CN107795169A - A kind of vertical elevating garage system and its flat bed control method - Google Patents
A kind of vertical elevating garage system and its flat bed control method Download PDFInfo
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- CN107795169A CN107795169A CN201711239008.3A CN201711239008A CN107795169A CN 107795169 A CN107795169 A CN 107795169A CN 201711239008 A CN201711239008 A CN 201711239008A CN 107795169 A CN107795169 A CN 107795169A
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- lifting
- control device
- comb
- range finder
- laser range
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Elevator Control (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of vertical elevating garage system and its flat bed control method, by control device, Transport Vehicle instruction inputting device, display device, traversing component, complete using the lifting assembly of laser range finder vehicle deposit, withdraw action.Simple in construction, positive effect of the invention, realize accurate flat bed positioning and decelerability, it is ensured that vehicle exchanges steady carry out；Substantial amounts of position detecting switch is eliminated, so as to also eliminate the control cable of detection switch.Therefore equipment failure rate is greatly reduced, has saved spare part and installation and maintenance cost；The control device signal input module that pass is located with flat bed is eliminated, reduces equipment cost.
Description
Technical field
The present invention relates to a kind of lifting garage, belongs to machine automatization control field, specifically a kind of vertical elevating garage system
And its flat bed control method.
Background technology
The flat bed control method and system of existing vertical elevating garage, using installed on each level position in garage,
Lower deceleration position detecting switch, level position detection switch, bicycle parking holding fix detection switch, pick-up holding fix detection switch
Totally 5 switches.The signal of detection switch, in the signal input module by cable connection to controller.Controller passes through each inspection
The on off state of slowdown monitoring switch, the reaction action that judges the running position of lifting comb and should make.Due to switching, more, wiring is complicated
Fault rate is higher in actual use, and highest switch setting height(from bottom) is 50 meters, and after switching damage, replacing is inconvenient.And
And the personal safety to maintenance personal causes very big threat.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of vertical elevating garage system and its flat bed control
Method, substantial amounts of position detecting switch is eliminated, so as to save the control cable of detection switch, therefore greatly reduce equipment
Fault rate, spare part and installation and maintenance cost are saved.
To achieve these goals, the technical solution adopted by the present invention is：A kind of vertical elevating garage system, including for
Receive Transport Vehicle to instruct and send the control device of run action control command, the control device is connected with：Hung down for given
Straight lifting garage bicycle parking or the Transport Vehicle instruction inputting device of pick-up command information；Set for display system operational factor, parameter
Put and the display device of display alarm signal；Traversing component for the traversing control operation of Transport Vehicle；Vertically risen for Transport Vehicle
The lifting assembly of drop control operation；The lifting assembly includes being used to receive and perform control device order, controls lifting motor
Operation and detect motor working current lifting Frequency Drive Control device, it is described lifting Frequency Drive Control device be connected with
For the lifting motor for providing lifting drive, driving lifting is run, the lifting motor is connected with by lifting decelerator to be used for
The lifting drive sprocket of lifting force conduction device motion is driven, the lifting drive sprocket, which is connected with, to be arranged on for supporting lifting
It is in the lifting force conduction device pulley system of power conduction device, for transmitting lifting driving force to lifting comb, lifting counterweight
Lifting force conduction device；The lifting force conduction device is connected with the lifting comb in the vertical direction carrying vehicle, described
Lifting comb is connected with lifting counterweight, and the lifting motor is also associated with the speed of service for detecting lifting motor and feeds back to control
The encoding up/down device of device processed；The control device is also associated with the real time execution situation for detecting lifting comb and lifting counterweight
By mounting seat be arranged on lifting counterweight immediately below laser range finder, it is described lifting counterweight below laser range finder pair
Position is answered to be provided with laser range finder reflecting component.
Further, the mounting seat includes being provided with the mounting base of fixing hole, on the mounting base vertically upright
Laser range finder installation backup plate is fixed with, the bottom of the installation backup plate is provided with the installation for being used to install laser range finder
Hole, top are provided with the adjustment hole for adjusting laser range finder, and the adjustment hole is strip arcuate socket, the arc adjustment hole
The center of circle overlapped with mounting hole；Fixing hole is first passed through when fixed mounting seat is fixed to immediately below lifting counterweight, passing through bolt
Laser range finder is fixed in mounting hole, not locked, adjustment hole is passed through by opposite side bolt, behind good orientation to be regulated,
Bolt in adjustment hole and mounting hole is locked, it is ensured that laser range finder installation is firm.
