CN111648629A - Avoidance-free mechanical parking equipment - Google Patents
Avoidance-free mechanical parking equipment Download PDFInfo
- Publication number
- CN111648629A CN111648629A CN202010587984.3A CN202010587984A CN111648629A CN 111648629 A CN111648629 A CN 111648629A CN 202010587984 A CN202010587984 A CN 202010587984A CN 111648629 A CN111648629 A CN 111648629A
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- Prior art keywords
- vehicle
- main body
- driving wheel
- laser
- lifting
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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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
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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 avoidance-free mechanical parking equipment, which belongs to the technical field of parking equipment and comprises an upright post, a lifting vehicle carrying plate, a lifting driving device, an avoidance-free vehicle carrying plate and a control system; the non-avoidance vehicle carrying plate comprises a vehicle plate main body, a left universal wheel, a right universal wheel, a left driving wheel, a right driving wheel, a differential and a translation driving motor; the control system comprises a control box, a wireless signal receiver, a remote controller, a laser transmitter, a laser receiver, a signal converter, an angle sensor and a distance measuring device; the non-avoidance vehicle carrying plate can automatically go out of the garage and return to the garage under the control of the control system, the influence on the parking or taking of the lifting vehicle carrying plate is avoided, and the posture of the non-avoidance vehicle carrying plate can be automatically adjusted in the process of moving along the linear direction of the laser to avoid deviation; the invention solves the problems of high installation and maintenance cost, poor user experience and untimely adjustment of the non-avoidance vehicle carrying plate of the conventional non-avoidance parking equipment.
Description
Technical Field
The invention relates to the technical field of parking equipment, in particular to avoidance-free mechanical parking equipment.
Background
Parking equipment generally exists in all cities, and the traditional lifting and transverse moving equipment has the conditions of low capacity expansion ratio and insufficient space utilization rate. Aiming at the situation, the non-avoidance parking equipment appears in the market, and the capacity expansion of the equipment reaches the maximum capacity expansion of 1 to 2; however, the existing avoidance-free parking equipment has the following defects: (1) the avoidance-free vehicle carrying plate needs to be mechanically positioned, so that the problems of high installation and maintenance cost exist; (2) the assembly needs to be arranged on the ground to enable the non-avoidance vehicle carrying plate to move, so that the user experience is influenced; (3) the avoidance-free vehicle carrying plate is not adjusted timely, and the required allowable error is large; therefore, there is a need for an avoidance-free mechanical parking apparatus to solve the above problems.
Disclosure of Invention
In view of the above, there is a need to provide a non-avoidance mechanical parking apparatus, which is used to solve the problems of high installation and maintenance costs, poor user experience, and untimely adjustment of a non-avoidance vehicle carrying board of the existing non-avoidance parking apparatus.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a non-avoidance mechanical parking device comprises a stand column, wherein a lifting vehicle carrying plate and a lifting driving device for driving the lifting vehicle carrying plate to slide up and down are arranged on the stand column, and a non-avoidance vehicle carrying plate is movably arranged right below the lifting vehicle carrying plate; the avoidance-free vehicle carrying plate comprises a vehicle plate main body, a left universal wheel, a right universal wheel, a left driving wheel, a right driving wheel, a differential and a translation driving motor; the left universal wheel and the right universal wheel are both positioned at the front part of the vehicle plate main body and are arranged in a bilateral symmetry manner; the left driving wheel and the right driving wheel are both positioned at the rear part of the vehicle plate main body and are arranged symmetrically left and right; the differential mechanism is arranged on the bottom surface of the vehicle board main body and is positioned between the left driving wheel and the right driving wheel, and two output shafts of the differential mechanism are respectively connected with the left driving wheel and the right driving wheel; the translation driving motor is arranged on the bottom surface of the vehicle board main body, and an output shaft of the translation driving motor is connected with an input shaft of the differential mechanism;
