CN110792303A - Lifting system for realizing unmanned parking - Google Patents
Lifting system for realizing unmanned parking Download PDFInfo
- Publication number
- CN110792303A CN110792303A CN201911130094.3A CN201911130094A CN110792303A CN 110792303 A CN110792303 A CN 110792303A CN 201911130094 A CN201911130094 A CN 201911130094A CN 110792303 A CN110792303 A CN 110792303A
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- China
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- base
- lifting
- driving motor
- harmonic reducer
- scissor arm
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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
-
- 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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of unmanned parking, and particularly discloses a lifting system for realizing unmanned parking, which comprises a chassis and a lifting mechanism, wherein the lifting mechanism comprises a base, a lifting seat, a scissor arm assembly, a ball screw assembly, a driving motor, a harmonic reducer and a control module; the base is fixedly connected with the chassis; sliding grooves are horizontally formed in the side walls of the base and the lifting seat; the number of the scissor arm assemblies is two, and each scissor arm assembly comprises a first end, a second end, a third end and a fourth end; the second ends of the two scissor arm assemblies are rotatably connected with the ball screw assembly; the harmonic reducer and the driving motor are both fixed on one side wall of the base; the harmonic reducer comprises an input end and an output end, and the driving motor comprises a driving shaft; the driving shaft of the driving motor is fixedly connected with the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected with the ball screw assembly. By adopting the technical scheme of the invention, the overall height can be reduced.
Description
Technical Field
The invention relates to the technical field of unmanned parking, in particular to a lifting system for realizing unmanned parking.
Background
Along with the improvement of society and the improvement of people's living standard, the car is popularized rapidly, and the demand on parking stall is bigger and bigger, and traditional garage parking gradually develops to intelligent mechanized three-dimensional parking mode. In the intelligent three-dimensional parking equipment, the intelligent three-dimensional parking garage mainly comprises a plane moving type, a roadway stacking type and a vertical lifting type. The working principle of the lifting and transporting device is that the lifting and transporting device is provided with one or more transporting devices, the automobile can be lifted from the bottom of the automobile to be transported, then the transporting devices are moved to the lifter together, the lifter transports the transporting devices together with the automobile to different parking floors, and then the transporting devices send the automobile to a specified parking space.
Among the prior art, haulage equipment lifts the car from the car bottom and carries in order to realize, adopts hydraulic transmission mostly, but hydraulic transmission hardly avoids the production of oil leak, can the polluted environment, can not guarantee strict drive ratio moreover, receives the environmental impact easily, is difficult to realize lifting control.
In order to solve the problems, a chinese patent publication No. CN202990510U discloses a lifting chassis type stereo garage automobile carrier, which comprises a chassis, a lifting mechanism, a locking mechanism and a bidirectional traveling mechanism. The chassis consists of an upper fixing plate and a lower fixing plate; the lifting mechanism consists of a lifting motor, a coupling, a driving gear, a reduction gear and a lifting device; the locking mechanism consists of a ratchet wheel and an electromagnetic stop rod; the bidirectional travelling mechanism consists of travelling wheels and a travelling motor. When the vehicle is stored, the tray is in a low position, and after the carrier enters the designated position, the tray holds the chassis at the front part of the vehicle and lifts the chassis off the ground.
However, the above scheme is large in size, the height of the device is high, the overall height of the whole carrying equipment is inevitably high, the automobile needs to be parked on a platform with a high ground clearance in order to match with the carrying equipment, and in practical application, parking difficulty and high construction cost of the platform can be caused, so that the device is not beneficial to popularization.
Therefore, a lifting system with compact structure and low overall height is needed.
