CN109707200B - Modularized assembled three-dimensional parking garage - Google Patents
Modularized assembled three-dimensional parking garage Download PDFInfo
- Publication number
- CN109707200B CN109707200B CN201910115898.XA CN201910115898A CN109707200B CN 109707200 B CN109707200 B CN 109707200B CN 201910115898 A CN201910115898 A CN 201910115898A CN 109707200 B CN109707200 B CN 109707200B
- Authority
- CN
- China
- Prior art keywords
- lifting
- parking
- unit
- control unit
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036561 sun exposure Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The invention provides a modularized assembled three-dimensional parking garage, which comprises lifting units for lifting vehicles and parking units symmetrically arranged on two sides of the lifting units; the parking unit comprises a bottom layer parking unit and an upper layer parking unit fixed above the bottom layer parking unit; the lifting unit comprises a vertically arranged lifting support frame, a lifting support plate assembly and a lifting driving mechanism, wherein the lifting support plate assembly is vertically and slidably arranged on the support frame, and the lifting driving mechanism is used for controlling the vertical position of the lifting support plate; the guide rod vertically passes through the lifting supporting plate component; the invention saves the space occupied by parking, reduces the time for parking and taking the vehicle and meets the requirement of heavy-load parking; the vehicle parking device is simple to operate, flexible and accurate to control, wide in application range, capable of improving the accuracy of parking positions and the parking stability, and capable of guaranteeing the safety of taking and placing vehicles.
Description
Technical Field
The invention relates to an automobile parking technology, in particular to a modularized assembled three-dimensional parking garage.
Background
With the increase of the popularization rate and the use rate of the urban resident sedans, the holding capacity of the urban resident sedans rises year by year. However, many old cells or cells being built do not adequately account for the problem of parking a home car or other dolly, resulting in many problems occurring in many cells. Among them, the problem of "parking in disorder" and "parking in difficulty" is particularly prominent. Parking garages, open parking spaces and open spaces in urban communities all park vehicles. Particularly, after the owners come home at night, the vehicles are parked on roads, sidewalks, resident playgrounds and business grounds. Parking in disorder has a very negative effect on the local residents' lives. Various vehicles are put in the district, which seriously affects the living environment, travel and various entertainment activities of residents.
The root cause of the messy parking is that the parking space which is owned by the district and planned is far from meeting the increasing vehicle holding quantity of residents. Although many communities now have parking lines on both sides of the road, which alleviates the parking difficulty to some extent, it is far from sufficient to meet the parking requirements of urban communities. Many parking devices are available in the market, such as double-layer parking spaces suitable for underground garages and double-layer parking spaces suitable for open spaces. However, it takes a lot of money and resources and takes up much space for one district to purchase both parking devices. In addition, the two parking devices have long vehicle taking and parking time, and are not suitable for owners who frequently take and park vehicles.
Therefore, a new parking device which can be simultaneously suitable for places such as roadsides, air spaces, underground garages and the like and is convenient and quick to fetch and park needs to be provided.
Disclosure of Invention
Therefore, the invention aims to provide the modularized assembled three-dimensional parking garage, which saves occupied space, reduces parking and vehicle taking time, meets the requirement of heavy-load parking, has simple operation, flexible and accurate control and wide application range by arranging the multi-layer three-dimensional parking garage capable of selecting parking spaces to automatically park and take vehicles.
The invention provides a modularized assembled three-dimensional parking garage, which comprises lifting units for lifting vehicles and parking units symmetrically arranged on two sides of the lifting units;
the parking unit comprises a bottom layer parking unit and an upper layer parking unit fixed above the bottom layer parking unit;
the bottom layer parking unit comprises a parking support frame; the upper layer parking unit comprises a rectangular parking frame and a walking supporting plate capable of transversely and reciprocally moving at the top of the parking frame;
the lifting unit comprises a vertically arranged lifting support frame, a lifting support plate assembly and a lifting driving mechanism, wherein the lifting support plate assembly is vertically and slidably arranged on the support frame, and the lifting driving mechanism is used for controlling the vertical position of the lifting support plate;
the lifting driving mechanism comprises a guide rod vertically arranged on the inner side of the lifting support frame, a winch arranged on the top end of the lifting support frame, a steel wire rope with one end fixed on the winch and capable of extending and contracting along with the rotation of the winch, and a motor I connected with the winch and driving the winch to rotate, wherein the other end of the steel wire rope is fixed on the lifting support plate assembly and used for driving the lifting support plate to slide along the vertical direction in a single degree of freedom; the guide rod vertically passes through the lifting support plate assembly.
Further, the walking support plate comprises a main beam and walking components, wherein the main beam is longitudinally arranged, and the walking components are arranged at two ends of the main beam; the two longitudinal ends of the main beam are provided with mounting beams which are used for mounting the walking assembly and are perpendicular to the main beam in parallel; the two ends of the main beam are fixedly connected with the middle part of the mounting beam;
the walking assembly comprises a walking wheel and a motor II for driving the walking wheel to walk; the travelling wheel is connected with one end of a speed change gear assembly through a coupler, and the other end of the speed change gear assembly is connected with an output shaft of a motor II; the motor II shell is fixedly provided with a mounting plate parallel to the upper end face and the lower end face of the mounting beam on one side close to the mounting beam, and the mounting plate is fixed at two ends of the mounting beam through bolts; the travelling wheel, the coupler and the motor II output shaft are coaxially arranged, and the axes of the travelling wheel, the coupler and the motor II output shaft are parallel to the axis of the main beam;
and a plurality of transverse comb teeth I are arranged on two transverse sides of the main beam.
