CN107795169B - Vertical lifting garage system and leveling control method thereof - Google Patents
Vertical lifting garage system and leveling control method thereof Download PDFInfo
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- CN107795169B CN107795169B CN201711239008.3A CN201711239008A CN107795169B CN 107795169 B CN107795169 B CN 107795169B CN 201711239008 A CN201711239008 A CN 201711239008A CN 107795169 B CN107795169 B CN 107795169B
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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
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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
- E04H6/42—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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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Elevator Control (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a vertical lifting garage system and a leveling control method thereof. The invention has simple structure and obvious effect, realizes accurate leveling positioning and deceleration performance, and ensures that vehicle exchange is performed stably; a large number of position detection switches are eliminated, and thus the control cables for the detection switches are also eliminated. Therefore, the equipment failure rate is greatly reduced, and spare parts and installation and maintenance costs are saved; and a signal input module of a control device related to flat layer positioning is omitted, so that the equipment cost is reduced.
Description
Technical Field
The invention relates to a lifting garage, belongs to the field of mechanical automatic control, and in particular relates to a vertical lifting garage system and a leveling control method thereof.
Background
The conventional leveling control method and system for the vertical lifting garage are characterized in that an upper deceleration position detection switch, a lower deceleration position detection switch, a leveling position detection switch, a parking waiting position detection switch and a picking-up waiting position detection switch are arranged on each leveling position of the garage, wherein the total number of the switches is 5. The signal of the detection switch is connected to the signal input module of the controller through a cable. The controller judges the running position of the lifting comb and the response action to be made according to the switch state of each detection switch. Because the switches are more, the fault rate is higher in the complex practical use process of wiring, the highest switch installation height is 50 meters, and the switch is very inconvenient to replace after being damaged. And the personal safety of maintenance personnel is greatly threatened.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the vertical lifting garage system and the leveling control method thereof, which cancel a large number of position detection switches, thereby saving control cables of the detection switches, greatly reducing equipment failure rate and saving spare parts and installation and maintenance costs.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a vertical lift garage system comprising a control device for receiving and storing a vehicle access instruction and issuing an operation action control command, the control device being connected with: the vehicle storing and taking instruction input device is used for giving vehicle storing or taking instruction information of the vertical lifting garage; the display device is used for displaying system operation parameters, parameter setting and alarm signals; the traversing assembly is used for accessing the traversing control operation of the vehicle; the lifting assembly is used for controlling the vertical lifting of the storage vehicle to operate; the lifting assembly comprises a lifting frequency conversion driving control device for receiving and executing a control device command, controlling the operation of a lifting motor and detecting the working current of the motor, wherein the lifting frequency conversion driving control device is connected with a lifting motor for providing lifting power and driving the lifting operation, the lifting motor is connected with a lifting driving sprocket for driving a lifting force transmission device to move through a lifting speed reducer, and the lifting driving sprocket is connected with a lifting force transmission device which is arranged on a lifting force transmission device pulley system for supporting the lifting force transmission device and used for transmitting the lifting driving force to a lifting comb and a lifting counterweight; the lifting force transmission device is connected with a lifting comb for carrying the vehicle in the vertical direction, the lifting comb is connected with a lifting counterweight, and the lifting motor is also connected with a lifting encoder for detecting the running speed of the lifting motor and feeding back to the control device; the control device is also connected with a laser range finder which is used for detecting the real-time running conditions of the lifting comb and the lifting counterweight and is arranged under the lifting counterweight through a mounting seat, and a laser range finder reflecting piece is arranged at a corresponding position of the laser range finder under the lifting counterweight.
Further, the mounting seat comprises a mounting bottom plate provided with a fixing hole, a laser range finder mounting backup plate is vertically and upwards fixed on the mounting bottom plate, a mounting hole for mounting the laser range finder is formed in the lower portion of the mounting backup plate, an adjusting hole for adjusting the laser range finder is formed in the upper portion of the mounting backup plate, the adjusting hole is a long-strip arc hole, and the circle center of the arc adjusting hole coincides with the mounting hole; during fixing, the mounting seat is fixed to the position right below the lifting counterweight through the fixing hole, the laser range finder is fixed to the mounting hole through the bolt without locking, the bolt passes through the adjusting hole through the other side, and after the azimuth is adjusted, the adjusting hole and the bolt in the mounting hole are locked, so that the laser range finder is firmly installed.
