CN208024034U - device for parking - Google Patents
device for parking Download PDFInfo
- Publication number
- CN208024034U CN208024034U CN201720524536.2U CN201720524536U CN208024034U CN 208024034 U CN208024034 U CN 208024034U CN 201720524536 U CN201720524536 U CN 201720524536U CN 208024034 U CN208024034 U CN 208024034U
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- Prior art keywords
- measurement sensor
- supporting plate
- conveying
- control
- conveying direction
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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
- E04H6/22—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 characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The utility model is related to a kind of devices for parking.Device for parking has at least two horizontal transferring devices being sequentially arranged on conveying direction (x) and at least one supporting plate for providing a parking plane for the vehicle to be stopped.The horizontal transferring device is controlled to conveying by a control device (C), stops and position a supporting plate.At least two measurement sensors (46,47,48) being sequentially arranged on conveying direction (x) are disposed on corresponding horizontal transferring device.At least two measurement sensor (46,47,48) is for detecting at least one detecting element (63).By at least two measurement sensor (46,47,48) and at least one detecting element (63), can with simple and reliable way rapidly and precisely positions a supporting plate relative to horizontal transferring device.
Description
Cross reference to related applications
The content of German patent application DE 10 2,016 208 235.3 is incorporated herein by reference.
Technical field
The utility model is related to a kind of devices for parking, have
- at least two horizontal transferring devices being sequentially arranged in the conveying direction, wherein horizontal transferring device separately include
Have：
-- at least one supporting member,
-- multiple idler wheels of conveying support plate are used for, idler wheel to be rotatably supported on described at least one successively in the conveying direction
On a supporting member, and at least two ranks that have spacing perpendicular with the conveying direction are constituted,
-- at least one driving motor to rotate driving idler wheel,
At least one supporting plate for providing a parking plane for the vehicle to be stopped, supporting plate pass through at least one water
The rotation of the idler wheel of flat conveying device drives and can be conveyed on the conveying direction, and
It is used for the control device of controlled level conveying device.
Background technology
It is disclosed in 38 23 728 A1 of DE (corresponding to 5 066 187 A of US) a kind of for self-stopping dress
It sets, there are multiple horizontal transferring devices being adjacently positioned in the x and y direction in the parking plane of two stacked arrangements.It borrows
Horizontal transferring device is helped, the supporting plate that can be stopped thereon or vehicle has been parked is conveyed in an x or y direction as required.According to
Whether vehicle is parked on supporting plate, and according to which kind of vehicle is parked on supporting plate, it be by the mass change of horizontal transferring device conveying
It is very big.Thus it is difficult to the positioning to the progress of corresponding supporting plate quickly and precisely on a horizontal transferring device.
Utility model content
The task that the utility model is based on is to provide a kind of device for parking, and the device is with simple and reliable
Mode realizes the positioning to supporting plate progress quickly and precisely relative to horizontal transferring device.
The task is resolved by a kind of device, and wherein the device has at least two cloth successively in the conveying direction
The measurement sensor set, and at least one detecting element detectable by least two measurement sensor with opposite
Supporting plate is positioned in one of horizontal transferring device.One portion of at least one detecting element especially supporting plate
Part.Director element of at least one detecting element especially with the load-carrying unit of the supporting plate and/or with supporting plate separately structure
It makes.At least one detecting element is such as fixed on the load-carrying unit and/or at least one director element of the supporting plate.Pass through
At least two measurement sensors being sequentially arranged in the conveying direction can give the control device to provide measuring signal, measure letter
It number can be used on corresponding horizontal transferring device that supporting plate quickly accurately position in a simple and reliable manner.
