CN108843099A - A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot - Google Patents
A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot Download PDFInfo
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- CN108843099A CN108843099A CN201810736979.7A CN201810736979A CN108843099A CN 108843099 A CN108843099 A CN 108843099A CN 201810736979 A CN201810736979 A CN 201810736979A CN 108843099 A CN108843099 A CN 108843099A
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- Prior art keywords
- positioning
- lath
- intelligent parking
- parking garage
- self
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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
- E04H6/424—Positioning devices
Abstract
The invention discloses the self-adapting type mesa structures and its system of a kind of intelligent parking garage Yi Che robot, are related to intelligent parking garage technical field.The present invention includes table-board body；Table-board body upper surface opens up fluted side by side；Provided beside has positioning lath in groove；Positioning lath lower surface is fixed with elastic component side by side；One surface of groove is fixed with sliding rail side by side；Sliding block corresponding with positioning lath position is slidably connected on sliding rail side by side；Sliding block upper surface is fixed with positioning column.The present invention positions the position of the positioning column below lath by changing, the concave structure that is formed will be parked in the get on the car position of front and back wheel pair of table-board body and lock when being sunk using positioning lath, to realize the positioning to automotive wheel, avoid stagnation of movement Yi Che robot get on the car due to mobile robot it is unexpected stopping or starting and occur slipping phenomenon, market application value with higher.
Description
Technical field
The invention belongs to intelligent parking garage technical field, more particularly to a kind of intelligent parking garage Yi Che robot from
Adaptive type mesa structure and its system.
Background technique
As the national economic development and living standards of the people improve, the sharp increase year by year of China's city automobile owning amount.North
The one line city such as capital, Shanghai, Guangzhou, Shenzhen even needs to put into effect limit purchase policy restricting vehicle owning amount and increases.Parking difficulty is
As puzzlement civic a great problem.To solve this problem, researcher and building designers start gradually to three-dimensional Intelligent stop
Garage is designed construction.Intelligent parking lot library, which is known as, solves the problems, such as population, building dense area, common service area parking difficulty
Preferred means.
Currently, existing intelligent parking garage any is used to limit or lock with the mesa structure of Yi Che robot by not installing
Determine the equipment of automotive wheel, stops suddenly when this causes Yi Che robot during carrier due to the turning of Yi Che robot
It only or starts to walk and the phenomenon of slipping of automotive wheel occurs, bring some security risks.Therefore, it needs to develop a kind of intelligent parking
The mesa structure of library Yi Che robot, in order to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot and its
System, by changing the position of the positioning column below positioning lath, the concave structure formed when being sunk using positioning lath will stop
It is placed on the get on the car position of front and back wheel pair of table-board body to lock, to realize the positioning to automotive wheel, solve existing
Intelligent parking garage with Yi Che robot during carrier due to Yi Che robot it is unexpected stopping or starting and occur
The problem of slipping phenomenon.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot, including table-board body；Institute
Table-board body upper surface is stated to be opened up side by side there are two groove；Provided beside has positioning lath in two grooves；The positioning plate
Fixation is installed with elastic component side by side for lower surface；The positioning lath one side is opened up side by side there are two locating slot；The positioning
Lath another side offers placing groove corresponding with positioning groove location side by side；The placing groove lower part is connected with locating slot
It is logical；A screw rod is installed in two grooves；Compatible screw is provided on the screw rod；Screw side face is symmetrical
It is fixed with fixed link；Fixed link one end fixation is installed with one first electromagnet；One opposite side of screw rod is simultaneously located at groove
One surface is respectively fixed with a sliding rail；Sliding block corresponding with positioning lath position is slidably connected on the sliding rail side by side；Institute
It states sliding block upper surface and is fixed with a positioning column；The sliding block one side is fixed with first armature matched with the first electromagnet
Block；One surface of the sliding block lower part fixation is installed with one second electromagnet；One surface of sliding rail is fixed with and the second electricity side by side
The second armature block that magnet matches；Second armature block position is corresponding with positioning lath position.
Further, one opposite flank of groove offers a limiting slot；One opposing end surface of the positioning lath is equal
It is provided with a stopper protrusion matched with limiting slot.
Further, a Power Component is built-in in the middle part of the table-board body；One end similar in two screw rods extends
It is connected in the middle part of to table-board body and with the output shaft of Power Component；Two screw rods are oppositely oriented.
Further, the height phase of the vertical range between the locating slot upper surface and sliding block upper surface and positioning column
Deng；The positioning column cross sectional dimensions size respectively with locating slot cross sectional dimensions size and placing groove cross sectional dimensions size phase
Adaptation.
Further, described elastic component one end is fixedly connected on one surface of groove；The elastic component is spring.