Further, the lifting support plate assembly comprises two lifting plates with the same structure, and one lifting plate is arranged right above the other lifting plate; the two lifting plates are connected through a connecting rope, and the length of the connecting rope is not smaller than the height of the bottom layer parking unit in the vertical direction.
Further, the lifting plate is a rectangular frame and comprises longitudinal beams at the left side and the right side and transverse beams at the front end and the rear end, and a plurality of transverse comb teeth II which can be meshed with the transverse comb teeth I are fixedly arranged on the inner side of the longitudinal beams;
the beam is provided with a local lifting unit; the local lifting unit comprises a local lifting supporting plate capable of supporting the walking assembly to move in a single degree of freedom in the vertical direction and a four-bar driving mechanism for driving the local lifting supporting plate to move in a single degree of freedom in the vertical direction;
the two ends of the upper surface of the cross beam are sunk to form a mounting groove for mounting the four-bar driving mechanism, the size of the local lifting supporting plate is matched with the size of the opening of the mounting groove in a conformal manner, the local lifting supporting plate can penetrate through the opening of the mounting groove, and the upper surface of the local lifting supporting plate is parallel to the upper surface of the cross beam; the walking component can pass through the mounting groove opening;
the four-bar driving mechanism comprises a crank I, a crank II, a connecting rod I, a frame, a connecting rod II, a crank III and a motor assembly; one end of the crank I is rotatably connected with one end of the connecting rod I, and the other end of the crank I is rotatably connected with one end of the frame; one end of the crank II is rotatably connected with the other end of the connecting rod I, and the other end of the crank II is rotatably connected with the other end of the frame; the bottom of the frame is fixed on the bottom surface of the mounting groove; the bottom of the lifting tray is fixed at the top of the connecting rod I; the motor component is connected with one end of the crank III and is used for driving the crank III to rotate; the two ends of the connecting rod II are respectively and rotatably connected with the middle parts of the crank II and the crank III and are used for driving the crank II to rotate under the driving of the crank III;
lifting fixing plates are fixedly arranged at two ends of the longitudinal beam, guide holes through which guide rods can pass are formed in the lifting fixing plates, and the guide rods can slide up and down in the guide holes; the lifting fixing plate is also provided with a fixing hole for fixing the steel wire rope.
The system further comprises a control system, wherein the control system comprises a parking space selection unit, a position sensing unit, a wireless communication unit, a safety monitoring unit, a main control unit and a slave control unit;
the output end of the parking space selection unit is connected with the main control unit and is used for sending a parking space selection signal to the main control unit;
the position sensing unit is arranged on the main beam of the walking support plate, is connected with the main control unit, and is used for collecting vertical position signals and horizontal position signals of the walking support plate and sending the vertical position signals and the horizontal position signals to the main control unit;
the main control unit is connected with the input end of the motor I and is used for controlling the motor I to drive the winch to rotate so as to drive the lifting support plate component to move in a single degree of freedom in the vertical direction;
the main control unit is connected with the motor assembly and used for controlling the motor assembly to drive the four-bar driving rod to drive the local lifting supporting plate to move in a single degree of freedom in the vertical direction;
the slave control unit is in communication connection with the master control unit through the wireless communication unit and is used for receiving the horizontal movement control signal sent by the master control unit and sending a horizontal movement ending signal to the master control unit;
the slave control unit is connected with the input end of the motor II; the motor II is used for controlling the motor II to drive the travelling wheels to rotate so as to drive the travelling supporting plate to move on the upper supporting plate transversely in a single degree of freedom;
the safety monitoring unit is connected with the main control unit and is used for monitoring fault conditions and sending fault signals to the main control unit.
Further, the parking space control unit is a keyboard, and the keyboard is provided with a parking key and a vehicle taking key corresponding to each upper layer parking unit;
when the parking key or the vehicle taking key corresponding to the upper layer parking unit is pressed, the parking space selection selector generates a parking space selection signal for parking or taking the vehicle in the upper layer parking unit and sends the parking space selection signal to the main control unit.
Further, the safety monitoring unit comprises a relay assembly, an alarm, a logic AND processor and a strain sensor which is arranged on the guide rod and used for sensing the strain condition of the guide rod;
the relay assembly comprises a normally closed relay I, a normally closed relay II, a normally closed relay III and a normally open relay;
the main control unit is connected with the input end of the motor I through a normally closed relay I;
the slave control unit is connected with the input end of the motor II through the normally closed relay II;
the main control unit is connected with the input end of the motor assembly through a normally closed relay III;
the input end of the alarm is connected with the main control unit through a normally open relay;
the output end of the strain sensor on each guide rod is connected with the input end of the logic AND processor, and the output end of the logic AND processor is connected with the main control unit and is used for performing AND operation on the strain signals transmitted by the strain sensors and transmitting AND operation result signals to the main control unit.
Further, the main control unit is a singlechip; the slave control unit is a singlechip; the logic AND processor is a PLC controller; and the normally-closed relay I, the normally-closed relay II, the normally-closed relay III and the normally-open relay are electromagnetic relays.
Further, the position sensing unit is a hall sensor.