Further, the lifting force transmission device is a chain or a steel wire rope, and can effectively transmit lifting force provided by the lifting driving chain wheel to the lifting comb and the lifting counterweight, so that the lifting comb and the lifting counterweight do lifting or descending movement.
A flat layer control method of a vertical lifting garage system comprises the following steps:
A. judging the vehicle storage and taking, and performing system self-checking:
when the vehicle storing and taking command input device sends a signal to the control device, the control device recognizes the signal and outputs the vehicle storing and taking command, meanwhile, the system performs self-checking, focuses on detecting the laser range finder signal and judges whether the laser range finder signal is in a reasonable range, if the self-checking is passed, the step B is carried out when the vehicle is stored, and the step C is carried out when the vehicle is taken;
B. parking and warehousing:
a. judging the position of the lifting comb:
judging the current position of the lifting comb according to real-time data transmitted by the laser range finder, controlling the lifting motor to operate by the lifting variable frequency driving control device, and driving the lifting comb to operate to a layer of parking initial position;
b. entering a target layer N:
after the lifting comb is stopped, the person withdraws and presses a vehicle storage determining button, the control device controls the lifting variable frequency driving control device to enable the lifting motor to operate, and then the lifting driving chain wheel drives the lifting force transmission device to pull the lifting comb to ascend; the control device monitors the position data fed back by the laser range finder in real time during the operation of the lifting comb, when the lifting comb moves upwards, and when the lifting comb reaches the target layer N-1, the control device pre-stores the deceleration position data to play a role, and when the laser range finding real-time data is identical with the pre-stored deceleration position data, the deceleration command is executed: the control device sends a deceleration signal to the lifting frequency conversion driving control device, so that the lifting motor runs in a decelerating mode; and when the lifting comb approaches to the upper flat layer position of the target layer n at a low speed and the laser ranging real-time data is the same as the pre-stored upper flat layer position data, executing a parking command: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and the upper leveling positioning is completed; after the upper leveling layer is positioned, the transverse moving assembly moves into the lifting channel, and after receiving a transverse moving assembly in-place signal, the control device executes a vehicle leveling layer exchange instruction: the control device sends out a signal to control the lifting comb to slowly descend, and when the data measured in real time by the laser range finder is the same as the vehicle exchange flat layer position data pre-stored by the control device, a parking command is executed: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, the lifting comb stops for 0.5S, after the time arrives, the lifting comb continues to descend, and when the real-time data of the laser range finder is the same as the pre-stored flat layer position data, the parking command is executed: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and the vehicle exchange is completed; the transverse movement comb transversely moves and returns to the position, the vehicle is conveyed to a preset parking space, and the vehicle storage action is completed;
c. returning to the parking initial position:
after the vehicle is transferred by the transverse moving assembly, the control device controls the lifting variable frequency driving control device to enable the lifting motor to run, and then the lifting driving chain wheel drives the lifting force transmission device to pull the lifting comb to descend; the control device monitors the position data fed back by the laser range finder in real time during the operation of the lifting comb, when the lifting comb runs down to two layers, the control device pre-stores the deceleration position data to play a role, and when the laser range finding real-time data is identical with the pre-stored deceleration position data, the deceleration command is executed: the control device sends a deceleration signal to the lifting frequency conversion driving control device, so that the lifting motor runs in a decelerating mode; when the lifting comb approaches to the 1-layer position at a low speed, executing a parking command when the laser ranging real-time data is the same as the pre-stored 1-layer position data: the control device sends a stop signal to the lifting variable frequency drive control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and a layer of parking initial position is reached;
C. taking out the vehicle and leaving the warehouse:
a. judging the position of the lifting comb:
judging the current position of the lifting comb according to real-time data transmitted by the laser range finder, and judging whether the lifting comb needs to go up or down when reaching the target layer N;
b. entering a target layer N:
after the control device judges, the lifting motor is operated by controlling the lifting variable-frequency driving control device, and then the lifting force transmission device is driven by the lifting driving chain wheel to pull the lifting comb to ascend or descend; the control device monitors position data fed back by the laser range finder in real time during the operation of the lifting comb, and when the lifting comb moves upwards, the lifting comb reaches the target layer N-1; when the lifting comb runs downwards, the lifting comb reaches the target layer N+1; pre-storing deceleration position data in the control device to play a role, and executing a deceleration command when the laser ranging real-time data are the same as the pre-stored deceleration position data: the control device sends a deceleration signal to the lifting frequency conversion driving control device, so that the lifting motor runs in a decelerating mode; and when the lifting comb approaches to the lower flat layer position of the target layer n at a low