Further, described lifting force conduction device is chain or steel wire rope, effectively can be provided lifting drive sprocket
Lifting force transmit to lifting comb and lifting counterweight, make lifting comb and lifting rise or fall motion to reforming.
A kind of flat bed control method of vertical elevating garage system, comprises the following steps：
A. Transport Vehicle judges, System self-test：
After Transport Vehicle instruction inputting device sends a signal to control device, car is deposited, withdrawed by control device identification signal and output
Instruction, simultaneity factor carry out self-test, re-detection laser range finder signal, whether in the reasonable scope see, if self-test by, when
It is transferred to step B during bicycle parking, is transferred to step C during pick-up；
B. parking storage：
A. lifting comb position is judged：
According to laser range finder transmit real time data judge lifting comb be presently in position, by lifting frequency conversion drive control
Device control lifting motor running processed, the operation of lifting comb is driven to one layer of parking initial bit；
B. destination layer N is entered：
After vehicle, in lifting, comb stops, personnel withdraw from and after pressing bicycle parking confirming button, control device, which passes through, controls lifting frequency conversion
Drive dynamic control device runs lifting motor, and then drives lifting force conduction device to pull on lifting comb by lifting drive sprocket
Rise；Control device monitors the position data of laser range finder feedback in real time during lifting comb operation, when up operation is combed in lifting
When, during to destination layer N-1 layers, the deceleration position data that prestored in control device action, laser ranging real time data and the deceleration that prestores
When position data is identical, deceleration command is performed：Control device sends reduce-speed sign to lifting Frequency Drive Control device, and then makes
Lifting motor runs slowly；Lifting combs low speed close to destination layer n upper level position, laser ranging real time data and upper put down that prestore
When layer position data is identical, parking order is performed：Control device sends stop signal to lifting Frequency Drive Control device, and then
Make lifting motor out of service, make lifting comb out of service and brake, upper flat bed positioning is completed；It is horizontal after the completion of upper flat bed positioning
Move component to move in liftway, control device receives traversing component in place after signal, performs vehicle and exchanges flat bed instruction：Control
Device processed sends signal control lifting comb and slowly declined, and treats the car that the data that laser range finder measures in real time prestore with control device
Exchange level position data it is identical when, perform parking order：Control device sends stop signal to lifting Frequency Drive Control
Device, and then make lifting motor out of service, making lifting comb out of service and brake, lifting comb stops 0.5S, after the time reaches,
Lifting comb continues to decline, and when laser range finder real time data is identical with leaving level position data in advance, performs parking order：Control
Device sends stop signal to lifting Frequency Drive Control device, and then makes lifting motor out of service, lifting comb is stopped fortune
Go and brake, vehicle, which exchanges, to be completed；The traversing traversing playback of comb, by vehicles drive to default parking stall, bicycle parking action is completed；
C. parking initial bit is returned：
After vehicle is shifted by traversing component, control device control lifting Frequency Drive Control device runs lifting motor, enters
And lifting force conduction device is driven to pull lifting comb to decline by lifting drive sprocket；Control device is real during lifting comb operation
When monitor the position data of laser range finder feedback, when descending operation is combed in lifting, during to two layers, prestore deceleration in control device
Position data works, and when laser ranging real time data is identical with the deceleration position data that prestores, performs deceleration command：Control device is sent out
Reduce-speed sign is sent to lifting Frequency Drive Control device, and then lifting motor is run slowly；Lifting combs low speed close to 1 layer of position
When, when laser ranging real time data is identical with the 1 layer of position data that prestore, perform parking order：Control device sends stop signal
To lifting Frequency Drive Control device, and then make lifting motor out of service, make lifting comb out of service and brake, reach one layer
Parking initial bit；
C. pick up the car outbound：
A. lifting comb position is judged：
According to laser range finder transmit real time data judge lifting comb be presently in position, determine up to destination layer N need
Want up or descending；
B. destination layer N is entered：
After control device judges, by controlling lifting Frequency Drive Control device to run lifting motor, and then pass through liter
Drop drive sprocket drives lifting force conduction device to pull lifting comb to rise or fall；Control device is real-time during lifting comb operation
The position data of laser range finder feedback is monitored, when up operation is combed in lifting, during to destination layer N-1 layers；When lifting comb is descending
During operation, during to destination layer N+1 layers；The deceleration position data that prestored in control device works, and laser ranging real time data is with prestoring
When deceleration position data is identical, deceleration command is performed：Control device sends reduce-speed sign to Frequency Drive Control device is lifted, and enters
And lifting motor is set to run slowly；Lifting comb low speed is close to destination layer n lower level position, and laser ranging real time data is with prestoring