The invention has the beneficial effects that: according to the multi-layer three-dimensional garage capable of selecting parking spaces to automatically park and pick up vehicles, the parking space is saved, the parking time and the vehicle picking-up time are reduced, and the requirement of heavy-load parking is met; the operation is simple, the control is flexible and accurate, and the application range is wide; the three-stage moving modes of vertical lifting movement, horizontal movement and local lifting movement are adopted, so that the accuracy of the parking position and the parking stability are improved; the safety monitoring unit is adopted to monitor the guide rod which is easy to bend and deform in the lifting unit, abnormality is certain to occur, and the modularized assembled three-dimensional parking garage is immediately deactivated through effective measures, so that the safety of taking and placing of the vehicle is ensured.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of a walking pallet;
FIG. 4 is a schematic diagram I of a walking assembly;
FIG. 5 is a schematic diagram II of a walking assembly;
FIG. 6 is a schematic top view of a lifter plate;
FIG. 7 is a cross-sectional schematic view of a cross-beam;
FIG. 8 is a schematic diagram of the connection of a control system;
FIG. 9 is a schematic perspective view of another embodiment of the present invention;
FIG. 10 is a schematic perspective view of a walking pallet of another construction of the present invention;
fig. 11 is a schematic top view of a lifter plate of another construction of the present invention.
Description of the embodiments
As shown in fig. 1 and 2, the modular assembled stereo garage provided by the invention comprises a lifting unit 1 for lifting a vehicle and parking units symmetrically arranged at two sides of the lifting unit 1;
the parking unit comprises a bottom layer parking unit 2 and an upper layer parking unit 3 fixed above the bottom layer parking unit 2,
the floor parking unit 2 includes a parking support frame 21; the upper layer parking unit 3 comprises a rectangular parking frame 31 and a walking support plate 32 which can move transversely in a single degree of freedom at the top of the parking frame 31;
the lifting unit 1 comprises a vertically arranged lifting support frame 11, a lifting support plate assembly 12 vertically and slidably arranged on the support frame, and a lifting driving mechanism 13 for controlling the vertical position of the lifting support plate, wherein the lifting support plate assembly 12 is used for taking out a vehicle from the upper parking unit 3 or putting the vehicle into the upper parking unit 3 after being longitudinally opposite to the corresponding upper parking unit 3;
the lifting driving mechanism 13 comprises a guide rod 131 vertically arranged on the inner side of the lifting supporting frame 11, a winch 132 arranged on the top end of the lifting supporting frame 11, a steel wire rope 133 with one end fixed on the winch 132 and capable of extending and contracting along with the rotation of the winch 132, and a motor I134 connected with the winch 132 and driving the winch 132 to rotate, wherein the other end of the steel wire rope 133 is fixed on the lifting supporting plate component 12 and used for driving the lifting supporting plate to slide along the vertical direction in a single degree of freedom; the guide rods 131 pass vertically through the lifting pallet assembly 12. In this embodiment, the lifting support frame 11 is four stand columns with the same structure and arranged in parallel, the stand columns are arranged vertically, the length of each stand column is not less than twice the height of the bottom layer parking unit 2 in the vertical direction, the winches 132 are arranged at the top ends of the stand columns, and 4 winches 132 are arranged in total. The upright posts enclose a cuboid space as a lifting space. Through the structure, the parking occupied space is saved, the parking and vehicle taking time is reduced, and the large-load parking requirement is met; simple operation, flexible and accurate control and wide application range. The transverse direction is the left-right direction of fig. 2, and the longitudinal direction is the direction which is horizontal and perpendicular to the transverse direction; the top of the modularized assembled three-dimensional parking garage can be provided with a rain shelter, so that the phenomenon that the vehicle is wetted when being taken and put in a rainy day is avoided.
In this embodiment, the parking support frame 21, the parking frame 31 and the lifting support frame 11 are all steel structures, and are formed by welding and threaded connection of multiple types of steel such as hot rolled H-shaped steel, channel steel, steel plates, and the like, so that the parking support frame has good plastic toughness, is convenient to install and disassemble, and has strong flexibility and high reliability; the outer surfaces of the upper layer parking frame 31 and the bottom layer parking frame 31 are coated with waterproof paint, so that the waterproof paint is suitable for places with shielding such as underground garages, outdoor places such as roadsides and open spaces, can be subjected to wind and sun exposure for a long time, and is long in service life and wide in application range. When a vehicle is to be parked in the floor parking unit 2, the driver directly drives the vehicle into the floor parking unit 2 or the lifting pallet assembly 12 without the vertical movement or the horizontal movement operation of the modular assembled stereo garage.
As shown in fig. 3, the walking pallet 32 includes a girder 321 disposed longitudinally and walking components 322 disposed at both ends of the girder 321; the two longitudinal ends of the main beam 321 are provided with mounting beams 323 which are used for mounting the walking assembly 322 and are perpendicular to the main beam 321 in parallel; the two ends of the main beam 321 are fixedly connected with the middle part of the mounting beam 323; in this embodiment, each upper parking space is provided with one walking pallet 32, that is, two walking pallets 32.
As shown in fig. 4 and 5, the walking assembly 322 includes a walking wheel 3221 and a motor ii 3222 for driving the walking wheel 3221 to walk; the travelling wheel 3221 is connected with one end of a speed change gear assembly 3224 through a coupler 3223, and the other end of the speed change gear assembly 3224 is connected with an output shaft of a motor II 3222; the motor II 3222 housing is fixedly provided with a mounting plate 3225 parallel to the upper end surface and the lower end surface of the mounting beam 323 on one side close to the mounting beam 323, and the mounting plate 3225 is fixed at two ends of the mounting beam 323 through bolts; the output shafts of the travelling wheel 3221, the coupling 3223 and the motor II 3222 are coaxially arranged, and the axes of the output shafts of the travelling wheel 3221, the coupling 3223 and the motor II 3222 are parallel to the axis of the main beam 321;
and a plurality of transverse comb teeth I324 are arranged on two transverse sides of the main beam 321.