the avoidance-free mechanical parking equipment further comprises a control system, wherein the control system comprises a control box, a wireless signal receiver, a remote controller, a laser transmitter, a laser receiver, a signal converter, an angle sensor and a distance measuring device; the wireless signal receiver is arranged on the front surface of the upright post; the laser emitter is arranged behind the vehicle board main body and is positioned outside the horizontal projection of the lifting vehicle carrying board; the laser receiver is positioned at the rear side of the vehicle board main body, the laser receiver is a grating ruler or a plurality of laser receiving heads arranged side by side, the middle part of the laser receiver is a zero point, and the zero point is opposite to the laser emitted by the laser emitter; the signal converter, the angle sensor and the distance measuring device are all arranged on the vehicle board main body, and the signal converter is connected with the laser receiver; a PLC controller and a frequency converter are arranged in the control box, and the signal converter, the angle sensor, the distance measuring device, the wireless signal receiver, the frequency converter and the lifting driving device are all connected with the PLC controller; the frequency converter is connected with the translation driving motor;
the wireless signal receiver is used for receiving a first instruction and a second instruction sent by the remote controller; when the wireless signal receiver receives a first instruction, the first instruction is sent to the PLC, after the PLC receives the first instruction, the translation driving motor is controlled to rotate through the frequency converter, the translation driving motor drives the left driving wheel and the right driving wheel to rotate at the same speed through the differential mechanism, and the vehicle plate main body is driven to move forwards; when the vehicle plate main body moves forwards for a set distance, the PLC adjusts the rotating speed of the translation driving motor through the frequency converter, and the translation driving motor adjusts the wheel speed difference between the left driving wheel and the right driving wheel through the differential mechanism to drive the vehicle plate main body to rotate; when the vehicle plate main body rotates by 90 degrees, the PLC controller adjusts the rotating speed of the translation driving motor through the frequency converter, and the translation driving motor controls the left driving wheel and the right driving wheel to move at the same speed through the differential mechanism; after the sweep main body moves for a set distance, the PLC controls the translation driving motor to stop rotating through the frequency converter, controls the lifting driving device to act, and drives the lifting car carrying plate to descend to the ground; when the wireless signal receiver receives a second instruction, the PLC controller controls the lifting driving device to act to drive the lifting vehicle carrying plate to ascend; when the lifting vehicle carrying plate rises to an initial position, the PLC controller controls the non-avoidance vehicle carrying plate to automatically reset to a position right below the lifting vehicle carrying plate according to a previous route;
the distance measuring device is used for measuring the moving distance of the vehicle plate main body, the angle sensor is used for measuring the rotating angle of the vehicle plate main body, the laser receiver is used for sensing whether laser emitted by the laser emitter deviates from a zero point or not in the process that the vehicle plate main body moves along the linear direction of the laser, if the laser deviates from the zero point, the PLC controller adjusts the rotating speed of the translation driving motor through the frequency converter, the translation driving motor adjusts the wheel speed difference between the left driving wheel and the right driving wheel through the differential mechanism, and the posture of the vehicle plate main body is corrected, so that the laser is opposite to the zero point; and if the laser is opposite to the zero point, the left driving wheel and the right driving wheel keep the same speed to move forwards.
Preferably, the number of the upright columns is two, and the two upright columns are arranged symmetrically left and right; the left side and the right side of the lifting vehicle carrying plate are respectively connected with the two stand columns in a sliding manner through a sliding seat.
Preferably, the lifting driving device comprises a lifting motor and a chain, the lifting motor is arranged on the upper portion of the stand column and drives the lifting car carrying plate to ascend or descend through the chain, the chain is fixedly connected with a sliding seat on one side of the lifting car carrying plate, and the lifting motor is connected with the PLC.
Preferably, the angle sensor is a gyroscope or an encoder.
Preferably, the angle sensor is located at a middle portion of the bottom surface of the vehicle panel main body.