At least two measurement sensor such as includes to stop measurement sensor and control measurement sensor.When described at least one
When detecting element is detected by the stopping measurement sensor, which provides one to the control device and stops surveying
Measure signal.The control device is filled according to the horizontal feed that the stopping measuring signal controlling conveying support plate by control signal is stopped
At least one driving motor set, and thereby import stopped process.If the conveying of supporting plate stops, just by the control
Measurement sensor processed the physical location of the supporting plate compared with predefined setting position, and in undesirable big deviation
Import repositioning process or finely positioning process.It, should when the physical location corresponds to the setting position with enough accuracy
Control measurement sensor such as provides a control measuring signal to the control device.So the supporting plate is defeated relative to affiliated level
The position fixing process of device is sent just to terminate.If the control measurement sensor is not provided to the control device after stopped process
The control measuring signal, then the physical location that the control device just recognizes the supporting plate is not corresponded to desired accuracy
In the setting position, and import the repositioning process.Here, the control device just generates position control signal, and described in control
At least one driving motor is with to supporting plate repositioning or finely positioning.When the control measurement sensor is fixed again in the control device
When providing control measuring signal during position, then the repositioning process terminates by the control device.Described at least two
Measurement sensor and at least one detecting element are preferably provided in the center of respective horizontal conveying device and corresponding supporting plate.
By at least two measurement sensor and at least one detectable detecting element to the reliable side with simple
Formula is although mass change that is supporting plate and may being stopped can also be realized relative to the quick and smart of horizontal transferring device greatly
True positioning.
A kind of device includes stopping measurement sensor for stopping conveying at least one supporting plate and for institute
Control measurement sensor of the physical location of at least one supporting plate compared with setting position is stated, the device is with simple and reliable
Mode, which ensure that, is accurately positioned supporting plate relative to horizontal transferring device.The control measurement sensor is such as in the conveying direction
On be arranged in before or after the stopping measurement sensor.Preferably the control measurement sensor is arranged on the conveying direction
Before the stopping measurement sensor.
A kind of device includes to measure and pass for the braking of the conveying speed at least one supporting plate braking to reduction
Sensor, the device with simple and reliable way ensure that relative to horizontal transferring device to supporting plate quickly and accurately position.
The braking measurement sensor provides braking measuring signal to the control device.It, should with the braking measuring signal
The conveying speed of supporting plate is reduced to lower conveying speed from a maximum delivery speed.The control device is controlled by braking herein
Signal processed correspondingly controls at least one driving motor.The braking measurement sensor is arranged in this on the conveying direction and stops
Only before measurement sensor.Thus it on the one hand ensure that and conveyed with maximum delivery speed when supporting plate is as long as possible, and is another
On the one hand the case where detecting at least one detecting element by the stopping measurement sensor and the stop signal is provided
Under, conveying speed reduces to so big degree so that the supporting plate stops immediately after importing the stopped process, and as far as possible
Accurately attain desired setting position.The conveying speed such as can be linearly reduced to from maximum first conveying speed
The second smaller conveying speed.Thus the deceleration of supporting plate is constant.
According to a kind of improvement project, the device includes at least two contactless measurement sensors, especially by
Perceptual measurement sensor and capacitive measurements sensor group are constituted, which ensure that high reliability.Described at least two non-connect
Touch measurement sensor is without abrasion.The preferably described at least two non-contact measurements sensor be configured to perception or hold
Property, so that the not contaminated influence of its function.
A kind of device ensure that high reliability in a simple manner, and at least one detecting element is by metal wherein
It constitutes.At least one metal detection element is robust and without abrasion.Preferably described at least one detecting element can
To be detected by perception and/or capacitive measurements sensor.
A kind of device ensure that relative to horizontal transferring device to the quick and accurate of supporting plate in a simple and reliable manner
Positioning, corresponding horizontal transferring device has at least two measurement sensors wherein, and corresponding supporting plate has at least
One detecting element.Since corresponding horizontal transferring device has at least two measurement sensors, so with simple and reliable
Mode realizes energy supply and the signal transmission of at least two measurement sensor.At least one detecting element is robust
, so that the conveying of corresponding supporting plate does not influence the function of at least one detecting element.