The lifting support plate assembly 12 comprises two lifting plates 121 with the same structure, wherein one lifting plate 121 is arranged right above the other lifting plate 121; the two lifting plates 121 are connected by a connecting rope (not shown in the drawings) whose length is not less than the height of the floor parking unit 2 in the vertical direction. In this embodiment, four connecting ropes have the same structure and length and are respectively disposed at four corners of the lifting plate 121. When the winch 132 drives the lifting plate 121 located above to move upwards to a state of straightening the connecting rope, if the winch 132 is continuously started, the lifting plate 121 located below is driven to move upwards, so that the two lifting plates 121 can both move or park the vehicle in the vertical direction, and the parking space of the vehicle is increased.
As shown in fig. 6, the lifting plate 121 is a rectangular frame, and includes longitudinal beams 1211 on the left and right sides and transverse beams 1212 on the front and rear ends, and a plurality of transverse comb teeth ii 1213 capable of being meshed with the transverse comb teeth i 324 are fixedly disposed on the inner side of the longitudinal beams 1211;
as shown in fig. 7, the cross beam 1212 is provided with a local lifting unit 124; the local lifting unit 124 includes a local lifting supporting plate 1241 capable of supporting the walking assembly 322 to move in a single degree of freedom in a vertical direction and a four-bar driving mechanism 1242 for driving the local lifting supporting plate 1241 to move in a single degree of freedom in a vertical direction;
the two ends of the upper surface of the cross beam 1212 are sunk to form a mounting groove 1214 for mounting a four-bar driving mechanism 1242, the size of the local lifting support plate 1241 is matched with the size of the opening of the mounting groove 1214 in a conformal manner, the local lifting support plate 1241 can penetrate through the opening of the mounting groove 1214, and the upper surface of the local lifting support plate 1241 is parallel to the upper surface of the cross beam 1212; the walking assembly 322 may be open through the mounting slot 1214;
the four-bar drive mechanism 1242 comprises a crank I1243, a crank II 1244, a connecting rod I1245, a rack 1246, a connecting rod II 1247, a crank III 1248 and a motor assembly 1249; one end of the crank I1243 is rotatably connected with one end of the connecting rod I1245, and the other end of the crank I1243 is rotatably connected with one end of the rack 1246; one end of the crank II 1244 is rotatably connected with the other end of the connecting rod I1245, and the other end of the crank II 1244 is rotatably connected with the other end of the rack 1246; the bottom of the frame 1246 is fixed on the bottom surface of the mounting groove 1214; the bottom of the lifting tray is fixed at the top of a connecting rod I1245; the motor assembly 1249 is connected with one end of the crank III 1248 and is used for driving the crank III 1248 to rotate; two ends of the connecting rod II 1247 are respectively and rotatably connected with the middle parts of the crank II 1244 and the crank III 1248, and are used for driving the crank II 1244 to rotate under the drive of the crank III 1248;
the two ends of the longitudinal beam 1211 are fixedly provided with lifting fixing plates 1215, the lifting fixing plates 1215 are provided with guide holes 1216 through which the guide rods 131 can pass, and the guide rods 131 can slide up and down in the guide holes 1216; the elevation fixing plate 1215 is further provided with a fixing hole 1217 for fixing the wire rope 133, and the fixing hole 1217 may also be used for installing a fixing connection rope. When the upper layer parking unit 3 is needed to be parked, the walking pallet 32 is firstly moved to the position right above the lifting pallet, namely the walking component 322 is moved to the position right above the corresponding local lifting pallet 1241, the local lifting pallet 1241 lifts the walking component 322 to move downwards in the vertical direction until the upper surface of the transverse comb teeth I324 and the upper surface of the transverse comb teeth II 1213 are on the same horizontal plane, then the vehicle is driven to the position right above the walking pallet 32, then the lifting pallet is driven by the lifting unit 1 to lift the walking pallet 32 to the position right above the upper layer parking unit 3 to be parked, the local lifting pallet 1241 lifts the walking component 322 to the position right above the horizontal plane, until the upper surface of the local lifting pallet 1241 and the upper surface of the cross beam 1212 are on the same horizontal plane, then the walking pallet 32 starts to move horizontally, and after the walking pallet 32 moves horizontally to the position right above the upper layer parking unit 3 to be parked, the vehicle stops moving horizontally, and the vehicle is parked completely; when the vehicle needs to be taken out, the walking support plate 32 transversely and horizontally moves to the position right above the lifting support plate, then the local lifting support plate 1241 lifts the walking component 322 to downwards move in the vertical direction until the upper surface of the transverse comb teeth I324 and the upper surface of the transverse comb teeth II 1213 are on the same horizontal plane, then the lifting support plate is driven by the lifting unit 1 to lift the walking support plate 32 to downwards move to the ground in the vertical direction, and a driver enters the vehicle and drives the vehicle to leave. The above structure improves the stability of the vehicle in the lifting process, prevents the vehicle from shaking, causes unstable center of the modular assembled stereo garage, causes damage to the modular assembled stereo garage, and even causes the vehicle in the lifting process to slide down from the lifting plate 121. Through the cooperation of guide arm 131 and pilot hole 1216, avoid the vehicle to take place the skew in vertical direction when the single degree of freedom of vertical direction removes, improve modular assembled stereo garage's stability in use, reduce modular assembled stereo garage's damage. By the cooperation of the lifting fixing plate 1215, the wire rope 133, the winch 132, and the motor i 134, the vehicle is lifted or lowered in the vertical direction, and the vehicle is stopped or taken out in the vertical direction of the upper parking unit 3. Through above-mentioned broach lift structure and elevating unit 1, do benefit to the security and the swiftly of guaranteeing the transport.
