage parking main body includes central axis, center bed, Multilayer parking platform and garage door, and center bed is arranged around central axis, multilayer Landing layering is fixed in the support of garage bottom, further includes central axis rotation module 1, center bed lifting module 2, machinery 4 four part of arm self-clamping module 3 and garage door steering engine module, central axis rotation module 1 are set to garage bottom, connect with central axis It connects, for adjusting the rotation of central axis so that bicycle to be stored in the parking for being used to park bicycle of each layer in garage being circular layout In position；Center bed lifting module 2 can install the rise and fall for control centre's vehicle frame on center shaft up or down (evolution)；Mechanical arm self-clamping module 3 be mounted on center bed lifting module 2 on, including be located at center bed on can be straight Line sliding mechanical arm 33 is derived from driving for clamping and dragging, and guarantees the stationarity of bicycle disengaging garage parking main body；Garage door rudder Machine module 4 is separately set in the inlet (garage ground center) at the top of garage, for controlling unlatching and the pass of garage door It closes.

As shown in Fig. 2, central axis rotation module 1 includes the first stepper motor 11, first bevel gear 12, second bevel gear 13 (first bevel gear 12, second bevel gear 13 constitute bevel-gear sett) and bearing turntable 14, the output of the first stepper motor 11 Axis is connect with first bevel gear 12, and first bevel gear 12 is engaged with second bevel gear 13, and 14 one end of bearing turntable is fixed on cone tooth On wheel 2, the other end is fixed on the support of entire garage bottom upper (central axis rotation module 1 adjusts the rotation of central axis with will voluntarily In the parking stall for parking bicycle of the vehicle deposit each layer in garage being circular layout), central axis passes through insertion bearing turntable 14 On groove connect cooperation with central axis rotation module 1；First stepper motor 11 drives first bevel gear 12 to rotate, the first cone tooth Movement is simultaneously transformed into second bevel gear 13 by the 12 change direction of motion of wheel, and further drive shaft forwards disk 14 with second bevel gear 13 are freely rotated.

As shown in Fig. 3~Fig. 4, it includes lifting motor module, 6 multi-directional balls 23, lifting motor that center bed, which goes up and down module 2, Module includes that second stepper motor 21, gear and fixed rack gear 22 on center shaft, central axis are arranged two, every center Axis configures three multi-directional balls 23, and three multi-directional balls 23 are mounted on center bed 24 and central axis connection, i.e. installation center vehicle On frame 24 and three faces of every central axis are resisted, play the role of horizontal fixation, vertical scrolling；Second stepper motor 21 is logical It crosses to be bolted and be fixed in center bed, the output axis connection of gear and second stepper motor 21, rack gear 22 is engaged with gear, Second stepper motor 21 rotates, and band moving gear is moved up and down in rack gear 22, and then drives center bed raising and lowering；Rolling rubs Wiping reduces the frictional force of center bed 24 and central axis (central axis uses 2020 aluminum profiles in embodiment), reduces unnecessary Energy loss, meanwhile, three multi-directional balls 23 reduce the freedom degree of center bed 24, and the overturning of center bed 24 is constrained to transport It is dynamic, keep lifting more steady.

As shown in figure 5, mechanical arm self-clamping module 3 includes mechanical arm 33, third stepper motor 31 and digital steering engine 32, third Stepper motor 31 is mounted on 33 bottom of mechanical arm, and digital steering engine 32 is connect with mechanical arm 33, and digital steering engine 32 uses in embodiment SAIBO-D-1501 19KG model, digital steering engine 32 drive mechanical arm top gear, make to be connected to mechanical arm by gear engagement The clip of 33 fronts is opened and is clamped, and bicycle is unclamped and clamped, ensure that smooth motion of the bicycle in center bed； Meanwhile in the case where mechanical arm 33 clamps bicycle, 31 stepper motor of third stepper motor advances on center bed track, Facilitate being taken into and taking out for bicycle.

As shown in fig. 6, garage door steering engine module 4 includes steering engine guide rail 42 and steering engine 43, garage door 41 is mounted on steering engine and leads On rail 42, steering engine 43 is connect with steering engine guide rail 42, and by controlling power supply, steering engine 43 is operated, and driving steering engine guide rail 42 turns rotation It is changed to translation, to control the switch of garage door 41, bicycle is made to be stored in or take out.Steering engine 43 uses big torsion metal master tooth Rudder MG996r steering engine.

The garage parking further includes control system and background server, and control system includes GPS/GPRS module, drive module, Garage car storage amount, information are transferred to by GPS/GPRS module for obtaining garage location information by TCP/UDP agreement Background server, background server connect GPS/GPRS module and cell phone client, position for realizing garage and objective with mobile phone The communication at family end；The second of first stepper motor 11 of drive module and central axis rotation module 1, center bed lifting module 2 The steering engine 43 of stepper motor 21, the third stepper motor 31 of mechanical arm self-clamping module 3 and garage door steering engine module 4 connects, and is used for The first stepper motor 11, second stepper motor 21, third stepper motor 31, steering engine 43 are controlled after receiving the information of cell phone client Movement is acted with completing bicycle parking and pick-up.