A kind of device ensure that high reliability in a simple manner, wherein at least two measurement sensors construction
For breaking line preventive.Since at least two measurement sensor is configured to breaking line preventive, so control device identification is measured and is passed
The possible breakdown of sensor.On the one hand it can identify and indicate the measurement sensor of failure.On the other hand can by it is described at least
The measuring signal of one normally functioning measurement sensor and by by the predetermined failure stopped process of the control device Lai
Stop and position corresponding supporting plate, to reliably avoid the collision of supporting plate.
It is a kind of device is with simple and reliable way ensure that relative to horizontal transferring device to the quick and accurate of supporting plate
Positioning, wherein brake measurement sensor be arranged in the conveying direction control measurement sensor after, wherein stop survey
Quantity sensor is arranged in the conveying direction after the braking measurement sensor, and wherein the control measurement sensor with
Measurement sensor spacing between the stopping measurement sensor is equal at least about the length of a detecting element.In conveying support plate,
At least one detecting element arrives first at control measurement sensor, which has only identified the supporting plate first
Through reaching measurement sensor device.Then, which detects at least one detecting element, and gives the control
Device provides braking measuring signal, which then imports the braking process to supporting plate, and the conveying speed of the supporting plate
The conveying speed for becoming to reduce from maximum delivery speed.If the stopping measurement sensor then detecting at least one spy
Element is surveyed, then just stop signal is provided to the control device, so that it stops at least one of the horizontal transferring device
Driving motor.In the case where the inertia of supporting plate is big and vehicle is parked thereon, which does not stop directly, but at this
It also continues to be conveyed on conveying direction.Since the length or detection length of at least one detecting element are corresponded in the control
Measurement sensor spacing between measurement sensor and the stopping measurement sensor, then can with simple reliable way
Carry out the comparison of the physical location and desired setting position.If the control measurement sensor also detects described at least one
A detecting element then physical location just corresponds to setting position with enough accuracy, and terminates the stopped process.If with
This opposite supporting plate should also continue to be conveyed in the conveying direction, then the control measurement sensor just no longer detect it is described
At least one detecting element, and correspondingly the control device is no longer given to provide control measuring signal.The control device identifies this,
And import repositioning process or finely positioning process.Herein the supporting plate by least one driving motor with very small defeated
It send speed and is reversed conveying, until the control measurement sensor detects at least one detecting element and to the control again
Device processed provides the control signal.By providing the control measuring signal again, which terminates, and physical location
Setting position is corresponded to enough accuracy now.
A kind of device improves reliability in a simple manner, it includes have at least two on positive conveying direction cloth successively
The spy belonging to measurement sensor and at least two that the measurement sensor and at least two set are sequentially arranged on anti-conveying direction
Survey element.By the way that at least two measurement set gradually sensings are respectively set for positive conveying direction and opposite anti-conveying direction
Device to one function of each measurement sensor fixed allocation, for example provides and stops measuring signal or provide to control to measure letter
Number or when necessary provide braking measuring signal.If one of these measurement sensors fail, just such as can be by institute
State at least two for measurement sensor set by opposite conveying direction is with simple and reliable way replaces the function of failure.
It is preferably used for corresponding at least two measurement sensor of positive conveying direction and anti-conveying direction and corresponding at least one detection member
Part is arranged in the centre of affiliated horizontal transferring device and affiliated supporting plate.
A kind of device ensure that in a simple manner accurately positions the quick of supporting plate relative to horizontal transferring device,
Wherein the control device is configured to so that by braking measurement sensor come the rotation to reduce when providing braking measuring signal
Rotary speed runs at least one driving motor.By providing the braking measuring signal, control device importing was braked
Journey so that the conveying speed of the supporting plate is reduced to lower conveying speed from maximum delivery speed.Thus the supporting plate one side energy
It is enough to be conveyed as long as possible with maximum delivery speed, and on the other hand it is braked to the conveying of reduction before stopping in time
Speed so that physical location after a stop corresponds to desired setting position as accurately as possible.
A kind of device ensure that in a simple manner is accurately positioned supporting plate relative to horizontal transferring device, the wherein control
Device processed is configured to so that by stopping stopping at least one driving when measurement sensor provides stopping measuring signal
Motor.Stop measuring signal by offer, the conveying of at least one driving motor and thereby supporting plate is immediately stopped.