Preferably, the distance measuring device comprises a magnetic block arranged on the left driving wheel or the right driving wheel and a magnetic induction sensor arranged on the vehicle board main body, and when the magnetic block rotates to a certain point along with the left driving wheel or the right driving wheel, the magnetic block is just opposite to the magnetic induction sensor and is induced by the magnetic induction sensor; and the magnetic induction sensor is connected with the PLC.
Preferably, the wireless signal receiver is located at an upper portion of the upright.
Preferably, the laser emitter is installed on a fixing support, an assembly plate is arranged at the bottom of the fixing support, and at least two bolt holes are formed in the assembly plate.
Preferably, the top surface of the vehicle body is provided with a plurality of anti-slip grooves, and the length direction of the anti-slip grooves is parallel to the width direction of the vehicle body.
Preferably, the vehicle body is provided with a limiting plate on the left side, the right side and the rear side of the top surface thereof.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the avoidance-free vehicle carrying plate can automatically go out of the garage and return to the garage under the control of the control system, so that the function of normally parking or taking a vehicle by lifting the vehicle carrying plate is realized; the mode of contactless positioning is adopted in the automatic warehouse-out and warehouse-returning processes of the avoidance-free vehicle carrying plate, and a mechanical positioning assembly such as a rail does not need to be laid on the ground, so that the workload and the cost of equipment installation and maintenance are effectively reduced, and better user experience can be brought.
2. The avoidance-free vehicle carrying plate can dynamically adjust the posture in real time in the moving process, avoids the deviation, can reduce the error in operation by dynamic adjustment, improves the precision, and provides more possibilities for the design of the equipment. The laser emitted by the laser emitter plays a role in accurately guiding the non-avoidance vehicle carrying plate, and the non-avoidance vehicle carrying plate is ensured to move along the linear direction of the laser; if the moving direction of the non-avoidance vehicle carrying plate deviates from the linear direction of the laser, the control system can control the non-avoidance vehicle carrying plate to immediately adjust the posture and return to the set moving direction.
3. The control system has the advantage of accurate control, the angle sensor of the control system is used for measuring the rotation angle of the non-avoidance vehicle carrying plate, so that the non-avoidance vehicle carrying plate can be ensured to rotate 90 degrees accurately, and the distance measuring device is used for measuring the moving distance of the non-avoidance vehicle carrying plate, so that the control system can control the non-avoidance vehicle carrying plate to execute the next action after the non-avoidance vehicle carrying plate moves for the set distance, and the functions of accurate positioning and accurate control are realized.
Drawings
Fig. 1 is a front view of an avoidance-free mechanical parking apparatus provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a position relationship between a non-avoidance vehicle carrying plate, an upright post and a laser emitter provided by the embodiment of the invention;
FIG. 3 is a schematic illustration of the installation of a differential provided by an embodiment of the present invention;
FIG. 4 is a schematic view of an installation of a distance measuring device provided in an embodiment of the present invention;
fig. 5 is an electrical connection diagram of the avoidance-free mechanical parking apparatus according to the embodiment of the present invention;
the main reference symbols in the drawings are as follows:
in the attached drawing, 1-upright post, 2-lifting vehicle carrying plate, 3-lifting driving device, 4-non-avoidance vehicle carrying plate, 5-vehicle plate main body, 6-left universal wheel, 7-right universal wheel, 8-left driving wheel, 9-right driving wheel, 10-differential, 11-translation driving motor, 12-frequency converter, 13-control box, 14-laser transmitter, 15-wireless signal receiver, 16-remote controller, 17-laser receiver, 18-signal converter, 19-angle sensor, 20-distance measuring device, 21-PLC controller, 22-magnetic block, 23-magnetic induction sensor, 24-fixed support, 25-antiskid groove and 26-limiting plate.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The drawings are only for purposes of illustration and are not intended to be limiting, certain elements of the drawings may be omitted, enlarged or reduced to better illustrate the embodiments of the present invention, and do not represent the size of the actual product, and it is understood that some well-known structures, elements and descriptions thereof in the drawings may be omitted for persons skilled in the art.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