When lower level position data are identical, parking order is performed：Control device sends stop signal and extremely lifts Frequency Drive Control device,
And then make lifting motor out of service, make lifting comb out of service and brake, lower flat bed positioning is completed；Lower flat bed positioning is completed
Afterwards, traversing component is moved in liftway, and control device receives traversing component in place after signal, is performed vehicle and is exchanged flat bed and refers to
Order：Control device sends signal control lifting comb and slowly risen, and treats that data that laser range finder measures in real time and control device are pre-
When the vehicle exchange level position data deposited are identical, parking order is performed：Control device sends stop signal and driven to frequency conversion is lifted
Dynamic control device, and then make lifting motor out of service, make lifting comb out of service and brake, lifting comb stops 0.5S, time
After arrival, lifting comb continues to rise, and when laser range finder real time data is identical with the upper level position data that prestore, performs parking life
Order：Control device sends stop signal to lifting Frequency Drive Control device, and then makes lifting motor out of service, combs lifting
Out of service and brake, vehicle, which exchanges, to be completed；The traversing traversing playback of comb, pick-up action are completed；
C. parking initial bit is returned：
After the unloaded traversing playback of traversing component, control device control lifting Frequency Drive Control device runs lifting motor,
And then lifting force conduction device is driven to pull lifting comb to decline by lifting drive sprocket；Control device is during lifting comb operation
The position data of monitoring laser range finder feedback in real time, when descending operation is combed in lifting, during to two layers, prestore and subtract in control device
Fast position data works, and when laser ranging real time data is identical with the deceleration position data that prestores, performs deceleration command：Control device
Reduce-speed sign is sent to lifting Frequency Drive Control device, and then lifting motor is run slowly；Lifting comb low speed is close to one layer
During position, when laser ranging real time data is identical with the one layer of position data that prestore, parking order is performed：Control device, which is sent, to be stopped
Signal makes lifting motor out of service to lifting Frequency Drive Control device, makes lifting comb out of service and brakes, reaches
One layer of parking initial bit.
The beneficial effects of the invention are as follows：Realize accurate flat bed positioning and decelerability, it is ensured that vehicle exchanges steadily to enter
OK；Substantial amounts of position detecting switch is eliminated, so as to also eliminate the control cable of detection switch.Therefore equipment is greatly reduced
Fault rate, spare part and installation and maintenance cost are saved；The control device signal input module that pass is located with flat bed is eliminated, is dropped
Low equipment cost.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention；
Fig. 2 is mounting seat structure chart of the present invention.
In figure：1st, control device, 2, Transport Vehicle instruction inputting device, 3, display device, 31, parameter recording module, 4, rise
Come down to a lower group part, 401, lifting Frequency Drive Control device, 402, lifting motor, 403, lifting decelerator, 404, lifting drive sprocket,
405th, lifting force conduction device, 406, lifting comb, 407, laser range finder, 408, lifting counterweight, 409, reflecting component, 410, lifting
Encoder, 5, traversing component, 6, mounting seat.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of vertical elevating garage system, including for receiving Transport Vehicle instruct and send run action
The control device 1 of control command, the control device 1 are connected with：Letter is instructed for giving vertical elevating garage bicycle parking or picking up the car
The Transport Vehicle instruction inputting device 2 of breath；Display device for display system operational factor, parameter setting and display alarm signal
3；Traversing component 5 for the traversing control operation of Transport Vehicle；The lifting assembly 4 of control operation is vertically moved up or down for Transport Vehicle；Institute
State the order that lifting assembly 4 includes being used to receiving and performing control device 1, the operation and detection lifting that control lifting motor 402
The lifting Frequency Drive Control device 401 of the operating current of motor 402, the lifting Frequency Drive Control device 401 are connected with use
In the lifting motor 402 for providing lifting drive, driving lifting is run, the lifting motor 402 is connected by lifting decelerator 403
There is the lifting drive sprocket 404 for driving lifting force conduction device 405 to move, the lifting drive sprocket 404, which is connected with, to be set
Put it is in the lifting force conduction device pulley system 411 for supporting lifting force conduction device 405, for transmit lifting driving
Power combs the lifting force conduction device 405 of 406, lifting counterweight 408 to lifting；The lifting force conduction device 405, which is connected with, to be used for
The lifting comb 406 of in the vertical direction carrying vehicle, the lifting comb 406 are connected with lifting counterweight 408, the lifting motor
402 are also associated with the speed of service for detecting lifting motor 402 and feed back to the encoding up/down device 410 of control device 1；It is described
Control device 1 is also associated with pacifying by mounting seat 6 for the real time execution situation for detecting lifting comb 406 and lifting counterweight 408
Laser range finder 407 immediately below lifting counterweight 408, correspondence of the lower section of lifting counterweight 408 in laser range finder 407
Position is provided with laser range finder reflecting component 409.