speed and the laser ranging real-time data is the same as the pre-stored lower flat layer position data, executing a parking command: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and the lower leveling layer positioning is completed; after the lower leveling layer is positioned, the traversing assembly moves into the lifting channel, and after receiving the in-place signal of the traversing assembly, the control device executes a vehicle leveling layer exchanging instruction: the control device sends out a signal to control the lifting comb to slowly ascend, and when the data measured in real time by the laser range finder is the same as the vehicle exchange flat layer position data pre-stored by the control device, a parking command is executed: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, the lifting comb stops for 0.5S, after the time arrives, the lifting comb continues to ascend, and when the real-time data of the laser range finder is the same as the pre-stored upper leveling position data, the parking command is executed: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and the vehicle exchange is completed; the traversing comb traverses and returns to a position, and the vehicle taking action is completed;
c. returning to the parking initial position:
after the traverse assembly is in idle-load traverse homing, the control device controls the lifting variable frequency driving control device to enable the lifting motor to run, and then the lifting driving sprocket drives the lifting force transmission device to pull the lifting comb to descend; the control device monitors the position data fed back by the laser range finder in real time during the operation of the lifting comb, when the lifting comb runs down to two layers, the control device pre-stores the deceleration position data to play a role, and when the laser range finding real-time data is identical with the pre-stored deceleration position data, the deceleration command is executed: the control device sends a deceleration signal to the lifting frequency conversion driving control device, so that the lifting motor runs in a decelerating mode; when the lifting comb approaches to one layer of position at low speed, executing a parking command when the laser ranging real-time data is the same as the pre-stored one layer of position data: the control device sends a stop signal to the lifting frequency conversion driving control device, so that the lifting motor stops running, the lifting comb stops running and is braked, and a layer of parking initial position is achieved.
The beneficial effects of the invention are as follows: accurate leveling positioning and deceleration performance are realized, and stable vehicle exchange is ensured; a large number of position detection switches are eliminated, and thus the control cables for the detection switches are also eliminated. Therefore, the equipment failure rate is greatly reduced, and spare parts and installation and maintenance costs are saved; and a signal input module of a control device related to flat layer positioning is omitted, so that the equipment cost is reduced.
Drawings
FIG. 1 is a block diagram of the structure of the present invention;
fig. 2 is a block diagram of the mounting base of the present invention.
In the figure: 1. the system comprises a control device, a vehicle access command input device, a display device, a parameter input module, a lifting assembly, a lifting frequency conversion driving control device, a lifting motor, a lifting speed reducer, a lifting driving sprocket, a lifting force transmission device, a lifting comb, a laser range finder, a lifting counterweight, a 409, a reflecting piece, a 410, a lifting encoder, a traversing assembly, a lifting motor, a lifting speed reducer, a lifting driving sprocket, a lifting force transmission device, a lifting comb, a laser range finder, a lifting counterweight, a 409, a reflecting piece, a lifting encoder, a traversing assembly, a lifting encoder and a mounting seat.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a vertical lift garage system includes a control device 1 for receiving and storing a vehicle-taking command and issuing an operation control command, the control device 1 being connected with: a vehicle access instruction input device 2 for giving vehicle storage or vehicle access instruction information to the vertical lift garage; the display device 3 is used for displaying system operation parameters, parameter setting and alarm signals; the traversing assembly 5 is used for accessing the traversing control operation of the vehicle; the lifting assembly 4 is used for controlling the vertical lifting of the storage vehicle to operate; the lifting assembly 4 comprises a lifting variable frequency driving control device 401 for receiving and executing a command of the control device 1, controlling the operation of the lifting motor 402 and detecting the working current of the lifting motor 402, wherein the lifting variable frequency driving control device 401 is connected with the lifting motor 402 for providing lifting power and driving the lifting operation, the lifting motor 402 is connected with a lifting driving sprocket 404 for driving a lifting force conducting device 405 to move through a lifting speed reducer 403, and the lifting driving sprocket 404 is connected with a lifting force conducting device 405 which is arranged on a lifting force conducting device pulley system 411 for supporting the lifting force conducting device 405 and is used for transmitting the lifting driving force to a lifting comb 406 and a lifting counterweight 408; the lifting force conducting device 405 is connected with a lifting comb 406 for carrying the vehicle in the vertical direction, the lifting comb 406 is connected with a lifting counterweight 408, and the lifting motor 402 is also connected with a lifting encoder 410 for detecting the running speed of the lifting motor 402 and feeding back to the control device 1; the control device 1 is also connected with a laser range finder 407 which is used for detecting the real-time running condition of the lifting comb 406 and the lifting counterweight 408 and is arranged under the lifting counterweight 408 through the mounting seat 6, and a laser range finder reflecting piece 409 is arranged at a corresponding position of the laser range finder 407 under the lifting counterweight 408.