Disclosure of Invention
The invention aims to provide a lifting system for realizing unmanned parking so as to reduce the overall height.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a lifting system for realizing unmanned parking comprises a chassis and a lifting mechanism, wherein the lifting mechanism comprises a base, a lifting seat, a scissor arm assembly, a ball screw assembly, a driving motor, a harmonic reducer and a control module;
the base is fixedly connected with the chassis; sliding grooves are horizontally formed in the side walls of the base and the lifting seat;
the number of the scissor arm assemblies is two, and each scissor arm assembly comprises a first end, a second end, a third end and a fourth end; the first end and the third end of the scissor arm assembly are respectively and rotatably connected with the side walls of the base and the lifting seat, and the second end and the fourth end of the scissor arm assembly are respectively positioned in the sliding grooves of the base and the lifting seat and are in sliding connection with the sliding grooves; the second ends of the two scissor arm assemblies are rotatably connected with the ball screw assembly;
the harmonic reducer and the driving motor are both fixed on one side wall of the base; the harmonic reducer comprises an input end and an output end, and the driving motor comprises a driving shaft; a driving shaft of the driving motor is fixedly connected with the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected with the ball screw assembly;
the control module is in signal connection with the driving motor and is used for controlling the driving motor to rotate according to the control instruction.
The basic scheme principle and the beneficial effects are as follows:
when needing to lift, driving motor starts, and the harmonic speed reducer drives the ball screw subassembly and rotates after to driving motor's output slows down, and the ball screw subassembly is owing to rotate with the scissors arm subassembly and be connected, and the ball screw subassembly turns into the motion of scissors arm subassembly in vertical direction with rotating, and the scissors arm subassembly drives and lifts the seat and rise, realizes the action of lifting. In this scheme, cut fork arm subassembly and ball screw subassembly and all can accomodate in base and lift seat for whole compact structure, whole high only the high sum of base and lift seat during initial position can be controlled very lowly. In this scheme, set up the harmonic speed reducer ware, with ordinary single-stage or multistage gear reducer ware, realize under the condition of equal reduction ratio and big moment of torsion output, the volume is littleer, and the precision is higher moreover, can carry out accurate control to the height of lifting.
Furthermore, the scissor arm assembly comprises two scissor arms which are rotatably connected.
When the lifting mechanism does not need to be lifted at the initial position, the two scissor arms can be folded in the base and the lifting seat, so that the initial height of the lifting mechanism can be effectively reduced.
Further, the ball screw assembly includes a screw and a nut seat; the screw rod is arranged along the length direction of the sliding groove, and two ends of the screw rod are respectively in rotating connection with two side walls of the base; the nut seat is in threaded connection with the screw, and the second ends of the two scissor arm assemblies are in rotational connection with the nut seat; the output end of the harmonic reducer is fixedly connected with one end of the screw rod.
Through the ball screw assembly, the rotary motion of the harmonic reducer can be effectively converted into the linear motion of the two scissor arm assemblies in the vertical direction, and the lifting action is realized.
Furthermore, the harmonic reducer is fixed on one side wall of the base, and the driving motor is fixed on one side of the harmonic reducer, which is far away from the base.
The harmonic reducer and the driving motor are fixed on the same side, so that the whole structure is more compact.
Further, still include the bearing, the bearing embedding sliding tray, the second end and the fourth end of scissors fork arm subassembly pass through bearing and sliding tray sliding connection.
Through setting up the bearing, can reduce the frictional force when the second end of cutting the fork arm subassembly slides in the spout.
Further, the scissor arm assembly is located inside the base and the lifting seat.
The structure can be made more compact than if the scissor arm assembly were located outside the base and the lifting base.
Further, the harmonic reducer and the driving motor both comprise shells, one end of each of the installation seats is fixedly connected with one side wall of the base, the other end of each of the installation seats is fixedly connected with the shell of the harmonic reducer, and the shell of the driving motor and the shell of the harmonic reducer are fixedly connected with one side of the installation seat.
Through setting up the mount pad, be convenient for with the firm installation on the base of harmonic speed reducer ware.
Further, the base is a rectangular frame.
The rectangular frame is simple in structure and convenient to disassemble and assemble.