As shown in fig. 1-5, the avoidance-free mechanical parking equipment comprises an upright post 1, wherein a lifting vehicle carrying plate 2 and a lifting driving device 3 for driving the lifting vehicle carrying plate 2 to slide up and down are arranged on the upright post 1, and an avoidance-free vehicle carrying plate 4 is movably arranged right below the lifting vehicle carrying plate 2. In this embodiment, the number of the upright posts 1 is two, the two upright posts 1 are arranged in bilateral symmetry, and the left side and the right side of the lifting vehicle carrying plate 2 are respectively connected with the two upright posts 1 in a sliding manner through the sliding seats. The lifting driving device 3 comprises a lifting motor and a chain, the lifting motor is arranged on the upper portion of the stand column 1 and drives the lifting car carrying plate 2 to ascend or descend through the chain, and the chain is fixedly connected with the sliding seat on one side of the lifting car carrying plate 2. The lifting driving device 3 is the prior art, is widely applied to non-avoidance parking equipment, and is not elaborated in detail in the specification.
The avoidance-free vehicle carrying plate 4 comprises a vehicle plate main body 5, a left universal wheel 6, a right universal wheel 7, a left driving wheel 8, a right driving wheel 9, a differential mechanism 10 and a translation driving motor 11. The left universal wheel 6 and the right universal wheel 7 are both positioned at the front part of the vehicle plate main body 5 and are arranged in a bilateral symmetry mode. The left driving wheel 8 and the right driving wheel 9 are both positioned at the rear part of the vehicle plate main body 5 and are arranged in bilateral symmetry. The differential 10 is disposed on the bottom surface of the board main body 5 and between the left driving wheel 8 and the right driving wheel 9, and two output shafts of the differential 10 are connected to the left driving wheel 8 and the right driving wheel 9, respectively. The translation driving motor 11 is arranged on the bottom surface of the vehicle board main body 5, and an output shaft of the translation driving motor is connected with an input shaft of the differential 10. In addition, the top surface of the vehicle body 5 is provided with a plurality of anti-slip grooves 25, and the length direction of the anti-slip grooves 25 is parallel to the width direction of the vehicle body 5. The body 5 is provided with stopper plates 26 on the left, right and rear sides of the top surface thereof.
The non-avoidance mechanical parking apparatus further comprises a control system, and the control system comprises a control box 13, a wireless signal receiver 15, a remote controller 16, a laser transmitter 14, a laser receiver 17, a signal converter 18, an angle sensor 19 and a distance measuring device 20. The wireless signal receiver 15 is arranged on the front surface of the upright post 1, and specifically, the wireless signal receiver 15 is arranged on the upper part of the upright post 1. The laser emitter 14 is arranged behind the vehicle board main body 5 and is positioned outside the horizontal projection of the lifting vehicle carrying board 2. Specifically, the laser emitter 14 is installed on the fixing support 24, the bottom of the fixing support is provided with an assembly plate, at least two bolt holes are formed in the assembly plate, and the laser emitter is fixed on the ground through bolts during installation. The laser receiver 17 is located at the rear side of the vehicle board main body 5, and the laser receiver 17 is a grating ruler or a plurality of laser receiving heads arranged side by side. In this embodiment, the laser receiver 17 is a grating scale. The grating scale is also called as a grating scale displacement sensor, and is a measurement feedback device working by using the optical principle of the grating. The grating ruler is often applied to a closed loop servo system of a numerical control machine tool, can be used for detecting linear displacement or angular displacement, and has the characteristics of large detection range, high detection precision and high response speed, and signals output by measurement are digital pulses. The middle of the laser receiver 17 is a zero point, which is arranged opposite to the laser emitted by the laser transmitter 14. The signal converter 18, the angle sensor 19 and the distance measuring device 20 are all arranged on the vehicle body 5, and the signal converter 18 is connected with the laser receiver 17. The control box 13 is independently arranged, and a PLC (programmable logic controller) 21 and a frequency converter 12 are arranged in the control box 13. The signal converter 18, the angle sensor 19, the distance measuring device 20, the wireless signal receiver 15, the frequency converter 12 and the lifting motor of the lifting drive device 3 are all connected with the PLC controller 21. The frequency converter 12 is connected to the translation drive motor 11.