Further, the mounting seat 6 comprises a mounting bottom plate 61 provided with a fixing hole 62, a mounting backup plate 63 of the laser range finder 407 is vertically and upwardly fixed on the mounting bottom plate 61, a mounting hole 64 for mounting the laser range finder 407 is arranged at the lower part of the mounting backup plate 63, an adjusting hole 65 for adjusting the laser range finder 407 is arranged at the upper part of the mounting backup plate, the adjusting hole 65 is a long arc hole, and the center of the arc adjusting hole 65 coincides with the mounting hole 64; during fixing, the mounting seat 6 is fixed under the lifting counterweight 408 through the fixing hole 62, the laser range finder 407 is fixed in the mounting hole 64 through the bolt without locking, the bolt passes through the adjusting hole 65 through the other side, and after the azimuth is adjusted, the adjusting hole 65 and the bolt in the mounting hole 64 are locked, so that the laser range finder 407 is firmly mounted.
Further, the lifting force transmitting device 405 is a chain or a steel wire rope, and can effectively transmit the lifting force provided by the lifting driving sprocket 404 to the lifting comb 406 and the lifting counterweight 408, so that the lifting comb 406 and the lifting counterweight 408 can perform lifting or descending motion.
A flat layer control method of a vertical lifting garage system comprises the following steps:
A. judging the vehicle storage and taking, and performing system self-checking:
when the vehicle storing and taking command input device 2 sends a signal to the control device 1, the control device 1 recognizes the signal and outputs the vehicle storing and taking command, meanwhile, the system performs self-checking, focuses on detecting the signal of the laser range finder 407 to see whether the signal is in a reasonable range, if the self-checking is passed, the step B is carried out when the vehicle is stored, and the step C is carried out when the vehicle is taken;
B. parking and warehousing:
a. judging the position of the lifting comb:
judging the current position of the lifting comb 406 according to the real-time data transmitted by the laser range finder 407, and controlling the lifting motor 402 to operate by the lifting variable frequency driving control device 401 to drive the lifting comb 406 to operate to a layer of parking initial position;
b. entering a target layer N:
after the vehicle stops at the lifting comb 406, the person withdraws and presses the vehicle storage determination button, the control device 1 controls the lifting variable frequency driving control device 401 to enable the lifting motor 402 to operate, and then drives the lifting force transmission device 405 to pull the lifting comb 406 to ascend through the lifting driving chain wheel 404; the control device 1 monitors the position data fed back by the laser range finder 407 in real time during the operation of the lifting comb 406, when the lifting comb 406 moves upwards and reaches the target layer N-1, the pre-stored deceleration position data in the control device 1 is effective, and when the real-time data of the laser range finder 407 is identical with the pre-stored deceleration position data, a deceleration command is executed: the control device 1 sends a deceleration signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 is decelerated and operated; the lifting comb 406 approaches to the upper flat layer position of the target layer n at a low speed, and when the real-time data of the laser range finder 407 is the same as the pre-stored upper flat layer position data, a parking command is executed: the control device 1 sends a stop signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 stops running, the lifting comb 406 stops running and is braked, and the upper leveling positioning is finished; after the upper leveling layer is positioned, the traversing assembly 5 moves into the lifting channel, and after receiving the in-place signal of the traversing assembly 5, the control device 1 executes a vehicle leveling layer exchanging instruction: the control device 1 sends out a signal to control the lifting comb 406 to slowly descend, and when the data measured by the laser range finder 407 in real time is the same as the vehicle exchange flat layer position data pre-stored by the control device 1, a parking command is executed: the control device 1 sends a stop signal to the lifting variable frequency driving control device 401, further, the lifting motor 402 is stopped, the lifting comb 406 is stopped and braked, the lifting comb 406 is stopped for 0.5S, after the time arrives, the lifting comb 406 continues to descend, and when the real-time data of the laser range finder 407 is the same as the pre-stored lower flat layer position data, a parking command is executed: the control device 1 sends a stop signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 stops running, the lifting comb 406 stops running and is braked, and the vehicle exchange is completed; the transverse moving assembly 5 carries the vehicle, transversely moves and returns to the position, the vehicle is conveyed to a preset parking space, and the vehicle storage action is completed;
c. returning to the parking initial position:
after the vehicle is transferred by the transverse moving assembly 5, the control device 1 controls the lifting frequency conversion driving control device 401 to enable the lifting motor to run, and then the lifting force transmission device 405 is driven by the lifting driving sprocket 404 to pull the lifting comb 406 to descend; the control device 1 monitors the position data fed back by the laser distance meter 407 in real time during the operation of the lifting comb 406, when the lifting comb 406 runs down to the two layers, the pre-stored deceleration position data in the control device 1 is effective, and when the distance between the laser distance meter 407 and the pre-stored deceleration position data is the same, the deceleration command is executed: the control device 1 sends a deceleration signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 is decelerated and operated; when the lifting comb 406 approaches to the 1-layer position at a low speed, and the real-time data of the laser range finder 407 is the same as the pre-stored 1-layer position data, a parking command is executed: the control device 1 sends a stop signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 stops running, the lifting comb 406 stops running and is braked, and a layer of parking initial position is reached;
C. taking out the vehicle and leaving the warehouse:
a. judging the position of the lifting comb:
judging the current position of the lifting comb 406 according to the real-time data transmitted by the laser range finder 407, and judging whether the lifting comb needs to go up or down when reaching the target layer N;
b. entering a target layer N:
after the control device 1 finishes the judgment, the lifting motor 402 is operated by controlling the lifting variable frequency driving control device 401, and then the lifting force transmission device 405 is driven by the lifting driving sprocket 404 to pull the lifting comb 406 to ascend or descend; the control device 1 monitors the position data fed back by the laser range finder 407 in real time during the operation of the lifting comb 406, and when the lifting comb 406 moves upwards, the target layer N-1 is reached; when the lifting comb 406 runs downwards, the lifting comb reaches the target layer N+1; the control device 1 pre-stores deceleration position data to play a role, and when the real-time data of the laser range finder 407 is the same as the pre-stored deceleration position data, the deceleration command is executed: the control device 1 sends a deceleration signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 is decelerated and operated; the lifting comb 406 approaches to the lower flat layer position of the target layer n at a low speed, and when the real-time data of the laser range finder 407 is the same as the pre-stored lower flat layer position data, a parking command is executed: the control device 1 sends a stop signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 stops running, the lifting comb 406 stops running and is braked, and the lower leveling layer positioning is completed; after the lower leveling layer is positioned, the transverse moving assembly 5 is carried and moved into the lifting channel, and after receiving the in-place signal of the transverse moving assembly 5, the control device 1 executes a vehicle leveling layer exchanging instruction: the control device 1 sends out a signal to control the lifting comb 406 to slowly ascend, and when the data measured by the laser range finder 407 in real time is the same as the vehicle exchange flat layer position data pre-stored by the control device 1, a parking command is executed: the control device 1 sends a stop signal to the lifting variable frequency driving control device 401, further, the lifting motor 402 is stopped, the lifting comb 406 is stopped and braked, the lifting comb 406 is stopped for 0.5S, after the time arrives, the lifting comb 406 continues to ascend, and when the real-time data of the laser range finder 407 is the same as the pre-stored upper flat layer position data, the parking command is executed: the control device 1 sends a stop signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 stops running, the lifting comb 406 stops running and is braked, and the vehicle exchange is completed; the traverse assembly 5 carries out idle traverse homing and the vehicle taking action is completed;
c. returning to the parking initial position:
after the traverse assembly 5 is in idle traverse homing, the control device 1 controls the lifting variable frequency driving control device 401 to enable the lifting motor 402 to run, and then the lifting driving sprocket 404 drives the lifting force transmission device 405 to pull the lifting comb 406 to descend; the control device 1 monitors the position data fed back by the laser range finder 407 in real time during the operation of the lifting comb 406, when the lifting comb 406 runs down to the two layers, the pre-stored deceleration position data in the control device 1 is effective, and when the real-time data of the laser range finder 407 is identical to the pre-stored deceleration position data, a deceleration command is executed: the control device 1 sends a deceleration signal to the lifting frequency conversion driving control device 401, so that the lifting motor 402 is decelerated and operated; when the lifting comb 406 approaches to one layer of position at a low speed, when the real-time data of the laser range finder 407 is the same as the pre-stored one layer of position data, a parking command is executed: the control device 1 sends a stop signal to the lifting variable frequency drive control device 401, so that the lifting motor 402 stops running, and the lifting comb 406 stops running and brakes to reach a one-layer parking initial position.