Further, the lifting seat and the base are the same in shape.
The parts of the lifting seat and the base can be universal, and the lifting seat is convenient to maintain.
Further, the driving motor is a servo motor.
Accurate lifting height control can be realized through the servo motor.
Drawings
Fig. 1 is a perspective view of a lifting mechanism of a first embodiment of a lifting system for enabling unmanned parking.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include:
the device comprises a base 1, a lifting seat 2, a scissor arm assembly 3, a screw rod 4, a nut seat 5, a driving motor 6, a harmonic reducer 7, a mounting seat 8 and a sliding groove 9.
Example one
A lifting system for realizing unmanned parking comprises a chassis and a lifting mechanism, wherein the lifting mechanism comprises a base 1, a lifting seat 2, a scissor arm assembly 3, a ball screw assembly, a driving motor 6, a harmonic reducer and a control module as shown in figure 1. The base 1 and the lifting seat 2 are both rectangular frames with the same shape. The bottom of the base 1 is fixedly connected with the chassis through bolts;
the inner sides of the front side wall of the base 1 and the rear side wall of the base 1 are provided with sliding grooves 9; the inner sides of the front side wall of the lifting seat 2 and the rear side wall of the lifting seat 2 are also provided with sliding grooves 9 (in fig. 1, the side where the driving motor 6 is located is the right side). The inner sides of the front side wall and the rear side wall of the base 1 and the lifting seat 2 are both horizontally provided with sliding grooves 9. And the bearing is embedded in the sliding groove 9.
The scissor arm assemblies 3 are positioned on the inner sides of the base 1 and the lifting seat 2, and the number of the scissor arm assemblies 3 is two. Each scissor arm assembly 3 comprises two scissor arms which are rotatably connected through a bolt. One scissor arm comprises a first end and a fourth end, and the other scissor arm comprises a second end and a third end; wherein the first end and the third end are located on the same side. The first end and the third end are respectively connected with the side walls of the base 1 and the lifting seat 2 in a rotating manner, and the second end and the fourth end are respectively positioned in the sliding grooves 9 of the base 1 and the lifting seat 2 and are connected with the sliding grooves 9 in a sliding manner through bearings.
The ball screw assembly comprises a screw rod 4 and a nut seat 5; the screw rod 4 is arranged along the length direction of the sliding groove 9, and two ends of the screw rod 4 are respectively and rotatably connected with the left side wall and the right side wall of the base 1; the nut seat 5 is in threaded connection with the screw rod 4, and the second ends of the two scissor arms are in rotational connection with the nut seat 5;
still include the mount pad, harmonic speed reducer ware and driving motor 6 all include the shell, and the mount pad right-hand member passes through bolt fixed connection with the outer wall of the left side wall of base 1, and the mount pad left end passes through bolt fixed connection with harmonic speed reducer ware's right side shell, and driving motor 6's right side shell passes through bolt fixed connection with harmonic speed reducer ware's left side shell.
The harmonic reducer also comprises an input end and an output end, and the driving motor 6 also comprises a driving shaft; the driving shaft of the driving motor 6 is fixedly connected with the input end of the harmonic reducer through a bolt, and the output end of the harmonic reducer is fixedly connected with the left end of the screw rod 4 through a coupler. In this embodiment, the driving motor 6 is a servo motor.
The control module is in signal connection with the driving motor 6 and is used for controlling the driving motor 6 to rotate according to the control instruction. In this embodiment, the control module includes a PLC controller and a servo driver; specifically, the PLC controller sends a control command to the servo driver, and the servo driver sends a pulse signal to the servo motor based on the control command. The acquisition of the control command may be from the outside, for example, from an external remote controller, by which the truck is remotely controlled; the control command may be obtained by a pre-stored method, that is, a preset lifting height of the truck is set, and the truck is lifted according to the preset lifting height.