The angle sensor 19 is a gyroscope or an encoder, the distance measuring device 20 comprises a magnetic block 22 arranged on the left driving wheel 8 or the right driving wheel 9 and a magnetic induction sensor 23 arranged on the vehicle board main body 5, and when the magnetic block 22 rotates to a certain point along with the left driving wheel 8 or the right driving wheel 9, the magnetic block is just opposite to the magnetic induction sensor 23 and is induced by the magnetic induction sensor 23; the magnetic induction sensor 23 is connected to the PLC controller 21. Since the outer diameter of the left driving wheel 8 or the right driving wheel 9 is fixed, the magnetic block 22 of the distance measuring device 20 is sensed by the magnetic induction sensor 23 once per rotation, that is, during the movement of the vehicle board body 5, the number of rotations of the left driving wheel 8 or the right driving wheel 9 can be measured, and the measured number of rotations is multiplied by the outer diameter of the driving wheel, so as to obtain the moving distance. In this embodiment, the angle sensor 19 is a gyroscope, the angle sensor 19 is located in the middle of the bottom surface of the body 5, and the magnetic block 22 of the distance measuring device 20 is disposed on the left driving wheel 8.
The wireless signal receiver 15 is used for receiving a first instruction and a second instruction sent by the remote controller 16. When the wireless signal receiver 15 receives a first instruction, the first instruction is sent to the PLC controller 21, after the PLC controller 21 receives the first instruction, the frequency converter 12 controls the translation driving motor 11 to rotate, and the translation driving motor 11 drives the left driving wheel 8 and the right driving wheel 9 to rotate at the same speed through the differential 10 to drive the vehicle plate main body 5 to move forwards; when the vehicle plate main body 5 moves forward by a set distance, the PLC controller 21 adjusts the rotation speed of the translation driving motor 11 through the frequency converter 12, and the translation driving motor 11 adjusts the wheel speed difference between the left driving wheel 8 and the right driving wheel 9 through the differential 10 to drive the vehicle plate main body 5 to rotate. When the vehicle plate main body 5 rotates 90 degrees, the PLC controller 21 adjusts the rotating speed of the translation driving motor 11 through the frequency converter 12, and the translation driving motor 11 controls the left driving wheel 8 and the right driving wheel 9 to move at the same speed through the differential 10. After the sweep main body 5 moves for a set distance, the PLC 21 controls the translation driving motor 11 to stop rotating through the frequency converter 12, and controls the lifting driving device 3 to act, so as to drive the lifting car carrying plate 2 to descend to the ground. When the wireless signal receiver 15 receives the second instruction, the PLC controller 21 controls the lifting driving device 3 to operate, and drives the lifting vehicle carrying board 2 to ascend. When the lifting vehicle carrying plate 2 rises to the initial position, the PLC 21 controls the non-avoidance vehicle carrying plate 4 to automatically reset to the position right below the lifting vehicle carrying plate 2 according to the previous route. The method specifically comprises the following steps: the PLC controller 21 controls the non-avoidance vehicle carrying plate 4 to retreat by a set distance, then controls the non-avoidance vehicle carrying plate 4 to rotate by 90 degrees, and finally controls the non-avoidance vehicle carrying plate 4 to retreat by the set distance and return to a position right below the lifting vehicle carrying plate 2.