Further, the mounting seat 6 includes being provided with the mounting base 61 of fixing hole 62, vertical on the mounting base 61
The installation backup plate 63 of laser range finder 407 is up fixed with, the bottom of the installation backup plate 63 is provided with sharp for installing
The mounting hole 64 of optar 407, top are provided with the adjustment hole 65 for adjusting laser range finder 407, the adjustment hole 65
For strip arcuate socket, the center of circle of the arc adjustment hole 65 overlaps with mounting hole 64；Fixing hole 62 will be first passed through when fixed to be installed
Seat 6 is fixed to immediately below lifting counterweight 408, laser range finder 407 is being fixed in mounting hole 64 by bolt, Bu Yaosuo
Tightly, adjustment hole 65 is passed through by opposite side bolt, behind good orientation to be regulated, by the bolt lock in adjustment hole 65 and mounting hole 64
Tightly, it is ensured that it is firm that laser range finder 407 is installed.
Further, described lifting force conduction device 405 is chain or steel wire rope, effectively can will lift drive sprocket
404 provide lifting force transmit to lifting comb 406 and lifting counterweight 408, make lifting comb 406 and lifting counterweight 408 do rise or
Descending motion.
A kind of flat bed control method of vertical elevating garage system, comprises the following steps：
A. Transport Vehicle judges, System self-test：
After Transport Vehicle instruction inputting device 2 sends a signal to control device 1, deposited, withdrawed by the identification signal of control device 1 and output
Car instructs, and in the reasonable scope whether simultaneity factor carries out self-test, the signal of re-detection laser range finder 407, see, if self-test
By being transferred to step B when bicycle parking, being transferred to step C during pick-up；
B. parking storage：
A. lifting comb position is judged：
According to laser range finder 407 transmit real time data judge lifting comb 406 be presently in position, by lifting frequency conversion
Drive dynamic control device 401 controls lifting motor 402 to operate, and drives the operation of lifting comb 406 to one layer of parking initial bit；
B. destination layer N is entered：
After vehicle after lifting comb 406 stops, personnel withdraw from and presses bicycle parking confirming button, control device 1 is lifted by controlling
Frequency Drive Control device 401 runs lifting motor 402, and then drives lifting force conduction dress by lifting drive sprocket 404
405 pullings lifting comb 406 is put to rise；Monitoring laser range finder 407 feeds back control device 1 in real time during the operation of lifting comb 406
Position data, when 406 up operation is combed in lifting, during to destination layer N-1 layers, prestore deceleration position data in control device 1
Work, when the real time data of laser range finder 407 is identical with the deceleration position data that prestores, perform deceleration command：Control device 1 is sent
Reduce-speed sign makes lifting motor 402 run slowly to lifting Frequency Drive Control device 401；Lifting 406 low speed of comb approach
Destination layer n upper level position, when the real time data of laser range finder 407 is identical with the upper level position data that prestore, perform parking
Order：Control device 1 sends stop signal to lifting Frequency Drive Control device 401, and then lifting motor 402 is stopped fortune
OK, make lifting comb 406 out of service and brake, upper flat bed positioning is completed；After the completion of upper flat bed positioning, traversing component 5 moves to liter
Drop in passage, control device 1 receives traversing component 5 in place after signal, performs vehicle and exchanges flat bed instruction：Control device 1 is sent out
Go out signal control lifting comb 406 slowly to decline, treat the car that the data that laser range finder 407 measures in real time prestore with control device 1
Exchange level position data it is identical when, perform parking order：Control device 1 sends stop signal to lifting Frequency Drive Control
Device 401, and then make lifting motor 402 out of service, make lifting comb 406 out of service and brake, lifting comb 406 stops
0.5S, after the time reaches, lifting comb 406 continues to decline, and the real time data of laser range finder 407 with leaving level position data phase in advance
Meanwhile perform parking order：Control device 1 sends stop signal to lifting Frequency Drive Control device 401, and then makes lifting electric
Machine 402 is out of service, makes lifting comb 406 out of service and brakes, and vehicle, which exchanges, to be completed；The traversing playback of the traversing carrier vehicle of component 5, will
Vehicles drive on default parking stall, complete by bicycle parking action；
C. parking initial bit is returned：
After vehicle is shifted by traversing component 5, the control lifting Frequency Drive Control of control device 1 device 401 transports lifting motor
OK, and then by lifting drive sprocket 404 lifting force conduction device 405 is driven to pull lifting comb 406 to decline；Control device 1 exists