Example two
A lifting system for realizing unmanned parking is different from the first embodiment in that: each scissor arm assembly 3 comprises four scissor arms, and two-stage scissor is realized through the four scissor arms. Specifically, in the two newly added scissors arms, one scissors arm comprises a fifth end and an eighth end, and the other scissors arm comprises a sixth end and a seventh end. The fifth end is rotationally connected with the third end, and the sixth end is rotationally connected with the fourth end; the seventh end is rotatably connected with the side wall of the lifting seat 2, and the eighth end is positioned in the sliding groove 9 of the lifting seat 2 and is slidably connected with the sliding groove 9 through a bearing.
EXAMPLE III
A lifting system for realizing unmanned parking is different from the first embodiment in that a control module is also used for acquiring a lifting height instruction; the control module is further configured to calculate an actual lifting height according to the lifting height instruction, and the control module is further configured to divide the actual lifting height into three stages, specifically, a first stage, a second stage, and a third stage in this embodiment, where each stage corresponds to a certain duration.
The control module is also used for controlling the driving motor 6 to rotate in an accelerating way in the first stage, controlling the driving motor 6 to rotate at a constant speed in the second stage, and controlling the driving motor 6 to rotate in a decelerating way in the third stage.
The control module divides the actual rotation angle into three stages; judging whether the lifted height is greater than a threshold value, if so, setting the duration of the first stage to be less than the duration of the third stage by the control module; if the time length is smaller than the threshold value, the control module sets the time length of the first stage to be larger than the time length of the third stage. If so, the control module sets the duration of the first phase to be equal to the duration of the third phase. In this embodiment, the threshold is 200mm, and when the lifting height is greater than 200mm, the duration of the first stage is less than the duration of the third stage, that is, the duration of acceleration is less than the duration of deceleration; therefore, the speed can be quickly accelerated to a maximum rotating speed and then is decelerated after being maintained for a period of time; compared with the existing lifting with uniform acceleration and uniform deceleration, the lifting speed is higher, and the rapid lifting of the carrier can be realized; moreover, because the lifting height is larger, the speed is reduced for a longer time, and the lifting stability can be ensured. When the height of lift is less than 200mm, the duration of the first phase is greater than the duration of the third phase, that is to say the duration of acceleration is greater than the duration of deceleration. Because the lifting height is small, the speed is reduced for a short time, the influence on the transport vehicle is small, the speed is accelerated for a long time, and the lifting time of the transport vehicle can be effectively reduced.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A lifting system for realizing unmanned parking comprises a chassis and a lifting mechanism, and is characterized in that the lifting mechanism comprises a base, a lifting seat, a scissor arm assembly, a ball screw assembly, a driving motor, a harmonic reducer and a control module;
the base is fixedly connected with the chassis; sliding grooves are horizontally formed in the side walls of the base and the lifting seat;
the number of the scissor arm assemblies is two, and each scissor arm assembly comprises a first end, a second end, a third end and a fourth end; the first end and the third end of the scissor arm assembly are respectively and rotatably connected with the side walls of the base and the lifting seat, and the second end and the fourth end of the scissor arm assembly are respectively positioned in the sliding grooves of the base and the lifting seat and are in sliding connection with the sliding grooves; the second ends of the two scissor arm assemblies are rotatably connected with the ball screw assembly;
the harmonic reducer and the driving motor are both fixed on one side wall of the base; the harmonic reducer comprises an input end and an output end, and the driving motor comprises a driving shaft; a driving shaft of the driving motor is fixedly connected with the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected with the ball screw group;
the control module is in signal connection with the driving motor and is used for controlling the driving motor to rotate according to the control instruction.
2. A lifting system for enabling unmanned parking according to claim 1, wherein: the scissor fork arm assembly comprises two scissor fork arms which are rotatably connected.
3. A lifting system for enabling unmanned parking according to claim 2, wherein: the ball screw assembly comprises a screw and a nut seat; the screw rod is arranged along the length direction of the sliding groove, and two ends of the screw rod are respectively in rotating connection with two side walls of the base; the nut seat is in threaded connection with the screw, and the second ends of the two scissor arm assemblies are in rotational connection with the nut seat; the output end of the harmonic reducer is fixedly connected with one end of the screw rod.