As shown in fig. 8, the system also comprises a control system, wherein the control system comprises a parking space selection unit, a position sensing unit, a wireless communication unit, a safety monitoring unit, a master control unit and a slave control unit;
the output end of the parking space selection unit is connected with the main control unit and is used for sending a parking space selection signal to the main control unit; through setting up the parking stall selection unit, realize that the navigating mate can park the vehicle in the upper parking unit 3 of selecting through simple button operation, perhaps will select the vehicle of parking in the upper parking unit 3 of selecting and take out, compare in the parking operation of traditional sky parking, the sky parking of setting up this parking stall selector is operated simply and easily understandably, control nimble accurate, parks and gets time short, efficient.
The position sensing unit is arranged on the main beam 321 of the walking support plate 32, is connected with the main control unit, and is used for collecting the vertical position signal and the horizontal position signal of the walking support plate 32 and sending the vertical position signal and the horizontal position signal to the main control unit;
the main control unit is connected with the input end of the motor I134 and is used for controlling the motor I134 to drive the winch 132 to rotate so as to drive the lifting support plate assembly 12 to move in a single degree of freedom in the vertical direction;
the main control unit is connected with the motor assembly 1249 and is used for controlling the motor assembly 1249 to drive the four-bar driving rod to drive the local lifting supporting plate 1241 to move in a single degree of freedom in the vertical direction;
the slave control unit is in communication connection with the master control unit through the wireless communication unit and is used for receiving the horizontal movement control signal sent by the master control unit and sending a horizontal movement ending signal to the master control unit;
the slave control unit is connected with the input end of the motor II 3222; the motor II 3222 is used for controlling the motor II to drive the travelling wheels 3221 to rotate so as to drive the travelling support plate 32 to move on the upper layer support plate transversely in a single degree of freedom; the main control unit selects a route of the corresponding upper parking unit 3 from a preset route database moving to the upper parking unit 3 according to the parking space selection signal.
The safety monitoring unit is connected with the main control unit and is used for monitoring fault conditions and sending fault signals to the main control unit.
The parking space control unit is a keyboard, and the keyboard is provided with a parking key and a vehicle taking key corresponding to each upper layer parking unit 3;
when the parking key or the picking key corresponding to the upper layer parking unit 3 is pressed, the parking space selection selector generates a parking space selection signal for parking or picking the vehicle in the upper layer parking unit 3 and sends the parking space selection signal to the main control unit.
When it is necessary to park the upper parking unit 3, the traveling pallet 32 is first moved to the elevation pallet assembly 12 (if neither the elevation plate 121 above nor below is parked, the upper elevation plate 121 is controlled to be flush with the upper parking space, and the traveling pallet 32 is moved to the upper elevation plate 121; if the upper lifting plate 121 is parked and the vehicle is not parked below, the lower lifting plate 121 is controlled to be flush with the upper parking space, the walking pallet 32 is moved to the right above the lower lifting plate 121), namely, the walking component 322 is positioned right above the corresponding local lifting pallet 1241, the main control unit controls the motor component 1249 to drive the local lifting pallet 1241 to lift the walking component 322 to move downwards in the vertical direction until the upper surface of the transverse comb teeth I324 and the upper surface of the transverse comb teeth II 1213 are on the same horizontal plane, then the parking key of the selected upper parking unit is pressed, the main control unit controls the motor I134 to drive the winch 132 to rotate so as to drive the lifting pallet to move in a single degree of freedom in the vertical direction according to a preset route, when the position sensing unit senses that the walking pallet 32 reaches the horizontal plane where the upper parking unit 3 is required to be parked, the main control unit sends a signal to the main control unit, the main control unit controls the motor I134 to stop working, then the local lifting pallet 1241 lifts the walking component 322 to move upwards until the upper surface of the local lifting pallet 1241 is on the same horizontal plane as the upper surface of the cross beam 1212, then the control unit sends a signal to the control unit to drive the horizontal control unit 3222 to move in the horizontal direction when the position sensing unit is sensed that the upper parking pallet 32 reaches the horizontal plane where the upper parking unit 3222 is located in the preset direction according to the preset route, and the horizontal direction of the parking unit is sensed from the control unit 3222, at this point the vehicle is completely parked. In this example, the vertical position of the walking pallet 32 is sensed by the position sensing unit and sent to the main control unit to determine whether the upper surface of the transverse comb i 324 is on the same horizontal plane as the upper surface of the transverse comb ii 1213.
