CN1423026A - Intilligent robot stereoscopic parking lot - Google Patents

Abstract

The invention is an intelligent robot solid park, it refers to construction, electromechanical, computer field, it includes solid garage, robot and intelligent control system. The area of solid garage is rectangle, can be shortened; the robot is in park, it accesses vehicles quickly and accurately; the intelligent control system is made up of photoelectricity sensor, electron components, computer and logic circuit, the vehicles accessing craft soft are fixed in ROM of computer, the robot acts according to the instruction of intelligent control system.

Description

Intilligent robot stereoscopic parking lot

Intilligent robot stereoscopic parking lot of the present invention is used to park cars, and relates to civil engineering construction, developing electro-mechanic product and micro computer applied technical field.

Along with the reform and opening-up process, China's urban construction paces are accelerated, and work schedule has been mentioned in management of markets in urban districts and traffic regulation.Yet because the increase of prosperity of economy and vehicle, domestic big and medium-sized cities parking problem is outstanding day by day.Present case is: all kinds of government bodies in front of the door, area of concentration, hotel, market, tourism and leisure public place of entertainment vehicle converge, occupied very big region area, had a strong impact on urban traffic, cause vehicle and personal injury even, bring very big burden for management of markets in urban districts and traffic regulation, can't adapt to the later development of the situation of China's entry into the WTO.Building sky parking is the some effective that addresses this problem.

It is reported that sky parking popularizes already in developed country, solved land for building anxiety, traffic congestion, the many thorny problems such as antitheft of maintaining secrecy.Yet external sky parking floor space mostly is circular, can't miniaturization, be unfavorable for the winter protection of avoiding heat, and be unfavorable for urban construction planning; Inner must have the auxiliary space that two way zone is set, and the centre need keep the wasted space that adapts to the vehicle rotation, and effectively parking space only accounts for 1/3～1/5, and overall floor space is bigger, and the civil works cost is high; About the access vehicle must drive into and leave, spiral, the driver need walk out and come into, and lost time, and is very inconvenient; All need personal management inside and outside the parking lot, the control of expenditure expense is higher.

It is few to the objective of the invention is to develop a kind of auxiliary space floor space according to China's national situation, and overall floor space is less, helps urban construction planning, the access vehicle need not to drive into and leaves, save time, make things convenient for driver's sky parking, to adapt to the needs of China's management of markets in urban districts and traffic regulation.

Technical scheme of the present invention is that the mechanical transmission mechanism of several routines is formed robot and it is arranged on sky parking inside, carries out accessing operation.Concrete measure is:

1 multi-storied garage is designed to floor space is rectangle, and be divided into three equal parts with top plan view is parallel: two side portions is a parking space, adopts reinforced concrete frame structure, builds some parking tiers, position.Mid portion is the robot movable space, and intelligent robot is set; According to the region situation, offer some vehicle outlets that advance in concordant aspect with the face of land.Like this, auxiliary space only accounts for 1/3, and parking space expands as 2/3, and overall floor space is less, as parks the equal number vehicle, reduces 1/3～1/2 than circular sky parking floor space; And, Miniaturizable, the rectangle floor space helps urban construction planning.

2 robots are arranged on middle part, parking lot, vertically walking, oscilaltion and transversal stretching.Its vertical running gear is the overhead traveling crane on the top layer framework of both sides in the middle of the garage,, is driven its guide wheel front and back on 2 affair fixed guides on the top layer framework of both sides and rolls by gear and chain-drive mechanism by motor; Its oscilaltion partly for wire rope hanging the car of overhead traveling crane bottom, by motor by gear, chain drive, pulley set and wire cable transmission mechanism, drive its along the overhead traveling crane bottom 4 with the oscilaltion of car guide rail; Its transversal stretching partly is the supporting plate on 2 guide rails of car floor, by gear and chain-drive mechanism, drives it along the car guide rail move left and right by motor.During bicycle parking, the vehicle start-stop is to the supporting plate that passes in and out pipe socket grinding machine device people, and after the driver and conductor got off and leaves, robot promptly entered inside, garage, with supporting plate together with car stowage one deck position; When picking up the car, robot takes out supporting plate corresponding again certain one deck position together with vehicle, deliver to into vehicle outlet.Like this, the access vehicle need not to drive into and leaves, the driver walks out and comes into, and has shortened the vehicle access time, provides great convenience to the driver.

3 form intelligence control system by photoelectric sensor, electronic devices and components, micro computer and logic circuit, have functions such as signal identification, feedback information, data processing, sound and light alarm and observation monitoring.Various continuous coordinations are carried out in the instruction that robot sends by intelligence control system, make vehicle get and feed out accurately fast.Adopt intelligence control system, can guarantee that the robot function is advanced reliable.And, need not personal management in the parking lot, saved overhead cost.

The multi-storied garage that the present invention relates to is the simplest civil works, and the technician in all dependent territory Construction Bank industry field all can understand, and grasps and realizes; The robot that the present invention relates to is combined by the most conventional mechanical transmission mechanism, and the technician of the mechanical industry field of all genus all can understand, and grasps and realization; The intelligence control system that the present invention relates to adopts general light electric transducer, electronic devices and components, micro computer, logic circuit and the most ripe application technology, and the technician in all genus electronics, micro computer application industry field all can understand, and grasps and realization.

Compare with state outer ring sky parking, this project engineering overall structure is simple, and the auxiliary space floor space is few, and overall floor space is little, and Miniaturizable helps urban construction planning; Operate intelligent degree height, access is quick, save time, and makes things convenient for the driver; Build short construction period, build, the management comprehensive cost is low.

Sky parking is the public welfare facility, can promote management of markets in urban districts, strengthen the traffic regulation, helps vehicle maintenance, and secret, safety, and the driver car owner also can be benefited.Build Intilligent robot stereoscopic parking lot of the present invention, economical and practical, tally with the national condition more.When China joined WTO, further reform and opening-up, the reform of domestic big and medium-sized cities is built like a raging fire at present, and management of markets in urban districts and traffic are renovated drastically, and enforcement the present invention will obtain remarkable economic efficiency and social benefit.

The invention will be further described below in conjunction with accompanying drawing.

Fig. 1 is robot of the present invention and multi-storied garage configuration sectional elevation schematic diagram.

Fig. 2 is robot of the present invention and multi-storied garage configuration flat cutting face schematic diagram.

Fig. 3 is the vertical running gear of robot of the present invention-overhead traveling crane mechanism driving principle schematic.

Fig. 4 is a robot of the present invention oscilaltion part-car mechanism driving principle schematic.

Fig. 5 is a robot of the present invention transversal stretching part-supporting plate mechanism driving principle schematic.

Fig. 6 is a control system hardware composition frame chart of the present invention.

Fig. 7 is a control system software flow block diagram of the present invention.

In Fig. 1 and Fig. 2,1 is car, and 2 is supporting plate, and 3 is overhead traveling crane.As seen from Figure 1, overhead traveling crane 3 is supported by guide wheel and is arranged on the multi-storied garage top layer frame guide rail, and in overhead traveling crane 3 bottoms, supporting plate 2 is arranged on the car floor guide rail car 1 by the wire rope hanging by being installed in traction rope sheave on day car bottom plate.Each rectangle space is parking facade position.As seen from Figure 2, the multi-storied garage floor space is a rectangle, and top plan view is parallel to be divided into three equal parts: two side portions is a parking space, and each rectangle space is the parking plan-position.Mid portion is the robot movable space, and the robot setting wherein.Supporting plate 2 is arranged on the car floor guide rail, can extend transversely into the parking tier position.Frame construction both-side opening place is for advancing vehicle outlet.

In Fig. 3,1 is motor, and 2 is shaft joint, and 3 is gear reduction unit, and 4,6 is sprocket wheel, and 5 is chain, and 7 is guide wheel (4), and 8 is a day car bottom plate, and 9 is guide rail (2).Motor 1 and gear reduction unit 3 are fixed on day car bottom plate, and sprocket wheel 4 is connected on reducer 3 slow-speed shafts, and sprocket wheel 6 guide wheels 7 are coaxial to be connected, to be arranged on day car bottom plate 8 bottoms, and guide wheel 7 wheel rim grooves straddle on the guide rail 9.Motor 1 is connected with gear reduction unit 3 by shaft joint 2, and sprocket wheel 4,6 connects by chain 5.Motor 1 rotates just and can drive guide wheel 7 by gear and chain-drive mechanism and roll before and after on two fixed guides 9 on the top layer framework, walks in that multi-storied garage mid portion both sides top layer framework is up thereby drive overhead traveling crane.

In Fig. 4,1 is motor, and 2 is shaft joint, and 3 is gear reduction unit, and 4,6 is sprocket wheel, and 5 is chain, and 7 is sheave, and 8 are the traction rope sheave, and 9 is wire rope, and 10 is pulley, and 11 is a day car bottom plate, and 12 is car, and 13 is guide rail, and 14 is guide wheel, and 15 is counterweight.Motor 1 and gear reduction unit 3 are fixed on day car bottom plate 11, sprocket wheel 4 is connected on reducer 3 slow-speed shafts, sprocket wheel 6 traction rope sheaves 8 coaxial being connected, be installed on day car bottom plate 11 with sheave 7, pulley 10 is installed in car 12 tops, wire rope 9 one ends are walked around traction rope sheave 8, pulley 10 is connected in day car bottom plate 11 times, the other end is walked around sheave 7 and is connected with counterweight 15, guide rail 13 (4) is connected in day car bottom plate 11 times, and guide wheel 14 (4) is installed in the car floor side, is embedded in guide rail 13 grooves.Motor 1 is connected with gear reduction unit 3 by shaft joint 2, and sprocket wheel 4,6 connects by chain 5.Motor 1 rotates just can drive car 12 along 4 fixed guide 13 oscilaltions under day car bottom plate 11 by gear and chain-drive mechanism, pulley set and wire rope, counterweight 15 is connected with car by wire rope 9, sheave 7, traction rope sheave 8, pulley 10, and lifting is opposite, the realization balance.

In Fig. 5,1 is motor, and 2 is shaft joint, and 3 is gear reduction unit, and 4,6 is sprocket wheel, and 5,7,9 is rigid link chain, and 8 is supporting plate, and 10 is car floor.Motor 1 and gear reduction unit 3 are fixed on the car floor 10, and sprocket wheel 4 is connected on reducer 3 slow-speed shafts, and sprocket wheel 6 (3) be installed on the rigid link chain 5, rigid link chain 7,9 be packed in supporting plate respectively 8 times and car floor 10 on.Motor 1 is connected with gear reduction unit 3 by shaft joint 2, and sprocket wheel 4 is connected with rigid link chain 5, and sprocket wheel 6 is connected with rigid link chain 7,9.Motor 1 rotates just and can drive rigid link chains 5 by gear reduction unit 3, sprocket wheel 4 and move with sprocket wheel 6 and rolls on rigid link chain 9, thereby drive rigid link chain 7, supporting plate 8 move.Motor 1 positive and negative rotation can drive supporting plate 8 left and right sides transversal stretchings.

In Fig. 6,1 is the master control micro computer, and intelligent robot technological process software solidification is in its program memory ROM.2 is supervisory circuit, can make robot make respective reaction according to micro computer instruction and feedback information to the schedule information in the running, directional information, selection information identification feedback.Standby mutually with speed control circuit.3 is speed control circuit, mainly reconciles the rotating speed of each power motor according to micro computer instruction and feedback information, to control the speed of service of robot.4 is input/output interface, can realize the coupling and the signal conversion of micro computer and driving arrangement.5 is motor driven systems, can drive each power motor by the voltage signal that micro computer instruction or tachometer generator provide.6 is relay circuit, shuts down snap action at each motor, and corresponding motor is braked in each brake outage.7 is secure line, when robot runs to extreme position or abnormal condition takes place, it is braked according to feedback signal, with guarantee not occur roof fall, towards the end and accident such as tumble.8 are the range finding impulse generator, with each motor speed conversion output pulse number, feed back to the micro computer synthetic instruction, accurately move to realize the robot each several part.9,10,11 brakes that are respectively corresponding motor.12 is vertical running gear power motor.13 is transversal stretching part power motor.14 are oscilaltion part power motor.15 is limiter of speed, when the lifting motor speed value of overstepping the extreme limit, cuts off circuit and makes the safety device action.16 is tachometer generator, becomes corresponding voltage signal to send motor driven systems and secure line to lifting motor actual motion rate conversion, to realize the control to this motor speed.

Claims (4)

1 one kinds of Intilligent robot stereoscopic parking lots is characterized in that being made up of multi-storied garage, robot and intelligence control system.

2 parking lots according to claim 1, it is characterized in that the multi-storied garage floor space is a rectangle, can build ground, underground or semi-underground in, its top plan view is parallel to be divided into three equal parts: two side portions is a parking space, adopts reinforced concrete frame structure, builds some parking tiers, position, mid portion is the robot movable space, intelligent robot is set,, offers some vehicle outlets that advance in concordant aspect with the face of land according to the region situation.

3 parking lots according to claim 1 is characterized in that being arranged on vertically walking of intelligent robot, oscilaltion and the transversal stretching of inside, parking lot, and its each operation part is formed by the mechanical transmission mechanism of routine; The access vehicle need not to drive into and leaves, and carries out advancing vehicle outlet place operation by robot.

4 parking lots according to claim 1, it is characterized in that intelligence control system is combined by photoelectric sensor, electronic devices and components, micro computer and logic circuit, access vehicle technological process software solidification is in microcomputer program memory ROM, and various continuous coordinations are carried out in the instruction that robot sends by intelligence control system.

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