The position data that monitoring laser range finder 407 feeds back in real time during the operation of lifting comb 406, when 406 descending operation is combed in lifting, extremely
At two layers, the deceleration position data that prestored in control device 1 works, and Laser Measuring instrument 407 is away from real time data and the deceleration positional number that prestores
According to it is identical when, perform deceleration command：Control device 1 sends reduce-speed sign to lifting Frequency Drive Control device 401, and then makes liter
Drop motor 402 runs slowly；When lifting 406 low speed of comb are close to 1 layer of position, the real time data of laser range finder 407 and the 1 layer of position that prestore
Put data it is identical when, perform parking order：Control device 1 sends stop signal to lifting Frequency Drive Control device 401, and then
Make lifting motor 402 out of service, make lifting comb 406 out of service and brake, reach one layer of parking initial bit；
C. pick up the car outbound：
A. lifting comb position is judged：
According to laser range finder 407 transmit real time data judge lifting comb 406 be presently in position, determine up to target
Layer N needs up or descending；
B. destination layer N is entered：
After control device 1 judges, by controlling lifting Frequency Drive Control device 401 to run lifting motor 402, and then
Lifting force conduction device 405 is driven to pull lifting comb 406 to rise or fall by lifting drive sprocket 404；Control device 1 is rising
The position data that monitoring laser range finder 407 feeds back in real time during the operation of drop comb 406, when 406 up operation is combed in lifting, to mesh
When marking layer N-1 layers；When 406 descending operation is combed in lifting, during to destination layer N+1 layers；Prestore deceleration position data in control device 1
Work, when the real time data of laser range finder 407 is identical with the deceleration position data that prestores, perform deceleration command：Control device 1 is sent
Reduce-speed sign makes lifting motor 402 run slowly to lifting Frequency Drive Control device 401；Lifting 406 low speed of comb approach
Destination layer n lower level position, when the real time data of laser range finder 407 is identical with leaving level position data in advance, perform parking
Order：Control device 1 sends stop signal to lifting Frequency Drive Control device 401, and then lifting motor 402 is stopped fortune
OK, make lifting comb 406 out of service and brake, lower flat bed positioning is completed；After the completion of lower flat bed positioning, the traversing carrier vehicle of component 5 is moved
To liftway, control device 1 receives traversing component 5 in place after signal, performs vehicle and exchanges flat bed instruction：Control device
1, which sends signal control lifting comb 406, slowly rises, and treats that data that laser range finder 407 measures in real time prestore with control device 1
When vehicle exchange level position data are identical, parking order is performed：Control device 1 sends stop signal to lifting frequency conversion drive control
Device 401 processed, and then make lifting motor 402 out of service, make lifting comb 406 out of service and brake, lifting comb 406 stops
0.5S, after the time reaches, lifting comb 406 continues to rise, the real time data of laser range finder 407 and the upper level position data phase that prestores
Meanwhile perform parking order：Control device 1 sends stop signal to lifting Frequency Drive Control device 401, and then makes lifting electric
Machine 402 is out of service, makes lifting comb 406 out of service and brakes, and vehicle, which exchanges, to be completed；The traversing unloaded traversing playback of component 5, takes
Car action is completed；
C. parking initial bit is returned：
After the unloaded traversing playback of traversing component 5, the control lifting Frequency Drive Control of control device 1 device 401 makes lifting motor
402 operations, and then drive lifting force conduction device 405 to pull lifting comb 406 to decline by lifting drive sprocket 404；Control dress
1 position data that monitoring laser range finder 407 feeds back in real time during the operation of lifting comb 406 is put, when 406 descending operations are combed in lifting
When, during to two layers, the deceleration position data that prestored in control device 1 action, the real time data of laser range finder 407 and the deceleration position that prestores
Put data it is identical when, perform deceleration command：Control device 1 sends reduce-speed sign to lifting Frequency Drive Control device 401, and then
Lifting motor 402 is set to run slowly；When lifting 406 low speed of comb are close to one layer of position, the real time data of laser range finder 407 is with prestoring
When one layer of position data is identical, parking order is performed：Control device 1 sends stop signal to lifting Frequency Drive Control device
401, and then make lifting motor 402 out of service, make lifting comb 406 out of service and brake, reach one layer of parking initial bit.