The action of taking out the upper layer parking unit 3 and parking is reverse action when the upper layer parking unit 3 parks, at the moment, only the vehicle taking button corresponding to the upper layer parking unit 3 where the vehicle to be taken out is needed to be pressed down, and when the vehicle returns to the ground, the driver only needs to enter the vehicle and directly drive the vehicle to leave. Through the system, the three-stage moving mode of vertical lifting movement, horizontal movement and local lifting movement is adopted, so that the accuracy of the parking position and the parking stability are improved
The safety monitoring unit comprises a relay assembly, an alarm, a logic and processor and a strain sensor which is arranged on the guide rod 131 and used for sensing the strain condition of the guide rod 131;
the relay assembly comprises a normally closed relay I, a normally closed relay II, a normally closed relay III and a normally open relay;
the main control unit is connected with the input end of the motor I134 through a normally closed relay I;
the slave control unit is connected with the input end of a motor II 3222 through a normally closed relay II;
the main control unit is connected with the input end of the motor assembly 1249 through a normally closed relay III;
the input end of the alarm is connected with the main control unit through a normally open relay;
the output end of the strain sensor on each guide rod 131 is connected with the input end of the logic AND processor, and the output end of the logic AND processor is connected with the main control unit and is used for performing AND operation on the strain signals transmitted by the strain sensor and transmitting AND operation result signals to the main control unit. When the guide rod 131 is bent and deformed, the strain sensors send corresponding strain signals to the logic AND processor, the logic AND processor performs AND operation on the strain signals sent by the strain sensors, namely, as long as the strain signals sent by the strain sensors of one guide rod 131 indicate that the guide rod 131 is bent and deformed, the logic AND processor sends fault occurrence signals to the main control unit, and the main control unit controls the normally closed relay I, the normally closed relay II and the normally closed relay III to be opened, and the normally open relay is closed, so that the motor I134, the motor II 3222 and the motor assembly 1249 stop working, and an alarm is given out. Through the system, the guide rod 131 which is easy to bend and deform in the lifting unit 1 is monitored by the safety monitoring unit, the abnormality is certain to occur, the modularized assembly type three-dimensional parking garage is immediately deactivated by effective measures, the safety of taking and placing vehicles is ensured, and therefore, safety accidents and mechanical structural damage of the three-dimensional parking garage are avoided.
The main control unit is a singlechip, and an AVR series singlechip is preferred; the slave control unit is a singlechip, and an AVR series singlechip is preferred; the logic AND processor is a PLC controller; and the normally-closed relay I, the normally-closed relay II, the normally-closed relay III and the normally-open relay are electromagnetic relays.
The position sensing unit is a Hall sensor.
In this embodiment, as shown in fig. 9 to 10, the parking space may also be provided in a structure in which the vehicle is driven in reverse, driven out forward, or driven out in reverse, driven in forward, into the lifting unit 1, and the longitudinal length of the parking space in this structure is conformably matched with the body length of the vehicle, i.e., the longitudinal length of the parking space in this structure is equal to or greater than the body length of the vehicle, and the specific structure is as described above. FIG. 9 is a schematic perspective view of another embodiment of the present invention; fig. 10 is a schematic perspective view of a walking pallet of the modular assembled stereo garage; fig. 11 is a schematic top view of a lifter plate of such a modular structural assembled stereo garage
In the present embodiment, the parking space may also be provided in a structure in which the vehicle-side direction is driven in or out of the elevating unit 1, the vertical width of the parking space of which is conformably matched with the vehicle body width, that is, the vertical width of the parking space of which is equal to or greater than the vehicle body width.
In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "front", "rear", "inner", "outer", "vertical", "parallel", "transverse", "longitudinal", "vertical", "lengthwise", and "widthwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (6)
1. A modular assembled three-dimensional parking garage is characterized in that: the vehicle lifting device comprises a lifting unit for lifting a vehicle and parking units symmetrically arranged on two sides of the lifting unit;
the parking unit comprises a bottom layer parking unit and an upper layer parking unit fixed above the bottom layer parking unit;
the bottom layer parking unit comprises a parking support frame; the upper layer parking unit comprises a rectangular parking frame and a walking supporting plate capable of transversely and reciprocally moving at the top of the parking frame; the walking support plate comprises a main beam and walking components, wherein the main beam is longitudinally arranged, and the walking components are arranged at two ends of the main beam; the walking assembly comprises a walking wheel and a motor II for driving the walking wheel to walk;
the lifting unit comprises a vertically arranged lifting support frame, a lifting support plate assembly and a lifting driving mechanism, wherein the lifting support plate assembly is vertically and slidably arranged on the support frame, and the lifting driving mechanism is used for controlling the vertical position of the lifting support plate;
the lifting driving mechanism comprises a guide rod vertically arranged on the inner side of the lifting support frame, a winch arranged on the top end of the lifting support frame, a steel wire rope with one end fixed on the winch and capable of extending and contracting along with the rotation of the winch, and a motor I connected with the winch and driving the winch to rotate, wherein the other end of the steel wire rope is fixed on the lifting support plate assembly and used for driving the lifting support plate to slide along the vertical direction in a single degree of freedom; the guide rod vertically passes through the lifting supporting plate component;
the system also comprises a control system, wherein the control system comprises a parking space selection unit, a position sensing unit, a wireless communication unit, a safety monitoring unit, a main control unit and a slave control unit;
the output end of the parking space selection unit is connected with the main control unit and is used for sending a parking space selection signal to the main control unit;
the position sensing unit is arranged on the main beam of the walking support plate, is connected with the main control unit, and is used for collecting vertical position signals and horizontal position signals of the walking support plate and sending the vertical position signals and the horizontal position signals to the main control unit;
the main control unit is connected with the input end of the motor I and is used for controlling the motor I to drive the winch to rotate so as to drive the lifting support plate component to move in a single degree of freedom in the vertical direction;
the main control unit is connected with the motor assembly and used for controlling the motor assembly to drive the four-bar driving rod to drive the local lifting supporting plate to move in a single degree of freedom in the vertical direction;
the slave control unit is in communication connection with the master control unit through the wireless communication unit and is used for receiving the horizontal movement control signal sent by the master control unit and sending a horizontal movement ending signal to the master control unit;
the slave control unit is connected with the input end of the motor II; the motor II is used for controlling the motor II to drive the travelling wheels to rotate so as to drive the travelling supporting plate to move on the upper supporting plate transversely in a single degree of freedom;
the safety monitoring unit is connected with the main control unit and is used for monitoring fault conditions and sending fault signals to the main control unit;
the parking space selection unit is a keyboard, and the keyboard is provided with a parking key and a vehicle taking key corresponding to each upper layer parking unit;
when a parking key or a vehicle taking key corresponding to an upper layer parking unit is pressed, a parking space selector generates a parking space selection signal for parking or taking a vehicle in the upper layer parking unit and sends the parking space selection signal to a main control unit;
the safety monitoring unit comprises a relay assembly, an alarm, a logic and processor and a strain sensor which is arranged on the guide rod and used for sensing the strain condition of the guide rod;
the relay assembly comprises a normally closed relay I, a normally closed relay II, a normally closed relay III and a normally open relay;
the main control unit is connected with the input end of the motor I through a normally closed relay I;
the slave control unit is connected with the input end of the motor II through the normally closed relay II;
the main control unit is connected with the input end of the motor assembly through a normally closed relay III;
the input end of the alarm is connected with the main control unit through a normally open relay;
the output end of the strain sensor on each guide rod is connected with the input end of the logic AND processor, and the output end of the logic AND processor is connected with the main control unit and is used for performing AND operation on the strain signals transmitted by the strain sensors and transmitting AND operation result signals to the main control unit.