It is a kind of device is with simple and reliable way ensure that accurate positioning, the wherein control device are configured to, make
It obtains when providing control measuring signal by controlling measurement sensor, the reality corresponding to setting position of at least one supporting plate
Border position is identified.In the case where providing the control measuring signal, the control device is with simple and reliable way identifies
The physical location corresponds to setting position with enough accuracy.
It is a kind of device is with simple and reliable way ensure that accurate positioning, the wherein control device are configured to, make
It obtains in the case where controlling measuring signal not over control measurement sensor to provide, imports at least one supporting plate again
Positioning is until reach setting position.In the case where not providing control measuring signal, which, which recognizes, needs to reposition
And it is automatically imported the repositioning process or finely positioning process of at least one supporting plate.It is somebody's turn to do when the control measurement sensor provides
When controlling measuring signal, then just automatically or immediately to stop repositioning by the control device.
At least two measurement sensor especially one stops measurement sensor and a control measurement sensor.
Other feature, advantages and details of the utility model see below the explanation of embodiment.
Description of the drawings
Fig. 1 shows supporting plate set with multiple horizontal transferring devices and thereon, a kind of device for parking
Schematic diagram,
Fig. 2 shows the partial side view of the device of the supporting plate set by with horizontal transferring device and thereon,
Fig. 3 shows each conveying direction tool, and there are three the horizontal and vertical conveying devices of conduct of measurement sensor to construct
Horizontal transferring device perspective view,
Fig. 4 shows each conveying direction tool, and there are three the levels of measurement sensor constructed as longitudinal conveying device
The perspective view of conveying device,
Fig. 5 shows each conveying direction tool, and there are three the levels of measurement sensor constructed as cross conveyor
The perspective view of conveying device,
Fig. 6 shows each conveying direction tool, and there are one the supporting plates that can be conveyed by the horizontal transferring device of detecting element
Vertical view,
Fig. 7 shows the First partial sectional view of hatching VII-VII of the supporting plate in Fig. 6,
Fig. 8 shows second partial sectional view of the supporting plate along the hatching VIII-VIII of Fig. 6,
Fig. 9 shows the measurement sensor that three are sequentially arranged in the conveying direction and the first conveying position in the supporting plate
The schematic diagram of an affiliated detecting element in setting,
Figure 10 shows the original of the detecting element in three measurement sensors and the second transfer position in the supporting plate
Reason figure,
Figure 11 shows the original of the detecting element in three measurement sensors and third transfer position in the supporting plate
Reason figure,
Figure 12 shows the original of the detecting element in three measurement sensors and the 4th transfer position in the supporting plate
Reason figure, and
Figure 13, which is shown, is being transported to horizontal feed dress adjacent in the conveying direction from a horizontal transferring device
The time diagram of the conveying speed of supporting plate when setting.
Specific implementation mode
A kind of supporting plate P for being used for self-stopping device 1 and including horizontal transferring device H and being disposed thereon.These water
Flat conveying device H is arranged side by side on the horizontal directions x and on horizontal and perpendicular to the directions x the directions y.These are horizontal
Conveying device H is arranged in multiple planes stacked on top of each other on the vertical directions z.It has been illustrated diagrammatically only by these planes in Fig. 1
One of.These planes are by vertical-horizontal conveying device VHIt is connected with each other.Vertical-horizontal conveying device VHIncluding there are one vertical
Conveying device V, there are one horizontal transferring device H for arrangement on the vertical conveying device.The direction x, y and z constitutes a card
Deere coordinate system.
In addition the device 1 also has at least one rotation horizontal transferring device DH, which includes
An one rotating device D and horizontal transferring device H.Horizontal transferring device H can hang down by rotating device D around one
Direct rotary shaft axis A rotates at least 180 °.The vehicle on supporting plate P is arranged in so as to rotate 180 ° and can be in travel direction
It is driven out to.The rotation-horizontal transferring device DHIt is arranged in the input side or outlet side of the device 1.
Horizontal transferring device H is as desired with steric requirements as horizontal and vertical conveying device Hxy, as longitudinally fed
Device HyAnd/or as cross conveyor HxTo construct.The quantity of supporting plate P is less than the quantity of horizontal transferring device H so that extremely
A few horizontal transferring device H is no supporting plate P, and thereby these supporting plates P can be shifted by by horizontal transferring device H
And classification.Fig. 2 examples show a horizontal transferring device H for being disposed with supporting plate P thereon.The offset of supporting plate P and thus vehicle
Stop into and be driven out to controlled by control device C.Control device C is schematically illustrated in Fig. 1.
Fig. 3 shows the horizontal transferring device H constructed as horizontal and vertical conveying device, can be in the directions x and y
Conveying support plate P on direction.The horizontal and vertical conveying device correspondingly hereinafter uses HxyTo indicate.The directions x are below
In also referred to as lateral transfer direction, the directions y are also referred to as longitudinally fed direction.
Horizontal transferring device HxyIncluding there are one tool there are two longitudinal supporting element 3,4 and two lateral support elements 5,
6 holder 2.Longitudinal supporting element 3,4 extends and in the x direction separately in y-direction.Longitudinal supporting element 3,4 is in centre
It is connected with end side with crossbeam 7,8,9.Crossbeam 7,8,9 extends in the x direction, and in y-direction separately.On crossbeam 7,9
It is disposed with lateral support element 5,6 in longitudinal supporting element 3,4 end sides.Lateral support element 5,6 extends in the x direction, and in y
On direction separately.
Five idler wheels 10 are respectively rotatably supported on the longitudinal supporting element 3,4.In corresponding longitudinal supporting element
3, the idler wheel 10 supported on 4 is sequentially arranged in y-direction namely on longitudinally fed direction, and is bearing member longitudinally in each
Part 3,4 constitutes the ranks extended in y-direction.These idler wheels 10 have there are one corresponding affiliated rotation axis 11,
In the rotation axis extend in the x direction.It is respectively rotatably supported in the corresponding way on the lateral support element 5,6
Four rolling 12.The idler wheel 12 supported on corresponding lateral support element 5,6 is in the x direction namely in lateral transfer side
It is sequentially arranged upwards, and has respectively constituted the ranks extended in the x direction.Idler wheel 12 is respectively provided with the rotation belonging to one
Axis 13, the wherein rotation axis extend in y-direction.
Idler wheel 10,12 can jointly rotate driving by the first drive mechanism 15 by driving motor 14.This
One drive mechanism 15 includes that there are two transfer gear 16,17 and affiliated drive links 18 so that by 14 institute of driving motor
The turning moment of generation can be supported on for delivery to the idler wheel 10 being accordingly supported on the longitudinal supporting element 3,4 and accordingly the cross
On idler wheel 12 on supporting member 5,6.
The idler wheel 10,12 arranged in corresponding ranks by rotating the idler wheel 10,12 of driving by coupling member accordingly
Part 19 and be driven in rotation.These coupling elements 19 are constructed for example as toothed timing belt.Here, being set in idler wheel 10,12 sides
It is equipped with gear 20.By gear 20 and coupling element 19, the idler wheel 10,12 of a ranks is respectively in couples to transmit turning moment
Form intercouple.These coupling elements 19 are only schematically shown in figure 3.
In order to select conveying direction x or y namely lateral transfer direction or longitudinally fed direction, horizontal transferring device Hxy
With the second driving motor 21.Second driving motor 21 is fixed on crossbeam 8.By the second drive mechanism 22, this
Two driving motors 21 act synergistically with 25 phase of eccentric wheel, and wherein the drive mechanism includes transfer gear 23 and drive link 24.
Eccentric wheel 25 can be rotated to support on crossbeam 7,9, and support lateral support element 5,6.By eccentric wheel 25 around affiliated
The pivot of rotation axis 26, lateral support element 5,6 and thereby idler wheel 12 can move in a z-direction.