The present invention uses by the way that bus will lift Frequency Drive Control device 401, display device 3 integrates with control device 1
The speed of service of lifting motor 402 is controlled lifting Frequency Drive Control device 401 and the operating current to lifting motor 402
Detected in real time；Lifting 406 real time positions of comb are detected using laser range finder 407, laser range finder 407 is by interior
Portion's circuit, the distance signal of position is converted into 0-20mA electric signal, then by special control device module electric signal
Control device 1 is read in after being converted into digital information；Laser range finder 407 is fed back to by manual synchronizing by each of control device 1
Layer level position information, is stored in control device 1 in advance in digital form, upper and lower deceleration and the positioning of upper and lower flat bed
It is stored in advance in control device 1 by the form of numeral；When the lifting of lifting comb 406 runs to destination layer N deceleration position, control dress
When putting the laser live data values and equal deceleration position preset value inside 1, control device 1 gives lifting Frequency Drive Control device
401 send deceleration instruction, and lifting 406 speeds of service of comb are down to low speed, slowly close to destination layer N level position, control device 1
When the laser live data values and equal destination layer N positions preset value of inside, control device 1 sends stopping to lifting frequency converter and referred to
Order, the operation of lifting comb 406 stop, and positioning is completed；When laser range finder 407 is removed or is blocked, control device 1 control this be
System is stopped and method goes out signal control display device 3 and sends alarm signal.
In summary, simple in construction, positive effect of the invention, accurate flat bed positioning and decelerability are realized, it is ensured that
Vehicle exchanges steady carry out；Substantial amounts of position detecting switch is eliminated, so as to also eliminate the control cable of detection switch.Therefore
Equipment failure rate is greatly reduced, has saved spare part and installation and maintenance cost；Eliminate the control device that pass is located with flat bed
Signal input module, reduce equipment cost.
Claims (3)
1. a kind of vertical elevating garage system, including instructed for receiving Transport Vehicle and send the control of run action control command
Device processed（1）, the control device（1）It is connected with：For giving vertical elevating garage bicycle parking or the access of pick-up command information
Car instruction inputting device（2）；Display device for display system operational factor, parameter setting and display alarm signal（3）；With
In the traversing component of the traversing control operation of Transport Vehicle（5）；The lifting assembly of control operation is vertically moved up or down for Transport Vehicle（4）；Its
It is characterised by, the lifting assembly（4）Including for receiving and performing control device（1）Order, control lifting motor（402）
Operation and detection lifting motor（402）The lifting Frequency Drive Control device of operating current（401）, the lifting frequency conversion drive
Control device（401）It is connected with the lifting motor for providing lifting drive, driving lifting is run（402）, the lifting motor
（402）Pass through lifting decelerator（403）It is connected with for driving lifting force conduction device（405）The lifting drive sprocket of motion
（404）, the lifting drive sprocket（404）It is connected with and is arranged on for supporting lifting force conduction device（405）Lifting force pass
Lead device pulley system（411）On, for transmit lifting driving force to lift comb（406）, lifting counterweight（408）Lifting force
Conduction device（405）；The lifting force conduction device（405）It is connected with the lifting comb in the vertical direction carrying vehicle
（406）, the lifting comb（406）It is connected with lifting counterweight（408）, the lifting motor（402）It is also associated with being used to detect rising
Motor drops（402）The speed of service and feed back to control device（1）Encoding up/down device（410）；The control device（1）Also connect
It is connected to for detecting lifting comb（406）And lifting counterweight（408）Real time execution situation pass through mounting seat（6）Installed in lifting
Counterweight（408）The laser range finder of underface（407）, the lifting counterweight（408）Lower section is in laser range finder（407）Correspondence
Position is provided with laser range finder reflecting component（409）.
A kind of 2. vertical elevating garage system according to claim 1, it is characterised in that the mounting seat（6）Including setting
It is equipped with fixing hole（62）Mounting base（61）, the mounting base（61）On be vertically upright fixed with laser range finder
（407）Installation backup plate（63）, the installation backup plate（63）Bottom be provided with for installing laser range finder（407）Peace
Fill hole（64）, top is provided with for adjusting laser range finder（407）Adjustment hole（65）, the adjustment hole（65）For strip arc
Shape hole, the arc adjustment hole（65）The center of circle overlapped with mounting hole (64).