The invention integrates the lifting frequency conversion driving control device 401, the display device 3 and the control device 1 through a bus, and controls the running speed of the lifting motor 402 and detects the working current of the lifting motor 402 in real time by adopting the lifting frequency conversion driving control device 401; the laser range finder 407 is adopted to detect the real-time position of the lifting comb 406, the laser range finder 407 converts the distance signal of the position into an electric signal of 0-20mA through an internal circuit, and then the electric signal is converted into digital information through a special control device module and then is read into the control device 1; feeding back the laser range finder 407 to each layer of flat layer position information of the control device 1 through manual correction, pre-storing the information into the control device 1 in a digital form, and pre-storing the upper and lower deceleration information and the upper and lower flat layer positioning into the control device 1 in a digital form; when the lifting comb 406 moves up and down to the deceleration position of the target layer N, when the laser real-time data value in the control device 1 is equal to the preset deceleration position value, the control device 1 sends a deceleration instruction to the lifting variable frequency driving control device 401, the operation speed of the lifting comb 406 is reduced to a low speed and slowly approaches to the flat layer position of the target layer N, when the laser real-time data value in the control device 1 is equal to the preset target layer N position value, the control device 1 sends a stop instruction to the lifting frequency converter, the operation of the lifting comb 406 is stopped, and the positioning is completed; when the laser range finder 407 is removed or shielded, the control device 1 controls the system to stop working and sends out a signal to control the display device 3 to send out an alarm signal.
In conclusion, the invention has simple structure and obvious effect, realizes accurate leveling positioning and deceleration performance, and ensures that vehicle exchange is performed stably; a large number of position detection switches are eliminated, and thus the control cables for the detection switches are also eliminated. Therefore, the equipment failure rate is greatly reduced, and spare parts and installation and maintenance costs are saved; and a signal input module of a control device related to flat layer positioning is omitted, so that the equipment cost is reduced.