When user's arrival underground parking garage, the relevant information in garage is checked by cell phone client, and in cell phone client Upper carry out relevant operation, user's operation information pass through the control system in GPS/GPRS module and garage after background server is handled After control system receives the information of cell phone client, the movement of associated motor is controlled by drive module for system communication, to complete to deposit Vehicle and pick-up.Specifically: central axis rotation module 1 and center bed lifting 2 associated movement of module are lifted to center bed 24 Top exit, garage door steering engine module 4 control the switch of garage door, and mechanical arm self-clamping module 3 moves, and the bicycle of user is pressed from both sides Enter center bed 24, central axis rotation module 1 and center bed go up and down the task again of module 2, bicycle are sent into vacant parking Platform, to complete bicycle parking work, pick-up work is then opposite.The control system that intelligence is mainly reflected in garage can pass through Rotation situation of each motor during primary access vehicle is recorded, it, can be with to record stop in garage quantity and stand Realize the automatic arrangement stand and record that next time parks.

The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Principle etc, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims

1. a kind of bicycle intelligence underground parking garage includes at least garage parking main body, garage parking main body includes central axis, center vehicle Frame, Multilayer parking platform and garage door, center bed are arranged around central axis, and Multilayer parking platform is fixed on the support of garage bottom On, it is characterised in that: it further include central axis rotation module, center bed lifting module, mechanical arm self-clamping module and garage door rudder Four part of machine module, central axis rotation module be set to garage bottom, with center axis connection, for adjust the rotation of central axis with It will be in the parking stall for being used to park bicycle of the bicycle deposit each layer in garage being circular layout；Center bed go up and down module can on Under removably mount on central axis, the rise and fall for control centre's vehicle frame；Mechanical arm self-clamping module is mounted on center vehicle Frame go up and down module on, including be located at center bed on can linear slide mechanical arm, be derived from driving for clamping and dragging；Garage door Steering engine module is separately set in the inlet at the top of garage, for controlling the open and close of garage door；The central axis rotation Module include the first stepper motor, first bevel gear, second bevel gear and bearing turntable, the output shaft of the first stepper motor with First bevel gear connection, first bevel gear are engaged with second bevel gear, and bearing turntable one end is fixed on bevel gear, the other end is solid It is scheduled in entire garage bottom support, central axis, which is connect by the groove on insertion bearing turntable with central axis rotation module, matches It closes；First stepper motor drives first bevel gear rotation, and first bevel gear changes the direction of motion and movement is transformed into the second cone Gear, further drive shaft forward disk as second bevel gear is freely rotated.

2. bicycle intelligence underground parking garage according to claim 1, it is characterised in that: the center bed goes up and down module Including lifting motor module, six multi-directional balls, lifting motor module includes second stepper motor, gear and is fixed on central axis On rack gear, central axis be arranged two, three multi-directional balls of every central shaft arrangement, three multi-directional balls be mounted on center bed in Mandrel connection, that is, be mounted in center bed and resist three faces of every central axis, and second stepper motor passes through bolt It is fastened in center bed, the output axis connection of gear and second stepper motor, rack and pinion engagement, the second stepping electricity Machine rotation, band moving gear are moved up and down in rack gear, and then drive the raising and lowering of center bed on center shaft.

3. bicycle intelligence underground parking garage according to claim 1, it is characterised in that: the mechanical arm self-clamping module packet It includes mechanical arm, third stepper motor and digital steering engine, third stepper motor and is mounted on mechanical arm bottom, digital steering engine and mechanical arm Connection, digital steering engine drive mechanical arm top gear, open the clip for being connected to mechanical arm front and folder by gear engagement Tightly, bicycle is unclamped and is clamped, ensure that smooth motion of the bicycle in center bed；Meanwhile it being clamped certainly in mechanical arm In the case where driving, third stepper motor advances on center bed track, facilitates being taken into and taking out for bicycle.

4. bicycle intelligence underground parking garage according to claim 1, it is characterised in that: the garage door steering engine module packet Steering engine guide rail and steering engine are included, garage door is mounted on steering engine guide rail, and steering engine is connect with steering engine guide rail.

5. bicycle intelligence underground parking garage according to claim 4, it is characterised in that: the steering engine is using big torsion gold Belong to full-height tooth rudder MG996r steering engine.

6. bicycle intelligence underground parking garage according to claim 1, it is characterised in that: the garage parking further includes control system System and background server, control system include GPS/GPRS module, drive module, and GPS/GPRS module is for obtaining garage position Information, and garage car storage amount, information are transferred to background server, background server connection by TCP/UDP agreement GPS/GPRS module and cell phone client, the communication for realizing garage positioning and with cell phone client；Drive module and center First stepper motor of axis rotating module, center bed go up and down the third of the second stepper motor of module, mechanical arm self-clamping module Stepper motor is connected with the steering engine of garage door steering engine module, and the first stepping electricity is controlled after the information for receiving cell phone client Machine, second stepper motor, third stepper motor, steering engine movement are acted with completing bicycle parking and pick-up.