2. The modular, three-dimensional parking garage of claim 1, wherein: the walking support plate comprises a main beam and walking components, wherein the main beam is longitudinally arranged, and the walking components are arranged at two ends of the main beam; the two longitudinal ends of the main beam are provided with mounting beams which are used for mounting the walking assembly and are perpendicular to the main beam in parallel; the two ends of the main beam are fixedly connected with the middle part of the mounting beam;
the walking assembly comprises a walking wheel and a motor II for driving the walking wheel to walk; the travelling wheel is connected with one end of a speed change gear assembly through a coupler, and the other end of the speed change gear assembly is connected with an output shaft of a motor II; the motor II shell is fixedly provided with a mounting plate parallel to the upper end face and the lower end face of the mounting beam on one side close to the mounting beam, and the mounting plate is fixed at two ends of the mounting beam through bolts; the travelling wheel, the coupler and the motor II output shaft are coaxially arranged, and the axes of the travelling wheel, the coupler and the motor II output shaft are parallel to the axis of the main beam;
and a plurality of transverse comb teeth I are arranged on two transverse sides of the main beam.
3. The modular, three-dimensional parking garage of claim 2, wherein: the lifting support plate assembly comprises two lifting plates with the same structure, and one lifting plate is arranged right above the other lifting plate; the two lifting plates are connected through a connecting rope, and the length of the connecting rope is not smaller than the height of the bottom layer parking unit in the vertical direction.
4. A modular three-dimensional parking garage according to claim 3, characterized in that: the lifting plate is a rectangular frame and comprises longitudinal beams at the left side and the right side and transverse beams at the front end and the rear end, and a plurality of transverse comb teeth II which can be meshed with the transverse comb teeth I are fixedly arranged at the inner side of the longitudinal beams;
the beam is provided with a local lifting unit; the local lifting unit comprises a local lifting supporting plate capable of supporting the walking assembly to move in a single degree of freedom in the vertical direction and a four-bar driving mechanism for driving the local lifting supporting plate to move in a single degree of freedom in the vertical direction;
the two ends of the upper surface of the cross beam are sunk to form a mounting groove for mounting the four-bar driving mechanism, the size of the local lifting supporting plate is matched with the size of the opening of the mounting groove in a conformal manner, the local lifting supporting plate can penetrate through the opening of the mounting groove, and the upper surface of the local lifting supporting plate is parallel to the upper surface of the cross beam; the walking component can pass through the mounting groove opening;
the four-bar driving mechanism comprises a crank I, a crank II, a connecting rod I, a frame, a connecting rod II, a crank III and a motor assembly; one end of the crank I is rotatably connected with one end of the connecting rod I, and the other end of the crank I is rotatably connected with one end of the frame; one end of the crank II is rotatably connected with the other end of the connecting rod I, and the other end of the crank II is rotatably connected with the other end of the frame; the bottom of the frame is fixed on the bottom surface of the mounting groove; the bottom of the lifting tray is fixed at the top of the connecting rod I; the motor component is connected with one end of the crank III and is used for driving the crank III to rotate; the two ends of the connecting rod II are respectively and rotatably connected with the middle parts of the crank II and the crank III and are used for driving the crank II to rotate under the driving of the crank III;
lifting fixing plates are fixedly arranged at two ends of the longitudinal beam, guide holes through which guide rods can pass are formed in the lifting fixing plates, and the guide rods can slide up and down in the guide holes; the lifting fixing plate is also provided with a fixing hole for fixing the steel wire rope.
5. The modular, three-dimensional parking garage of claim 1, wherein: the main control unit is a singlechip; the slave control unit is a singlechip; the logic AND processor is a PLC controller; and the normally-closed relay I, the normally-closed relay II, the normally-closed relay III and the normally-open relay are electromagnetic relays.