The distance measuring device 20 is used for measuring the moving distance of the vehicle plate main body 5, the angle sensor 19 is used for measuring the rotating angle of the vehicle plate main body 5, the laser receiver 17 is used for sensing whether laser emitted by the laser emitter 14 deviates from a zero point or not in the process that the vehicle plate main body 5 moves along the linear direction where the laser is located, if the laser deviates from the zero point, the PLC 21 adjusts the rotating speed of the translation driving motor 11 through the frequency converter 12, the translation driving motor 11 adjusts the wheel speed difference between the left driving wheel 8 and the right driving wheel 9 through the differential 10, and the posture of the vehicle plate main body 5 is corrected, so that the laser is opposite to the zero point; if the laser is opposite to zero, the left and right driving wheels 8 and 9 move forward at the same speed. When there is no wayWhen the position of the vehicle plate is deviated, the laser point can be deviated to a certain point from the zero point, the PLC controller 21 senses the position of the laser through the laser receiver 17, calculates the positions of the laser and the zero point, controls the non-avoidance vehicle plate to adjust the wheel speed difference between the left driving wheel 8 and the right driving wheel 9, corrects the posture of the non-avoidance vehicle plate, and enables the laser point to return to the zero point. For example, when the laser spot is shifted to the left by an offset a, the translation drive motor 11 maintains the speed V of the left drive wheel 8 under the control of the frequency converter 12 through the adjustment of the differential 100The speed of the right driving wheel 9 is reduced to V unchanged1In which V is1＝K1V0+K2。V0Is the initial speed, V, of the right driving wheel 9 before speed regulation1The speed of the right driving wheel 9 is regulated, K1Is a deceleration coefficient, from V0The distance of the laser spot movement, and the like, as a nonlinear parameter, K2Is a compensation coefficient; k1And K2The empirical value is obtained by the inventor in the course of research and experiment, and the skilled person can also perform experiments according to the above formula and method to obtain the corresponding empirical value K1And K2。
The avoidance-free vehicle carrying plate 4 can automatically go out of the garage and return to the garage under the control of the control system, so that the function of normally parking or taking the vehicle by lifting the vehicle carrying plate 2 is realized. The avoidance-free automatic warehouse-out and warehouse-returning processes of the vehicle carrying plates 4 all adopt a non-contact positioning mode, mechanical positioning components (such as rails) do not need to be laid on the ground, the workload and the cost of equipment installation and maintenance are effectively reduced, and better user experience can be brought.
The avoidance-free vehicle carrying plate 4 can dynamically adjust the posture in real time in the moving process, so that the deviation is avoided, the error in operation can be reduced through dynamic adjustment, the precision is improved, and more possibilities are provided for the design of the equipment. The laser emitted by the laser emitter 14 plays a role in accurately guiding the non-avoidance vehicle carrying plate 4, and the non-avoidance vehicle carrying plate 4 is ensured to move along the linear direction of the laser. If the moving direction of the non-avoidance vehicle carrying plate 4 deviates from the linear direction of the laser, the control system can control the non-avoidance vehicle carrying plate 4 to immediately adjust the posture and return to the set moving direction.
The control system has the advantage of accurate control, the angle sensor 19 of the control system is used for measuring the rotation angle of the non-avoidance vehicle carrying plate 4 to ensure that the non-avoidance vehicle carrying plate 4 can rotate 90 degrees accurately, and the distance measuring device 20 is used for measuring the moving distance of the non-avoidance vehicle carrying plate 4, so that the control system can control the non-avoidance vehicle carrying plate 4 to execute the next action after the non-avoidance vehicle carrying plate 4 moves the set distance, and the functions of accurate positioning and accurate control are realized.
When the vehicle-mounted device is used, if a user needs to take and place a vehicle on the non-avoidance vehicle carrying plate 4, the vehicle can be directly driven away from the non-avoidance vehicle carrying plate 4 or driven onto the non-avoidance vehicle carrying plate 4. If a user needs to take and place a vehicle on the lifting vehicle carrying plate 2, the user firstly sends a first instruction to the wireless signal receiver 15 through the remote controller 16, so that the non-avoidance vehicle carrying plate 4 is automatically taken out of the warehouse, and the lifting vehicle carrying plate 2 descends to the ground; then, the user drives the vehicle away from the lifting vehicle carrying plate 2 or drives the vehicle onto the lifting vehicle carrying plate 2; finally, the user sends a second instruction to the wireless signal receiver 15 through the remote controller 16, and the lifting vehicle carrying board 2 and the non-avoidance vehicle carrying board 4 are reset in sequence.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a do not have and dodge mechanical type parking equipment, includes the stand, be provided with on the stand and go up and down to carry the sweep and be used for the drive to go up and down to carry gliding lift drive arrangement of sweep, it is provided with the nothing and dodges and carries sweep, its characterized in that to go up and down to carry the sweep under the activity: the avoidance-free vehicle carrying plate comprises a vehicle plate main body, a left universal wheel, a right universal wheel, a left driving wheel, a right driving wheel, a differential and a translation driving motor; the left universal wheel and the right universal wheel are both positioned at the front part of the vehicle plate main body and are arranged in a bilateral symmetry manner; the left driving wheel and the right driving wheel are both positioned at the rear part of the vehicle plate main body and are arranged symmetrically left and right; the differential mechanism is arranged on the bottom surface of the vehicle board main body and is positioned between the left driving wheel and the right driving wheel, and two output shafts of the differential mechanism are respectively connected with the left driving wheel and the right driving wheel; the translation driving motor is arranged on the bottom surface of the vehicle board main body, and an output shaft of the translation driving motor is connected with an input shaft of the differential mechanism;
the avoidance-free mechanical parking equipment further comprises a control system, wherein the control system comprises a control box, a wireless signal receiver, a remote controller, a laser transmitter, a laser receiver, a signal converter, an angle sensor and a distance measuring device; the wireless signal receiver is arranged on the front surface of the upright post; the laser emitter is arranged behind the vehicle board main body and is positioned outside the horizontal projection of the lifting vehicle carrying board; the laser receiver is positioned at the rear side of the vehicle board main body, the laser receiver is a grating ruler or a plurality of laser receiving heads arranged side by side, the middle part of the laser receiver is a zero point, and the zero point is opposite to the laser emitted by the laser emitter; the signal converter, the angle sensor and the distance measuring device are all arranged on the vehicle board main body, and the signal converter is connected with the laser receiver; a PLC controller and a frequency converter are arranged in the control box, and the signal converter, the angle sensor, the distance measuring device, the wireless signal receiver, the frequency converter and the lifting driving device are all connected with the PLC controller; the frequency converter is connected with the translation driving motor;
the wireless signal receiver is used for receiving a first instruction and a second instruction sent by the remote controller; when the wireless signal receiver receives a first instruction, the first instruction is sent to the PLC, after the PLC receives the first instruction, the translation driving motor is controlled to rotate through the frequency converter, the translation driving motor drives the left driving wheel and the right driving wheel to rotate at the same speed through the differential mechanism, and the vehicle plate main body is driven to move forwards; when the vehicle plate main body moves forwards for a set distance, the PLC adjusts the rotating speed of the translation driving motor through the frequency converter, and the translation driving motor adjusts the wheel speed difference between the left driving wheel and the right driving wheel through the differential mechanism to drive the vehicle plate main body to rotate; when the vehicle plate main body rotates by 90 degrees, the PLC controller adjusts the rotating speed of the translation driving motor through the frequency converter, and the translation driving motor controls the left driving wheel and the right driving wheel to move at the same speed through the differential mechanism; after the sweep main body moves for a set distance, the PLC controls the translation driving motor to stop rotating through the frequency converter, controls the lifting driving device to act, and drives the lifting car carrying plate to descend to the ground; when the wireless signal receiver receives a second instruction, the PLC controller controls the lifting driving device to act to drive the lifting vehicle carrying plate to ascend; when the lifting vehicle carrying plate rises to an initial position, the PLC controller controls the non-avoidance vehicle carrying plate to automatically reset to a position right below the lifting vehicle carrying plate according to a previous route;
the distance measuring device is used for measuring the moving distance of the vehicle plate main body, the angle sensor is used for measuring the rotating angle of the vehicle plate main body, the laser receiver is used for sensing whether laser emitted by the laser emitter deviates from a zero point or not in the process that the vehicle plate main body moves along the linear direction of the laser, if the laser deviates from the zero point, the PLC controller adjusts the rotating speed of the translation driving motor through the frequency converter, the translation driving motor adjusts the wheel speed difference between the left driving wheel and the right driving wheel through the differential mechanism, and the posture of the vehicle plate main body is corrected, so that the laser is opposite to the zero point; and if the laser is opposite to the zero point, the left driving wheel and the right driving wheel keep the same speed to move forwards.
2. The dodge-free mechanical parking facility as recited in claim 1, wherein: the number of the upright columns is two, and the two upright columns are arranged symmetrically left and right; the left side and the right side of the lifting vehicle carrying plate are respectively connected with the two stand columns in a sliding manner through a sliding seat.
3. The dodge-free mechanical parking facility as recited in claim 2, wherein: the lifting driving device comprises a lifting motor and a chain, the lifting motor is arranged on the upper portion of the stand column and drives the lifting car carrying plate to ascend or descend through the chain, the chain is fixedly connected with a sliding seat on one side of the lifting car carrying plate, and the lifting motor is connected with the PLC.
4. The dodge-free mechanical parking facility as recited in claim 1, wherein: the angle sensor is a gyroscope or an encoder.
5. The dodge-free mechanical parking device as recited in claim 4, wherein: the angle sensor is positioned in the middle of the bottom surface of the vehicle plate main body.
6. The dodge-free mechanical parking facility as recited in claim 1, wherein: the distance measuring device comprises a magnetic block arranged on the left driving wheel or the right driving wheel and a magnetic induction sensor arranged on the vehicle board main body, wherein when the magnetic block rotates to a certain point along with the left driving wheel or the right driving wheel, the magnetic block is just opposite to the magnetic induction sensor and is induced by the magnetic induction sensor; and the magnetic induction sensor is connected with the PLC.
7. The dodge-free mechanical parking facility as recited in claim 1, wherein: the wireless signal receiver is positioned on the upper part of the upright post.
8. The dodge-free mechanical parking facility as recited in claim 1, wherein: the laser emitter is installed on the fixed bolster, the bottom of fixed bolster is provided with the assembly plate, two at least bolt holes have been seted up on the assembly plate.
9. The dodge-free mechanical parking facility as recited in claim 1, wherein: the top surface of the vehicle board main body is provided with a plurality of anti-skidding grooves, and the length direction of the anti-skidding grooves is parallel to the width direction of the vehicle board main body.
10. The dodge-free mechanical parking facility as recited in claim 9, wherein: the sweep main body is provided with the limiting plate in the left side, the right side and the rear side of its top surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010587984.3A CN111648629A (en) | 2020-06-24 | 2020-06-24 | Avoidance-free mechanical parking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010587984.3A CN111648629A (en) | 2020-06-24 | 2020-06-24 | Avoidance-free mechanical parking equipment |
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| CN111648629A true CN111648629A (en) | 2020-09-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113605758A (en) * | 2021-07-30 | 2021-11-05 | 深圳市伟创自动化设备有限公司 | Do not have and dodge garage and roll out platen |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113605758A (en) * | 2021-07-30 | 2021-11-05 | 深圳市伟创自动化设备有限公司 | Do not have and dodge garage and roll out platen |
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