3. a kind of control method of crane full working scope oil consumption monitoring system, it is characterised in that including described in claim 1 or 2
A kind of crane full working scope oil consumption monitoring system, and including step：
A. Transport Vehicle judges, System self-test：
When Transport Vehicle instruction inputting device（2）Send a signal to control device（1）Afterwards, by control device（1）Identification signal is simultaneously defeated
Go out to deposit, withdraw car instruction, simultaneity factor carries out self-test, re-detection laser range finder（407）Signal, whether see in zone of reasonableness
It is interior, if self-test is by being transferred to step B when bicycle parking, being transferred to step C during pick-up；
B. parking storage：
A. lifting comb position is judged：
According to laser range finder（407）The real time data of transmission judges lifting comb（406）Be presently in position, pass through lifting
Frequency Drive Control device（401）Control lifting motor（402）Running, drive lifting comb（406）Operation is initial to one layer of parking
Position；
B. destination layer N is entered：
Treat that vehicle is combed in lifting（406）Stop, personnel withdraw from and after pressing bicycle parking confirming button, control device（1）Pass through control
Lift Frequency Drive Control device（401）Make lifting motor（402）Operation, and then by lifting drive sprocket（404）Drive and rise
Power conduction device drops（405）Pull lifting comb（406）Rise；Control device（1）Combed in lifting（406）Monitored in real time during operation
Laser range finder（407）The position data of feedback, when lifting is combed（406）During up operation, during to destination layer N-1 layers, control dress
Put（1）The deceleration position data that inside prestores works, laser range finder（407）When real time data is identical with the deceleration position data that prestores,
Perform deceleration command：Control device（1）Reduce-speed sign is sent to lifting Frequency Drive Control device（401）, and then make lifting electric
Machine（402）Run slowly；Lifting comb（406）Low speed is close to destination layer n upper level position, laser range finder（407）Number in real time
According to it is identical with the upper level position data that prestore when, perform parking order：Control device（1）Send stop signal and driven to frequency conversion is lifted
Dynamic control device（401）, and then make lifting motor（402）It is out of service, comb lifting（406）It is out of service and brake, it is upper flat
Layer positioning is completed；After the completion of upper flat bed positioning, traversing component（5）Move in liftway, control device（1）Receive traversing group
Part（5）In place after signal, perform vehicle and exchange flat bed instruction：Control device（1）Send signal control lifting comb（406）Under slowly
Drop, treats laser range finder（407）The data and control device measured in real time（1）It is identical that the vehicle to prestore exchanges level position data
When, perform parking order：Control device（1）Stop signal is sent to lifting Frequency Drive Control device（401）, and then make lifting
Motor（402）It is out of service, comb lifting（406）It is out of service and brake, lifting comb（406）Stop 0.5S, after the time reaches,
Lifting comb（406）Continue to decline, laser range finder（407）When real time data is identical with leaving level position data in advance, execution stops
Car order：Control device（1）Stop signal is sent to lifting Frequency Drive Control device（401）, and then make lifting motor（402）
It is out of service, comb lifting（406）Out of service and brake, vehicle, which exchanges, to be completed；Traversing component（5）The traversing playback of carrier vehicle, will
Vehicles drive on default parking stall, complete by bicycle parking action；
C. parking initial bit is returned：
Treat vehicle by traversing component（5）After transfer, control device（1）Control lifting Frequency Drive Control device（401）Make lifting
Motor operation, and then by lifting drive sprocket（404）Drive lifting force conduction device（405）Pull lifting comb（406）Decline；
Control device（1）Combed in lifting（406）Laser range finder is monitored during operation in real time（407）The position data of feedback, works as lifting
Comb（406）During descending operation, during to two layers, control device（1）The deceleration position data that inside prestores works, Laser Measuring instrument（407）Away from
When real time data is identical with the deceleration position data that prestores, deceleration command is performed：Control device（1）Send reduce-speed sign to lift become
Frequency drive dynamic control device（401）, and then make lifting motor（402）Run slowly；Lifting comb（406）Low speed approaches（1）Layer position
When, laser range finder（407）Real time data is with prestoring（1）When layer position data is identical, parking order is performed：Control device（1）
Stop signal is sent to lifting Frequency Drive Control device（401）, and then make lifting motor（402）It is out of service, comb lifting
（406）It is out of service and brake, reach one layer of parking initial bit；
C. pick up the car outbound：
A. lifting comb position is judged：
According to laser range finder（407）The real time data of transmission judges lifting comb（406）Be presently in position, determine and reach
Destination layer N needs up or descending；
B. destination layer N is entered：