Claims (1)
1. The flat floor control method of the vertical lifting garage system comprises a control device (1) for receiving and storing a car taking command and sending out an operation control command, wherein the control device (1) is connected with: a vehicle storing and taking instruction input device (2) for giving vehicle storing or taking instruction information of the vertical lifting garage; the display device (3) is used for displaying system operation parameters, parameter setting and alarm signal display; the traversing assembly (5) is used for accessing the traversing control operation of the vehicle; the lifting assembly (4) is used for controlling the vertical lifting of the storage vehicle to operate; the lifting assembly (4) comprises a lifting variable frequency driving control device (401) for receiving and executing a command of the control device (1), controlling the operation of a lifting motor (402) and detecting the working current of the lifting motor (402), wherein the lifting variable frequency driving control device (401) is connected with the lifting motor (402) for providing lifting power and driving the lifting operation, the lifting motor (402) is connected with a lifting driving chain wheel (404) for driving a lifting force conducting device (405) to move through a lifting speed reducer (403), and the lifting driving chain wheel (404) is connected with a lifting force conducting device (405) which is arranged on a lifting force conducting device pulley system (411) for supporting the lifting force conducting device (405) and is used for transmitting lifting driving force to a lifting comb (406) and a lifting counterweight (408); the lifting force transmission device (405) is connected with a lifting comb (406) for carrying the vehicle in the vertical direction, the lifting comb (406) is connected with a lifting counterweight (408), and the lifting motor (402) is also connected with a lifting encoder (410) for detecting the running speed of the lifting motor (402) and feeding back the running speed to the control device (1); the control device (1) is also connected with a laser range finder (407) which is used for detecting the real-time running conditions of the lifting comb (406) and the lifting counterweight (408) and is arranged right below the lifting counterweight (408) through a mounting seat (6), and a laser range finder reflecting piece (409) is arranged below the lifting counterweight (408) at a corresponding position of the laser range finder (407);
the mounting seat (6) comprises a mounting bottom plate (61) provided with a fixing hole (62), a mounting backup plate (63) of a laser range finder (407) is vertically and upwards fixed on the mounting bottom plate (61), a mounting hole (64) for mounting the laser range finder (407) is formed in the lower portion of the mounting backup plate (63), an adjusting hole (65) for adjusting the laser range finder (407) is formed in the upper portion of the mounting backup plate, the adjusting hole (65) is a long-strip arc-shaped hole, and the circle center of the arc-shaped adjusting hole coincides with the mounting hole (64);
the method comprises the following steps:
A. judging the vehicle storage and taking, and performing system self-checking:
after the vehicle storing and taking command input device (2) sends a signal to the control device (1), the control device (1) recognizes the signal and outputs the vehicle storing and taking command, and meanwhile, the system performs self-checking, focuses on detecting the signal of the laser range finder (407) to see whether the signal is in a reasonable range or not, if the self-checking is passed, the step B is carried out when the vehicle is stored, and the step C is carried out when the vehicle is taken;
B. parking and warehousing:
a. judging the position of the lifting comb:
judging the current position of the lifting comb (406) according to real-time data transmitted by the laser range finder (407), and controlling the lifting motor (402) to operate by the lifting variable frequency driving control device (401) to drive the lifting comb (406) to operate to a layer of parking initial position;
b. entering a target layer N:
after the vehicle stops at the lifting comb (406), the person withdraws and presses the parking determination button, the control device (1) controls the lifting variable frequency driving control device (401) to enable the lifting motor (402) to operate, and then the lifting driving chain wheel (404) drives the lifting force transmission device (405) to pull the lifting comb (406) to ascend; the control device (1) monitors the position data fed back by the laser range finder (407) in real time during the operation of the lifting comb (406), when the lifting comb (406) moves upwards, and when the lifting comb reaches the target layer N-1, the pre-stored deceleration position data in the control device (1) is effective, and when the real-time data of the laser range finder (407) are identical with the pre-stored deceleration position data, a deceleration command is executed: the control device (1) sends a deceleration signal to the lifting variable frequency driving control device (401), so that the lifting motor (402) is decelerated; and when the lifting comb (406) approaches to the upper flat layer position of the target layer n at a low speed and the real-time data of the laser range finder (407) are the same as the pre-stored upper flat layer position data, executing a parking command: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, the lifting comb (406) stops running and is braked, and the upper leveling positioning is finished; after the upper leveling layer is positioned, the transverse moving assembly (5) moves into the lifting channel, and after receiving a signal of the transverse moving assembly (5) in place, the control device (1) executes a vehicle leveling layer exchange instruction: the control device (1) sends out a signal to control the lifting comb (406) to slowly descend, and when the data measured in real time by the laser range finder (407) is the same as the vehicle exchange flat layer position data pre-stored by the control device (1), a parking command is executed: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), further the lifting motor (402) is stopped, the lifting comb (406) is braked, after the time arrives, the lifting comb (406) continues to descend, and when the real-time data of the laser range finder (407) is the same as the pre-stored lower leveling position data, a parking command is executed: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, the lifting comb (406) stops running and is braked, and the vehicle exchange is completed; the transverse moving assembly (5) carries the vehicle and transversely moves and returns to the position, the vehicle is conveyed to a preset parking space, and the vehicle storage action is completed;
c. returning to the parking initial position:
after the vehicle is transferred by the transverse moving assembly (5), the control device (1) controls the lifting frequency conversion driving control device (401) to enable the lifting motor to run, and then the lifting force transmission device (405) is driven by the lifting driving chain wheel (404) to pull the lifting comb (406) to descend; the control device (1) monitors the position data fed back by the laser distance meter (407) in real time during the operation of the lifting comb (406), when the lifting comb (406) runs downwards and reaches two layers, the pre-stored deceleration position data in the control device (1) is effective, and when the real-time data of the laser distance meter (407) are identical with the pre-stored deceleration position data, a deceleration command is executed: the control device (1) sends a deceleration signal to the lifting variable frequency driving control device (401), so that the lifting motor (402) is decelerated; when the lifting comb (406) approaches to one layer of position at low speed, when the real-time data of the laser range finder (407) is the same as the pre-stored one layer of position data, executing a parking command: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, and the lifting comb (406) stops running and brakes to reach a layer of parking initial position;
C. taking out the vehicle and leaving the warehouse:
a. judging the position of the lifting comb:
judging the current position of the lifting comb (406) according to real-time data transmitted by the laser range finder (407), and judging whether the lifting comb needs to go up or down when reaching the target layer N;
b. entering a target layer N:
after the control device (1) finishes judging, the lifting motor (402) is operated by controlling the lifting variable frequency driving control device (401), and then the lifting force transmission device (405) is driven by the lifting driving chain wheel (404) to pull the lifting comb (406) to ascend or descend; the control device (1) monitors position data fed back by the laser range finder (407) in real time during the operation of the lifting comb (406), and when the lifting comb (406) moves upwards, the lifting comb reaches a target layer N-1; when the lifting comb (406) runs downwards, the lifting comb reaches the target layer N+1; the control device (1) pre-stores deceleration position data to play a role, and when the real-time data of the laser range finder (407) is the same as the pre-stored deceleration position data, a deceleration command is executed: the control device (1) sends a deceleration signal to the lifting variable frequency driving control device (401), so that the lifting motor (402) is decelerated; and when the lifting comb (406) approaches to the lower flat layer position of the target layer n at a low speed and the real-time data of the laser range finder (407) are the same as the pre-stored lower flat layer position data, executing a parking command: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, the lifting comb (406) stops running and is braked, and the lower leveling layer positioning is completed; after the lower leveling layer is positioned, the vehicle carrying of the traversing assembly (5) moves into the lifting channel, and after receiving a signal of the in-place traversing assembly (5), the control device (1) executes a vehicle leveling layer exchanging instruction: the control device (1) sends out a signal to control the lifting comb (406) to slowly ascend, and when the data measured in real time by the laser range finder (407) is the same as the vehicle exchange flat layer position data pre-stored by the control device (1), a parking command is executed: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), further the lifting motor (402) is stopped, the lifting comb (406) is braked, after the time arrives, the lifting comb (406) continues to ascend, and when the real-time data of the laser range finder (407) is the same as the pre-stored upper leveling position data, a parking command is executed: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, the lifting comb (406) stops running and is braked, and the vehicle exchange is completed; the traverse assembly (5) is in idle traverse homing and the vehicle taking action is completed;
c. returning to the parking initial position:
after the traverse assembly (5) is in idle traverse homing, the control device (1) controls the lifting variable frequency driving control device (401) to enable the lifting motor (402) to run, and then the lifting force transmission device (405) is driven by the lifting driving chain wheel (404) to pull the lifting comb (406) to descend; the control device (1) monitors the position data fed back by the laser distance meter (407) in real time during the operation of the lifting comb (406), when the lifting comb (406) runs downwards and reaches two layers, the pre-stored deceleration position data in the control device (1) is effective, and when the real-time data of the laser distance meter (407) are identical with the pre-stored deceleration position data, a deceleration command is executed: the control device (1) sends a deceleration signal to the lifting variable frequency driving control device (401), so that the lifting motor (402) is decelerated; when the lifting comb (406) approaches to one layer of position at low speed, when the real-time data of the laser range finder (407) is the same as the pre-stored one layer of position data, executing a parking command: the control device (1) sends a stop signal to the lifting frequency conversion driving control device (401), so that the lifting motor (402) stops running, the lifting comb (406) stops running and brakes, and a layer of parking initial position is achieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN116576921B (en) * | 2023-07-07 | 2023-09-15 | 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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