A kind of control system of the self-adapting type mesa structure of intelligent parking garage Yi Che robot, including microprocessor；
The microprocessor is connected with the first electromagnet and the second electromagnet respectively by current controller；The microprocessor and dynamic
Power component is electrically connected；
Further, the microprocessor is connected with pressure sensor by data transmission module；Several pressure pass
Sensor is embedded in positioning one surface of lath respectively.
Further, the microprocessor is connected with the first photoelectric sensor and the second photoelectric transfer by data transmission module
Sensor；Fixation is embedded in one surface of placing groove top to several first photoelectric sensors respectively；Several second photoelectric transfers
Sensor is fixed respectively to be embedded on positioning lath lower surface.
The invention has the advantages that：
The present invention positions the position of the positioning column below lath by changing, the spill formed when being sunk using positioning lath
Structure will be parked in the get on the car position of front and back wheel pair of table-board body and lock, to realize the positioning to automotive wheel, keep away
Exempted from stagnation of movement Yi Che robot get on the car due to mobile robot it is unexpected stopping or starting and occur slipping phenomenon, have compared with
High market application value.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that positioning column of the invention is mounted on the structural schematic diagram in table-board body；
Fig. 3 is the structure enlargement diagram in Fig. 2 at A；
Fig. 4 is the structure top view of Fig. 2；
Fig. 5 is the structure enlargement diagram in Fig. 4 at B；
Fig. 6 is the structural schematic diagram of table-board body of the invention；
Fig. 7 is the structural schematic diagram of positioning lath of the invention；
Fig. 8 is the structure bottom view of Fig. 7；
Fig. 9 is the structural schematic diagram that sliding block of the invention is connected with positioning column；
Figure 10 is control system functional block diagram of the invention.
In attached drawing, parts list represented by the reference numerals are as follows：
1- table-board body, 2- position lath, 3- elastic component, 4- screw rod, the first electromagnet of 5-, 6- sliding rail, 7- sliding block, 8- the
Two electromagnet, 9- Power Component, 101- groove, 102- limiting slot, 201- locating slot, 202- placing groove, 203- stopper protrusion,
401- screw, 402- fixed link, the first armature block of 501-, 701- positioning column, the second armature block of 801-.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
It please referring to shown in Fig. 1-9, the present invention is a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot,
Including table-board body 1；1 upper surface of table-board body is opened up side by side there are two groove 101；The position of two grooves 101 respectively with automobile
Front and back is corresponding to the position of wheel when being parked in table-board body 1；Provided beside has positioning lath 2 in two grooves 101；Groove
101 1 opposite flanks offer a limiting slot 102；Positioning 2 one opposing end surface of lath is provided with one and matches with limiting slot 102
The stopper protrusion 203 of conjunction；Fixation is installed with elastic component 3 side by side for positioning 2 lower surface of lath；3 one end of elastic component is fixedly connected on recessed
On 101 1 surface of slot；Elastic component 3 is spring, reduces use cost；Positioning 2 one side of lath positions there are two opening up side by side
Slot 201；Positioning 2 another side of lath offers placing groove 202 corresponding with 201 position of locating slot side by side；Under placing groove 202
Portion is connected with locating slot 201；A screw rod 4 is installed in two grooves 101；A Power Component is built-in in the middle part of table-board body 1
9；Power Component 9 uses two driving motors；One end similar in two screw rods 4 all extend to the middle part of table-board body 1 and respectively with it is dynamic
Two driving motor output shafts of power component 9 are connected, and ensure that the degree of automation of the device；Two screw rods 4 are oppositely oriented, realize
Two screws 401 are synchronous to move toward one another or back movement；Compatible screw 401 is provided on screw rod 4；401 side of screw
Face is symmetrically fixed with fixed link 402；The fixation of 402 one end of fixed link is installed with one first electromagnet 5；4 one opposite side of screw rod and position
A sliding rail 6 is respectively fixed in 101 1 surface of groove；It is slidably connected side by side on sliding rail 6 corresponding with positioning 2 position of lath
Sliding block 7；Sliding block 7 is in N type junction structure, ensure that and is stably connected with sliding rail 6；7 upper surface of sliding block is fixed with a positioning column 701；It is fixed
Position 201 upper surface of slot and the vertical range between 7 upper surface of sliding block are equal with the height of positioning column 701；701 cross section of positioning column
Size is adapted with 201 cross sectional dimensions size of locating slot and 202 cross sectional dimensions size of placing groove respectively, and it is fixed to ensure that
Position column 701 can enter and leave locating slot 201 or placing groove 202；7 one side of sliding block is fixed with one and matches with the first electromagnet 5
First armature block 501；The fixation of 7 lower part of sliding block, one surface is installed with one second electromagnet 8；6 one surface of sliding rail be fixed with side by side with
The second armature block 801 that second electromagnet 8 matches；Second armature block, 801 position is corresponding with positioning 2 position of lath.