6. The modular, three-dimensional parking garage of claim 1, wherein: the position sensing unit is a Hall sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910115898.XA CN109707200B (en) | 2019-02-15 | 2019-02-15 | Modularized assembled three-dimensional parking garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910115898.XA CN109707200B (en) | 2019-02-15 | 2019-02-15 | Modularized assembled three-dimensional parking garage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109707200A CN109707200A (en) | 2019-05-03 |
| CN109707200B true CN109707200B (en) | 2024-01-19 |
Family
ID=66264470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910115898.XA Active CN109707200B (en) | 2019-02-15 | 2019-02-15 | Modularized assembled three-dimensional parking garage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109707200B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109707200B (en) * | 2019-02-15 | 2024-01-19 | 重庆交通大学 | Modularized assembled three-dimensional parking garage |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19615807A1 (en) * | 1996-04-20 | 1997-10-23 | Spies Klaus Prof Dr Ing Dr H C | Car parking system using pallets |
| KR19990001151A (en) * | 1997-06-12 | 1999-01-15 | 정수철 | Multi-layer cyclic three-dimensional parking device |
| US6491488B1 (en) * | 2001-09-21 | 2002-12-10 | Lawrence Vita | Car parking structure |
| EP1772573A1 (en) * | 2005-10-06 | 2007-04-11 | Bousseau, Françoise | Multi-storey plant for automatic parking of vehicles |
| JP2014109102A (en) * | 2012-11-30 | 2014-06-12 | Ihi Transport Machinery Co Ltd | Mechanical parking device |
| CN104032990A (en) * | 2014-05-08 | 2014-09-10 | 江苏启良停车设备有限公司 | Stereo garage |
| WO2017067145A1 (en) * | 2015-10-22 | 2017-04-27 | 广州建德机电有限公司 | Fastening plate-type parking device |
| CN108412279A (en) * | 2018-05-08 | 2018-08-17 | 重庆交通大学 | Unilateral stack type stereo garage parking |
| CN108979259A (en) * | 2018-08-29 | 2018-12-11 | 龙岩学院 | A kind of small-sized machine parking device |
| CN109707200A (en) * | 2019-02-15 | 2019-05-03 | 重庆交通大学 | Modular assembly formula parking systems |
-
2019
- 2019-02-15 CN CN201910115898.XA patent/CN109707200B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19615807A1 (en) * | 1996-04-20 | 1997-10-23 | Spies Klaus Prof Dr Ing Dr H C | Car parking system using pallets |
| KR19990001151A (en) * | 1997-06-12 | 1999-01-15 | 정수철 | Multi-layer cyclic three-dimensional parking device |
| US6491488B1 (en) * | 2001-09-21 | 2002-12-10 | Lawrence Vita | Car parking structure |
| EP1772573A1 (en) * | 2005-10-06 | 2007-04-11 | Bousseau, Françoise | Multi-storey plant for automatic parking of vehicles |
| JP2014109102A (en) * | 2012-11-30 | 2014-06-12 | Ihi Transport Machinery Co Ltd | Mechanical parking device |
| CN104032990A (en) * | 2014-05-08 | 2014-09-10 | 江苏启良停车设备有限公司 | Stereo garage |
| WO2017067145A1 (en) * | 2015-10-22 | 2017-04-27 | 广州建德机电有限公司 | Fastening plate-type parking device |
| CN108412279A (en) * | 2018-05-08 | 2018-08-17 | 重庆交通大学 | Unilateral stack type stereo garage parking |
| CN108979259A (en) * | 2018-08-29 | 2018-12-11 | 龙岩学院 | A kind of small-sized machine parking device |
| CN109707200A (en) * | 2019-02-15 | 2019-05-03 | 重庆交通大学 | Modular assembly formula parking systems |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109707200A (en) | 2019-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8983649B2 (en) | Automated storage system and transport vehicle | |
| CN102828640B (en) | Tower type stereoscopic garage with multiple parking lanes and multiple vehicle carrying plates | |
| CN106677579B (en) | Intelligent omnidirectional transfer platform parking robot and control method thereof | |
| CN106245966A (en) | A kind of intelligent machine parking apparatus and restricted parking area | |
| CN201011166Y (en) | Comb type switching mechanical parking equipment for trackless carriage carrier | |
| CN100532765C (en) | Rotary type vehicle carrying board one-position for two-car parking device | |
| CN109594820A (en) | A kind of three-dimensional electric automobile charging pile | |
| CN107882398B (en) | Building landscape type stereo parking garage control method | |
| CN109057446B (en) | Rolling type car carrying plate storage device for three-dimensional parking lot and three-dimensional parking lot | |
| CN109707200B (en) | Modularized assembled three-dimensional parking garage | |
| US3987912A (en) | Movable vehicle parking towers | |
| CN103993767B (en) | A kind of intelligent vehicle-containing | |
| CN201217961Y (en) | Multi-storied garage | |
| CN210422082U (en) | AGV parking robot based on rocker slider climbing mechanism | |
| CN105421841A (en) | Full-automatic-type stereo garage | |
| CN210134687U (en) | Three-dimensional parking garage | |
| CN112173520A (en) | Stacker with four-way walking function and control method thereof | |
| CN203223021U (en) | Tower type stereo garage | |
| CN110259213B (en) | Inclined parking system based on AGV and bracket | |
| US20230258016A1 (en) | Conveying device for moving vehicles, and robot system comprising such a device | |
| CN212709488U (en) | Scissor-fork type data machine room server carrier | |
| CN112172959B (en) | Outdoor robot | |
| CN210942034U (en) | Outdoor robot | |
| CN111364819A (en) | Intelligent three-dimensional parking garage without vehicle-carrying tray and vehicle storing and taking method | |
| CN208830804U (en) | A kind of intelligent robot of carrier vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |