CN114263383A - Multi-shaft driven vertical lifting leveling system - Google Patents
Multi-shaft driven vertical lifting leveling system Download PDFInfo
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- CN114263383A CN114263383A CN202111419475.0A CN202111419475A CN114263383A CN 114263383 A CN114263383 A CN 114263383A CN 202111419475 A CN202111419475 A CN 202111419475A CN 114263383 A CN114263383 A CN 114263383A
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- lift platform
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- leveling system
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- 230000000875 corresponding effect Effects 0.000 abstract 1
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- 229910000831 Steel Inorganic materials 0.000 description 1
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Abstract
The invention discloses a multi-shaft driven vertical lifting leveling system, which comprises: control system and operating system, operating system includes the frame, the lift platform, at least two sets of drive arrangement and position detection device, drive arrangement and position detection device are correlated with, drive arrangement and position detection device are connected with control system respectively, multiunit position detection device is mutually independent, detect the vertical height of lift platform different positions simultaneously, control system adjusts the height that lift platform corresponds the point according to the drive arrangement of multiunit vertical position detected value control corresponding position, make lift platform at the levelness of settlement throughout when vertical operation and with the parking layer leveling, guarantee that the lift platform does not incline, vehicle carrier can steadily pass in and out the parking layer, this system has simple structure, high efficiency, safety, characteristics such as reliability height.
Description
Technical Field
The invention relates to the technical field of mechanical three-dimensional parking, in particular to a multi-shaft driven vertical lifting leveling system.
Background
In order to meet the standard requirement that the leveling error of a vehicle carrier does not exceed +/-10 mm in the current parking industry, the current parking industry generally adopts two technical routes to realize: one is a bolt type: the telescopic bolt is arranged on a carrier of the vehicle carrier, when the carrier of the vehicle carrier runs to the plane of a parking layer, the arranged bolt is inserted into a pin hole of the plane of the parking layer, the carrier of the vehicle carrier is fixed in the vertical direction, the running track surface of the vehicle carrier is kept horizontal with the plane of the parking layer, and the vehicle carrier can smoothly run on the horizontal plane of the plane of a parking space where the vehicle carrier is located and a track of the carrier of the vehicle carrier. However, when the pin holes are too large, the leveling error caused by the stretching or shrinking of the lifted chain or steel wire rope is difficult to meet the requirement that the standard leveling error should not exceed +/-10 mm, and the vehicle carrier is difficult to operate or unsmooth. The second technical route is a lap joint type: the carrier of the vehicle carrier is provided with the lapping plate with the rotary driving system, when the vehicle carrier runs to the plane of a parking layer, the lapping plate with the rotary driving system rotates and then is lapped on the track of the plane of the parking layer, the carrier of the vehicle carrier is lifted, and the running track plane of the vehicle carrier and the parking layer are kept horizontal to realize the function of leveling. Therefore, there is a need for a leveling system to solve the leveling problem of the lifting platform and the parking level when the vehicle carrier is used for storing and taking vehicles in the vertical lifting direction of the current mechanical parking equipment.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a multi-shaft driven vertical lifting leveling system, which adopts a mode of determining the level of a lifting platform by a plurality of points to realize the leveling function at any position in the vertical working stroke.
The invention provides a multi-shaft driven vertical lifting leveling system, which comprises: the lifting system comprises a frame, a lifting platform arranged on the frame, at least two groups of driving devices and position detection devices, wherein the driving devices are associated with the position detection devices, the lifting platform is provided with a cross sliding vehicle and a vehicle carrier, and the driving devices and the position detection devices are respectively connected with the control system and used for realizing the leveling function of the lifting platform.
Furthermore, racks are arranged on the stand columns of the frame, gears are arranged on the lifting platform, each driving device corresponds to one rack and one gear, the gears are meshed with the racks, and the driving devices are connected with the gears.
Further, the control system includes: the synchronous controller is connected with the driving controllers through a communication network, and each driving controller corresponds to one group of driving devices.
Furthermore, four groups of driving devices, four position detection devices and four driving controllers are arranged, the four gears are respectively located at four corners of the lifting platform, and the four groups of position detection devices are respectively located on the frames below the four corners of the lifting platform and are used for detecting the heights of the four corners of the lifting platform.
Further, when the multi-shaft driven vertical lifting leveling system is used for a three-dimensional barrel warehouse, at least three groups of driving devices, position detection devices and driving controllers are arranged.
Further, the drive controller has a zero speed hold function.
Introduction of the working principle:
in operation and the operation of the cross sliding vehicle, the position detection device uploads height data of corresponding positions to the control system in real time, and the control system controls the speed of the driving device at the corresponding position in real time according to the height of each position, so that the levelness of the lifting platform is always maintained within a set error range. When the height of a certain position exceeds the error range, the running speed of the driving device at the corresponding position is increased or decreased in time, the process is always in dynamic adjustment, and the levelness of the lifting platform is further ensured.
In the process of vehicle carrier operation, the load on the lift platform can change, the change of load can lead to lift platform's levelness to change (the height that each position detection device detected changes promptly), can lead to the levelness to exceed error range when serious, and at this moment, control system finely tunes the operating speed of the drive arrangement of corresponding position in real time again according to the height that each position detection device detected, realizes the dynamic adjustment of lift platform levelness, guarantees that the levelness satisfies the parking standard requirement.
In the process of running and leveling, the driving device is not braked and is always in a running state.
Compared with the prior art, the invention has the beneficial effects that:
the multi-shaft driven vertical lifting leveling system provided by the invention provides a brand-new mechanical three-dimensional parking lifting leveling mode in which a vehicle carrier and a parking layer are horizontally butted and leveled in the vertical direction, and the leveling of a lifting platform is realized by adopting the real-time dynamic adjustment of a plurality of groups of driving devices, so that the running track surface of the vehicle carrier is always kept in a stable state of being horizontal to the running track surface of the parking layer, and the multi-shaft driven vertical lifting leveling system has the characteristics of high leveling efficiency, safety, high reliability and the like.
Drawings
FIG. 1 is a system schematic of a multi-axis driven vertical lift leveling system provided in accordance with the present invention;
FIG. 2 is a schematic structural view of a lifting system in embodiment 1;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
fig. 4 is a front view of the elevating system in embodiment 1;
FIG. 5 is a partial enlarged view of the portion B in FIG. 4;
FIG. 6 is a schematic view of the construction of a lifting system comprising three sets of driving devices according to embodiment 2;
fig. 7 is a schematic structural diagram of a lifting system of five sets of driving devices in embodiment 2.
Reference numerals:
1-a frame; 11-a rack; 2-a lifting platform; 21-a gear; 22-a drive device; 3-a vehicle carrier; 4-position detection means; 5-a transverse moving vehicle.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The invention aims to provide a mechanical leveling system to solve the problems of large leveling error, high equipment requirement, low vehicle storing and taking efficiency and the like of the conventional lifting platform and a parking level.
Example 1
As shown in fig. 1, the present invention provides a multi-axis driven vertical lift leveling system, comprising: a control system, a lifting system and a vehicle carrier 3 arranged on the lifting system. The control system includes: the synchronous controller is connected with any upper computer through a communication network, and the synchronous controller is connected with the driving controller through the communication network. Synchronous controllers are specialized control devices in the form of individual boards or individual controllers. The drive controller has a zero-speed holding function, and controls the drive device 22 by the zero-speed holding. When the lifting platform 2 is at a parking layer, the driving device 22 is in a working state and is not braked, the rotating speed of the driving device 22 is at zero speed or infinitely approaches to zero speed, and the driving device 22 can output enough torque to ensure that the lifting platform 2 is in a hovering state and ensure the stability of the vehicle carrier 3 in and out. The zero-speed maintaining means that the driving controller controls the driving motor to maintain the running state and outputs full torque when the motor runs at zero speed, so that the braking action frequency of the speed reducing motor can be reduced, the abrasion of a brake of the speed reducing motor is reduced, and meanwhile, the system response time (the time for the motor to brake off a band-type brake and the feedback response of a related system) is reduced.
As shown in fig. 2 to 5, the lifting system includes a frame 1, a lifting platform 2, a driving device 22 and a position detecting device 4, the driving device 22 and the position detecting device 4 are associated, the driving device 22 and the position detecting device 4 are respectively connected to the control system, and the vehicle carrier 3 is disposed on the lifting platform 2 by the traverse carriage 5. Four sets of driving devices 22 and four sets of position detecting devices 4 are respectively arranged at four corners of the lifting platform 2. The position detecting device 4 may be a laser range finder, a range sensor, an absolute value encoder, or other various types, which are not described herein. Specifically, the control system receives the set speed and height value sent by the upper computer, and sends the speed data and height data to the driving controller 22 according to the height error setting, and the driving controller 22 controls the driving device 22 to operate according to the sent height and speed data. The four groups of position detection devices 4 respectively detect the heights of the four corners in real time, then the height information is fed back to the control system, in operation, when the height detected by the position detection device 4 is within a set range, the driving device 22 corresponding to the position runs at a set speed, and if the height detected by the position detection device 4 is beyond the set range, the control system coordinates the running speeds of the four groups of driving devices 22 in real time. If the height error is set to + -5 mm, if the height of a certain position exceeds the error, the control system will adjust the corresponding driving device 22 to increase or decrease the operation speed in time to reduce the height error of the position, so as to make the height error of the position within the set range.
When the lifting platform 2 or the vehicle carrier 3 is in operation, the driving device 22 and the position detection device 4 are always in a working state, the height of each position is continuously and dynamically adjusted, and the control system realizes the leveling function of the lifting platform 2 through the comprehensive application of dynamic continuous height adjustment and zero-speed maintenance.
Example 2
As shown in fig. 6 and 7, for the three-dimensional barrel warehouse, due to the cylindrical structure, three, four, five or more sets of driving devices and position detecting devices can be adopted to realize the height adjustment of the lifting platform at different positions, so as to achieve the purpose of high-efficiency leveling.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (6)
1. A multi-axis driven vertical lift leveling system, comprising: control system and operating system, operating system includes the frame, sets up lift platform, at least two sets of drive arrangement and position detection device on the frame, drive arrangement and position detection device are correlated with, be equipped with vehicle carrier on the lift platform, drive arrangement and position detection device are connected with control system respectively for realize the flat function of lift platform.
2. The multi-axis driven vertical lift leveling system of claim 1 wherein the vertical columns of the frame are provided with racks and the lift platform is provided with gears, one rack and one gear for each drive means, the gears being engaged with the racks and the drive means being connected to the gears.
3. The vertical lift leveling system of claim 2 wherein the control system comprises: the synchronous controller is connected with the driving controllers through a communication network, and each driving controller corresponds to one group of driving devices.
4. The multi-axis driven vertical lift leveling system of claim 3 wherein four sets of said drive means, position sensing means and drive controller are provided, four of said gears being located at each of the four corners of said lift platform and four sets of said position sensing means being located on the frame below each of the four corners of said lift platform for sensing the height of each of the four corners of said lift platform.
5. The multi-axis driven vertical lift leveling system of claim 3 wherein the drive means, position sensing means and drive controller are provided in at least three sets when the multi-axis driven vertical lift leveling system is used in a three dimensional cask library.
6. The multi-axis driven vertical lift leveling system of claim 3 wherein the drive controller has a zero speed hold function.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111419475.0A CN114263383A (en) | 2021-11-26 | 2021-11-26 | Multi-shaft driven vertical lifting leveling system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111419475.0A CN114263383A (en) | 2021-11-26 | 2021-11-26 | Multi-shaft driven vertical lifting leveling system |
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| CN114263383A true CN114263383A (en) | 2022-04-01 |
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| CN202111419475.0A Pending CN114263383A (en) | 2021-11-26 | 2021-11-26 | Multi-shaft driven vertical lifting leveling system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016023316A1 (en) * | 2014-08-11 | 2016-02-18 | 烟台威明空间建筑工程有限公司 | Lifting device of vertical-lift multi-level garage |
| CN107795169A (en) * | 2017-11-30 | 2018-03-13 | 徐州建机工程机械有限公司 | A kind of vertical elevating garage system and its flat bed control method |
| CN108193921A (en) * | 2017-11-28 | 2018-06-22 | 北京鑫华源机械制造有限责任公司 | A kind of mechanical vertical lifting class garage flat bed positioning device |
| CN108643651A (en) * | 2018-05-07 | 2018-10-12 | 苏州汇川技术有限公司 | The vertical operation control system in automobile tower library and method |
| CN109973471A (en) * | 2019-04-11 | 2019-07-05 | 南通大学 | A kind of more fulcrum synchronisation control means of large size hoistable platform and control system |
| CN209369434U (en) * | 2018-11-07 | 2019-09-10 | 广州广日智能停车设备有限公司 | A kind of Elevator for parked vehicles system with automatic balancing arrangement |
| CN110485780A (en) * | 2019-09-03 | 2019-11-22 | 山东天辰智能停车有限公司 | Carriage class Mechanical parking system transverse-moving trolley with swing arm automatic floor approaching mechanism |
| CN113565357A (en) * | 2021-08-06 | 2021-10-29 | 安徽春华智能科技有限公司 | Safety protection system for vertical parking equipment |
-
2021
- 2021-11-26 CN CN202111419475.0A patent/CN114263383A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016023316A1 (en) * | 2014-08-11 | 2016-02-18 | 烟台威明空间建筑工程有限公司 | Lifting device of vertical-lift multi-level garage |
| CN108193921A (en) * | 2017-11-28 | 2018-06-22 | 北京鑫华源机械制造有限责任公司 | A kind of mechanical vertical lifting class garage flat bed positioning device |
| CN107795169A (en) * | 2017-11-30 | 2018-03-13 | 徐州建机工程机械有限公司 | A kind of vertical elevating garage system and its flat bed control method |
| CN108643651A (en) * | 2018-05-07 | 2018-10-12 | 苏州汇川技术有限公司 | The vertical operation control system in automobile tower library and method |
| CN209369434U (en) * | 2018-11-07 | 2019-09-10 | 广州广日智能停车设备有限公司 | A kind of Elevator for parked vehicles system with automatic balancing arrangement |
| CN109973471A (en) * | 2019-04-11 | 2019-07-05 | 南通大学 | A kind of more fulcrum synchronisation control means of large size hoistable platform and control system |
| CN110485780A (en) * | 2019-09-03 | 2019-11-22 | 山东天辰智能停车有限公司 | Carriage class Mechanical parking system transverse-moving trolley with swing arm automatic floor approaching mechanism |
| CN113565357A (en) * | 2021-08-06 | 2021-10-29 | 安徽春华智能科技有限公司 | Safety protection system for vertical parking equipment |
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