As shown in Figure 10, the control system of the self-adapting type mesa structure of a kind of intelligent parking garage Yi Che robot, packet
Include microprocessor；Microprocessor is embedded in the middle part of table-board body 1；Microprocessor by current controller respectively with the first electromagnetism
Iron 5 is connected with the second electromagnet 8；Microprocessor and Power Component 9 are electrically connected；Microprocessor is connected by data transmission module
It is connected to pressure sensor, the first photoelectric sensor and the second photoelectric sensor；13 pressure sensors are embedded in positioning respectively
2 one surface of lath；Fixation is embedded in 202 top of placing groove, one surface to 13 the first photoelectric sensors respectively；13 second
Photoelectric sensor is fixed respectively to be embedded on positioning 2 lower surface of lath.
When automobile is not parked in Yi Che robot, positioning column 701 is located in the locating slot 201 on positioning lath 2, the
Two electromagnet 8 are powered and cooperate with the second armature block 801；When automobile parking is in the table-board body 1 of Yi Che robot, automobile
For front and back wheel on the part positioning lath 2 being located in two grooves 101, pressure sensor detects the positioning lath 2 at place
On have pressure data after, microprocessor starts Power Component 9 and the first electromagnet 5 on screw 401 has been moved to pressure data
Positioning lath 2 at；Meanwhile microprocessor control has the second electromagnet 8 power-off of 2 lower section of positioning lath of pressure data, then
The energization of the first electromagnet 5 is controlled, the first electromagnet 5 and the first armature block 501 of 2 lower section of positioning lath for having pressure data cooperate
Afterwards, microprocessor control Power Component 9 drives the positioning column 701 of 2 lower section of the positioning lath for having pressure data to be moved to side
In the placing groove 202 of another positioning lath 2, the first photoelectric sensor measurement has pressure data on another positioning lath 2 of side
701 1 surface of positioning column of positioning lath 2 lower section and another positioning lath 2 of side between 202 1 surface of placing groove
Distance, the first photoelectric sensor is in real time by distance data transmission to microprocessor, when Distance Shortened is to zero, microprocessor control
Power Component 9 stops operating；At this point, because there is the positioning lath 2 of pressure data due to the support of no positioning column 701 in the weight of automobile
To sinking under power effect, when the second photoelectric sensor of 2 lower section of positioning lath for having pressure data detects positioning 2 following table of lath
When the vertical range on face to 101 surface of groove is equal to the diameter of screw 401, positioning lath 2 sink to maximum distance, there is pressure at this time
Second photoelectric sensor of 2 lower section of positioning lath of force data sends data to microprocessor, the first electricity of microprocessor control
The mobile 2 original positioning column 701 in lower section of positioning lath for having pressure data of the power-off of magnet 5 and no longer control Power Component 9；Similarly,
Microprocessor controls the positioning lath 2 that other have pressure data and sink, to realize to the automobile being parked in table-board body
The lock-bit of front and back wheel pair, avoid stagnation of movement Yi Che robot get on the car due to mobile robot it is unexpected stopping or starting and go out
Now slip phenomenon；When automobile is removed from Yi Che robot, under the elastic force effect of elastic component 3, part positions lath 2 and resets,
Pressure sensor can't detect pressure data, and microprocessor controls corresponding positioning column 701 respectively and resets.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (8)
1. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot, including table-board body (1)；Its feature exists
In：
Table-board body (1) upper surface is opened up side by side there are two groove (101)；The two interior provided besides of the groove (101) have
It positions lath (2)；Fixation is installed with elastic component (3) side by side for positioning lath (2) lower surface；
Wherein, positioning lath (2) one side is opened up side by side there are two locating slot (201)；Positioning lath (2) other side
Face offers placing groove (202) corresponding with locating slot (201) position side by side；Placing groove (202) lower part and locating slot
(201) it is connected；
A screw rod (4) are installed in two grooves (101)；Compatible screw (401) is provided on the screw rod (4)；
Screw (401) the side face is symmetrically fixed with fixed link (402)；Fixed link (402) one end fixation is installed with one first
Electromagnet (5)；
(4) one opposite side of screw rod is simultaneously respectively fixed with a sliding rail (6) positioned at (101) one surface of groove；On the sliding rail (6)
Sliding block (7) corresponding with positioning lath (2) position is slidably connected side by side；Sliding block (7) upper surface is fixed with a positioning
Column (701)；Sliding block (7) one side is fixed with first armature block (501) matched with the first electromagnet (5)；It is described
The fixation of one surface of sliding block (7) lower part is installed with one second electromagnet (8)；
Wherein, (6) one surface of sliding rail is fixed with the second armature block (801) matched with the second electromagnet (8) side by side；Institute
It is corresponding with positioning lath (2) position to state the second armature block (801) position.
2. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot according to claim 1, feature
It is, (101) one opposite flank of groove offers a limiting slot (102)；(2) one opposing end surface of positioning lath is equal
It is provided with a stopper protrusion (203) matched with limiting slot (102).
3. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot according to claim 1, feature
It is, is built-in with a Power Component (9) in the middle part of the table-board body (1)；One end similar in two screw rods (4) all extends to platform
It is connected in the middle part of face ontology (1) and with the output shaft of Power Component (9)；Two screw rods (4) are oppositely oriented.
4. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot according to claim 1, feature
It is, the height phase of the vertical range between locating slot (201) upper surface and sliding block (7) upper surface and positioning column (701)
Deng；Positioning column (701) the cross sectional dimensions size respectively with locating slot (201) cross sectional dimensions size and placing groove (202)
Cross sectional dimensions size is adapted.
5. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot according to claim 1, feature
It is, described elastic component (3) one end is fixedly connected on (101) one surface of groove；The elastic component (3) is spring.
6. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot as described in claim 1-5 any one
Control system, which is characterized in that including microprocessor；The microprocessor by current controller respectively with the first electromagnet
(5) it is connected with the second electromagnet (8)；The microprocessor and Power Component (9) are electrically connected.
7. a kind of self-adapting type mesa structure of intelligent parking garage Yi Che robot according to claim 6, feature
It is, the microprocessor is connected with pressure sensor by data transmission module；Several pressure sensors embed respectively
On positioning (2) one surface of lath.
8. a kind of control system of the self-adapting type mesa structure of intelligent parking garage according to claim 6 Yi Che robot
System, which is characterized in that the microprocessor is connected with the first photoelectric sensor and the second photoelectric sensing by data transmission module
Device；Fixation is embedded in one surface of placing groove (202) top to several first photoelectric sensors respectively；Several second photoelectricity
Sensor is fixed respectively to be embedded on positioning lath (2) lower surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736979.7A CN108843099B (en) | 2018-07-02 | 2018-07-02 | Self-adaptive table top structure of car moving robot for intelligent parking garage and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736979.7A CN108843099B (en) | 2018-07-02 | 2018-07-02 | Self-adaptive table top structure of car moving robot for intelligent parking garage and system thereof |
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| Publication Number | Publication Date |
|---|---|
| CN108843099A true CN108843099A (en) | 2018-11-20 |
| CN108843099B CN108843099B (en) | 2020-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810736979.7A Active CN108843099B (en) | 2018-07-02 | 2018-07-02 | Self-adaptive table top structure of car moving robot for intelligent parking garage and system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115126311A (en) * | 2022-07-08 | 2022-09-30 | 江西盈科行网络信息股份有限公司 | Wisdom parking operation is with lift type jiffy stand |
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| JPH07301022A (en) * | 1994-05-09 | 1995-11-14 | Hiroshi Iwasaki | Parking controller |
| CN106437253A (en) * | 2016-10-20 | 2017-02-22 | 温州燧人智能科技有限公司 | X-shaped clamp arm type vehicle moving robot for intelligent parking garage |
| CN206091478U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | X type arm lock formula intelligence garage parking moves car robot |
| CN206091477U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | Automatic obstacle avoiding formula intelligence garage parking moves car robot |
| CN206128753U (en) * | 2016-10-20 | 2017-04-26 | 温州燧人智能科技有限公司 | Intelligence garage parking moves car robot |
| CN207087887U (en) * | 2017-08-21 | 2018-03-13 | 江西丹巴赫机器人股份有限公司 | A kind of Intelligent transfer robot |
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2018
- 2018-07-02 CN CN201810736979.7A patent/CN108843099B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07301022A (en) * | 1994-05-09 | 1995-11-14 | Hiroshi Iwasaki | Parking controller |
| CN106437253A (en) * | 2016-10-20 | 2017-02-22 | 温州燧人智能科技有限公司 | X-shaped clamp arm type vehicle moving robot for intelligent parking garage |
| CN206091478U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | X type arm lock formula intelligence garage parking moves car robot |
| CN206091477U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | Automatic obstacle avoiding formula intelligence garage parking moves car robot |
| CN206128753U (en) * | 2016-10-20 | 2017-04-26 | 温州燧人智能科技有限公司 | Intelligence garage parking moves car robot |
| CN207087887U (en) * | 2017-08-21 | 2018-03-13 | 江西丹巴赫机器人股份有限公司 | A kind of Intelligent transfer robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115126311A (en) * | 2022-07-08 | 2022-09-30 | 江西盈科行网络信息股份有限公司 | Wisdom parking operation is with lift type jiffy stand |
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| Publication number | Publication date |
|---|---|
| CN108843099B (en) | 2020-01-07 |
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