Control device（1）After judgement, Frequency Drive Control device is lifted by controlling（401）Make lifting motor（402）Fortune
OK, and then by lifting drive sprocket（404）Drive lifting force conduction device（405）Pull lifting comb（406）Rise or fall；
Control device（1）Combed in lifting（406）Laser range finder is monitored during operation in real time（407）The position data of feedback, works as lifting
Comb（406）During up operation, during to destination layer N-1 layers；When lifting is combed（406）During descending operation, during to destination layer N+1 layers；Control
Device processed（1）The deceleration position data that inside prestores works, laser range finder（407）Real time data is identical with the deceleration position data that prestores
When, perform deceleration command：Control device（1）Reduce-speed sign is sent to lifting Frequency Drive Control device（401）, and then make lifting
Motor（402）Run slowly；Lifting comb（406）Low speed is close to destination layer n lower level position, laser range finder（407）In real time
When data are identical with leaving level position data in advance, parking order is performed：Control device（1）Stop signal is sent to lifting frequency conversion
Drive dynamic control device（401）, and then make lifting motor（402）It is out of service, comb lifting（406）It is out of service and brake, under
Flat bed positioning is completed；After the completion of lower flat bed positioning, traversing component（5）Carrier vehicle is moved in liftway, control device（1）Receive
Traversing component（5）In place after signal, perform vehicle and exchange flat bed instruction：Control device（1）Send signal control lifting comb（406）
Slowly rise, treat laser range finder（407）The data and control device measured in real time（1）The vehicle to prestore exchanges level position number
According to it is identical when, perform parking order：Control device（1）Stop signal is sent to lifting Frequency Drive Control device（401）, and then
Make lifting motor（402）It is out of service, comb lifting（406）It is out of service and brake, lifting comb（406）Stop 0.5S, time
After arrival, lifting comb（406）Continue to rise, laser range finder（407）When real time data is identical with the upper level position data that prestore,
Perform parking order：Control device（1）Stop signal is sent to lifting Frequency Drive Control device（401）, and then make lifting electric
Machine（402）It is out of service, comb lifting（406）Out of service and brake, vehicle, which exchanges, to be completed；Traversing component（5）It is unloaded traversing
Playback, pick-up action are completed；
C. parking initial bit is returned：
Treat traversing component（5）After unloaded traversing playback, control device（1）Control lifting Frequency Drive Control device（401）Make liter
Motor drops（402）Operation, and then by lifting drive sprocket（404）Drive lifting force conduction device（405）Pull lifting comb
（406）Decline；Control device（1）Combed in lifting（406）Laser range finder is monitored during operation in real time（407）The positional number of feedback
According to when lifting is combed（406）During descending operation, during to two layers, control device（1）The deceleration position data that inside prestores works, Laser Measuring
Distance meter（407）When real time data is identical with the deceleration position data that prestores, deceleration command is performed：Control device（1）Send the letter that slows down
Number to lifting Frequency Drive Control device（401）, and then make lifting motor（402）Run slowly；Lifting comb（406）Low speed approaches
During one layer of position, laser range finder（407）When real time data is identical with the one layer of position data that prestore, parking order is performed：Control
Device（1）Stop signal is sent to lifting Frequency Drive Control device（401）, and then make lifting motor（402）It is out of service, make
Lifting comb（406）It is out of service and brake, reach one layer of parking initial bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711239008.3A CN107795169B (en) | 2017-11-30 | 2017-11-30 | Vertical lifting garage system and leveling control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711239008.3A CN107795169B (en) | 2017-11-30 | 2017-11-30 | Vertical lifting garage system and leveling control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN107795169A true CN107795169A (en) | 2018-03-13 |
| CN107795169B CN107795169B (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711239008.3A Active CN107795169B (en) | 2017-11-30 | 2017-11-30 | Vertical lifting garage system and leveling control method thereof |
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| CN108643651A (en) * | 2018-05-07 | 2018-10-12 | 苏州汇川技术有限公司 | The vertical operation control system in automobile tower library and method |
| CN110952814A (en) * | 2019-11-25 | 2020-04-03 | 湖北民族大学 | Vertical lifting type stereo garage control system |
| CN113565357A (en) * | 2021-08-06 | 2021-10-29 | 安徽春华智能科技有限公司 | Safety protection system for vertical parking equipment |
| CN114263383A (en) * | 2021-11-26 | 2022-04-01 | 云南昆船智能装备有限公司 | Multi-shaft driven vertical lifting leveling system |
| CN116576921A (en) * | 2023-07-07 | 2023-08-11 | 成都艾视特信息技术有限公司 | Digital parking space monitoring and management system and method based on artificial intelligence |
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| Publication number | Publication date |
|---|---|
| CN107795169B (en) | 2023-08-29 |
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