4. A lifting system for enabling unmanned parking according to claim 3, wherein: the harmonic reducer is fixed on one side wall of the base, and the driving motor is fixed on one side of the harmonic reducer, which is far away from the base.
5. A lifting system for enabling unmanned parking according to claim 4, wherein: the scissor arm assembly is characterized by further comprising a bearing, wherein the bearing is embedded into the sliding groove, and the second end and the fourth end of the scissor arm assembly are in sliding connection with the sliding groove through the bearing.
6. A lifting system for enabling unmanned parking according to claim 5, wherein: the scissor arm assembly is located inside the base and the lifting seat.
7. A lifting system for enabling unmanned parking according to claim 6, wherein: the harmonic reducer and the driving motor both comprise shells, one end of each of the installation seats is fixedly connected with one side wall of the base, the other end of each of the installation seats is fixedly connected with the shell of the harmonic reducer, and the shell of the driving motor and the shell of the harmonic reducer are fixedly connected with one side of the installation seat.
8. A lifting system for enabling unmanned parking according to claim 1, wherein: the base is a rectangular frame.
9. A lifting system for enabling unmanned parking according to claim 8, wherein: the lifting seat and the base are the same in shape.
10. A lifting system for enabling unmanned parking according to claim 1, wherein: the driving motor is a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911130094.3A CN110792303A (en) | 2019-11-18 | 2019-11-18 | Lifting system for realizing unmanned parking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911130094.3A CN110792303A (en) | 2019-11-18 | 2019-11-18 | Lifting system for realizing unmanned parking |
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| CN110792303A true CN110792303A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911130094.3A Pending CN110792303A (en) | 2019-11-18 | 2019-11-18 | Lifting system for realizing unmanned parking |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5009559A (en) * | 1989-10-30 | 1991-04-23 | Tsay Chyi J | Elevator type parking lot |
| CN201305426Y (en) * | 2008-11-20 | 2009-09-09 | 江苏大学 | A kind of electronic controlled self-locking lifting table |
| CN101867340A (en) * | 2010-04-29 | 2010-10-20 | 上海五爱科技发展有限公司 | Method for controlling stepping motor of desktop type intelligent digital control process system |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108590272A (en) * | 2018-04-25 | 2018-09-28 | 扬州大学 | A kind of stereo garage electric scissor lifting platform |
| CN208280691U (en) * | 2018-04-24 | 2018-12-25 | 西南石油大学 | The scissor-type stereo garage of screw rod transmission |
| CN110159019A (en) * | 2019-06-25 | 2019-08-23 | 陕西科技大学 | A kind of liftable modularization ecology Intelligent shutting-down device and its application method |
-
2019
- 2019-11-18 CN CN201911130094.3A patent/CN110792303A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5009559A (en) * | 1989-10-30 | 1991-04-23 | Tsay Chyi J | Elevator type parking lot |
| CN201305426Y (en) * | 2008-11-20 | 2009-09-09 | 江苏大学 | A kind of electronic controlled self-locking lifting table |
| CN101867340A (en) * | 2010-04-29 | 2010-10-20 | 上海五爱科技发展有限公司 | Method for controlling stepping motor of desktop type intelligent digital control process system |
| CN208280691U (en) * | 2018-04-24 | 2018-12-25 | 西南石油大学 | The scissor-type stereo garage of screw rod transmission |
| CN108590272A (en) * | 2018-04-25 | 2018-09-28 | 扬州大学 | A kind of stereo garage electric scissor lifting platform |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN110159019A (en) * | 2019-06-25 | 2019-08-23 | 陕西科技大学 | A kind of liftable modularization ecology Intelligent shutting-down device and its application method |
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Application publication date: 20200214 |
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