In the first pivot position, idler wheel 12 is located above idler wheel 10 in a z-direction wherein, horizontal transferring device Hxy
As cross conveyor, so that supporting plate P can be conveyed in the x direction.This is shown in FIG. 3.Position is pivoted second
In setting, idler wheel 12 is located at idler wheel 10 in the following, horizontal transferring device H in a z-direction whereinxyAs longitudinal conveying device, such as
This allows supporting plate P to be conveyed in y-direction by idler wheel 10.By drive rod 24, corresponding one be arranged on crossbeam 7,9
A eccentric wheel 25 is driven in rotation.Its on the crossbeam 7,9 is disposed adjacent to the eccentric wheel 25 being accordingly driven in rotation
He is coupled at eccentric wheel 25 by gear 27 and affiliated coupling element 28 and the eccentric wheel 25 of rotation driving.The coupling element
28 construct for example as toothed timing belt.
Idler wheel 10,12 be configured to it is consistent, to hereinafter only illustrate an idler wheel 10,12.Idler wheel 10,12 has base
Body 31 is provided with ring 32,33 on both sides.The matrix 31 forms two cylindrical sections 34,35 herein, and middle ring 32,33 is anti-
It is rotatably secured to thereon.Cylindrical section 34,35 and affiliated ring 32,33 together constitute the roll segment 36,37 of idler wheel 10,12.
On the direction of rotary shaft 11,13, guide section 38 is provided between roll segment 36,37.The guide section 38 passes through the matrix 31
Interlude constitute.The guide section 38 has the diameter than adjacent cylindrical section 34,35 biggers, so that the guide section 38
Side constitutes the annular stop 39,40 of the ring 32,33.The guide section 38 is used to guide supporting plate on corresponding conveying direction
P.The guide section 38 has guide-contour herein, is used to accommodate the anti-profile for the supporting plate P to be conveyed.In order to form the directive wheel
Exterior feature, there are one circular slots 41 for construction in the guide section 38.There are two guide walls 42,43 for the slot 41 tool, mutually with one
Angle extends.The matrix 31 is integrally configured with corresponding gear 20.The matrix 31 and gear 20 have common through-hole 44,
Rotationally fixedly to accommodate affiliated axis 45.
The horizontal and vertical conveying device HxyLateral transfer direction+x ,-x and the longitudinally fed direction of corresponding positive and negative+
Y, three non-contact measurement sensors are respectively provided on-y.Before corresponding positive conveying direction+x ,+y are hereinafter also referred to as
Conveying direction, the also referred to as rear conveying direction of conveying direction-x ,-y of respective negative.In positive lateral transfer direction+x, at this
It has been sequentially arranged control measurement sensor 46, braking measurement sensor 47 on lateral support element 5 and has stopped measurement sensor 48.
Correspondingly, be sequentially arranged on the lateral support element 6 on negative lateral transfer direction-x control measurement sensor 46 ',
It brakes measurement sensor 47 ' and stops measurement sensor 48 '.
Correspondingly, control has been sequentially arranged on the longitudinal supporting element 4 on positive longitudinally fed direction+y and has measured biography
Sensor 49, braking measurement sensor 50 and stopping measurement sensor 51.The correspondingly cloth successively on negative longitudinally fed direction-y
It is equipped with control measurement sensor 49 ', braking measurement sensor 50 ' and stops measurement sensor 51 '.
Measurement sensor 46,46 ' to 51,51 ' be configured to it is contactless, it is especially perceptual or capacitive, and prevent
Broken string.These measurement sensors 46,46 ' to 51,51 ' connect with signal with control device C.Corresponding control measures sensing
Device 46,46 ', 49,49 ' arrives affiliated stopping measurement sensor 48,48 ', has on corresponding conveying direction between 51,51 '
Measurement sensor spacing M.
Fig. 4 shows the horizontal transferring device H constructed as longitudinal conveying device, can only in y-direction,
Conveying support plate P on i.e. longitudinally fed direction.Correspondingly, longitudinal conveying device HyTo indicate.The holder 2 only includes
The longitudinal supporting element 3,4.Longitudinal supporting element 3,4 is connected to H-shaped by crossbeam 8.Idler wheel 10 can be by the driving
Motor 14 drives to rotate.In positive longitudinally fed direction+y and on negative longitudinally fed direction-y, control measures sensing
Device 49,49 ', braking measurement sensor 50,50 ' and stopping measurement sensor 51,51 ' are sequentially arranged in the longitudinal supporting element 4
On.About others construction and other functions referring to above to the explanation of horizontal transferring device.
Fig. 5 shows the horizontal transferring device H constructed as cross conveyor, only can in the x direction,
Namely conveying support plate P on lateral transfer direction.Correspondingly, cross conveyor HxTo indicate.The holder 2 only includes
There is lateral support element 5,6, is connected with each other by longeron 29,30.First driving motor 14 is arranged on the longeron 30.Rolling
Wheel 12 can be in the foregoing manner by the driving motor 14 and the drive mechanism 15 around affiliated rotation axis 13
Rotation driving, so that supporting plate P can be conveyed in the x direction.In positive lateral transfer direction+x and in negative transverse direction
On conveying direction-x, control measurement sensor 46,46 ', braking measurement sensor 47,47 ' and stopping measurement sensor 48,48 '
It is sequentially arranged on lateral support element 5,6.About others construction and other functions referring to above to horizontal transferring device
Explanation.
It below can be by the supporting plate P of horizontal transferring device H conveyings to elaborate by Fig. 6 to 8.Supporting plate P includes
There is load-carrying unit 52, can park cars on the supporting member.It fixes in the downside of the load-carrying unit 52 and is led there are two longitudinal
To element 53,54 and two laterally steering elements 55,56.Longitudinally guiding element 53,54 extends in y-direction, and in the x direction
Separately.In contrast, laterally steering element 55,56 extends in the x direction, and in y-direction separately.Longitudinally guiding element
53,54 and laterally steering element 55,56 be respectively provided with a corresponding guide section 57 and two corresponding roll segments 58,59, wherein should
Corresponding roll segment is arranged in the both sides of corresponding guide section 57.The guiding of corresponding corresponding guide section 57 and affiliated idler wheel 10 and 12
Section 38 phases cooperation is to be in an x or y direction oriented to supporting plate P.Correspondingly, corresponding roll segment 58,59 and affiliated idler wheel 10,12
Roll segment 36,37 phases cooperate to convey supporting plate P.The corresponding corresponding tool of guide section 57 there are one anti-profile, the anti-profile with
The guide-contour of idler wheel 10,12 constructs and on the contrary for accommodating the guide-contour.It is corresponding to this in the correspondence guide section 57
There are one protrusion 60, protrusion linear extensions on corresponding conveying direction for ground construction.Corresponding protrusion 60 has corresponding be oriented to
Wall 61,62, corresponding guide wall correspondingly extend with guide wall 42,43 with mutually including an angle.The protrusion 60 is in its height and width
And it matches with the slot 41 in shape.
Corresponding roll segment 58,59 is configured to flat, and extends on corresponding conveying direction.Corresponding roll segment 58,59 with
The conveying direction perpendicularly has there are one width, width of the width at least equal to affiliated roll segment 36,37.Lateral transfer member
The protrusion 60 of part 55,56 disconnects in the region of longitudinally fed element 53,54.This is shown in FIG. 7.Longitudinally fed element 53,
54 protrusion 60 extends to the lateral transfer element 55,56.This is shown in FIG. 8.
Corresponding supporting plate P is respectively provided with a detecting element 63,63 ' for positive x and negative x-direction.Detecting element 63,
63 ' are arranged on laterally steering element 65,66, and with control measurement sensor 46,46 ', braking measurement sensor 47,47 ' and
Stop measurement sensor 48,48 ' mutually to cooperate.Detecting element 63,63 ' is the separate part of corresponding supporting plate P, and is fixed on and laterally leads
To on element 65,66.Corresponding supporting plate P be respectively provided with accordingly for positive y-direction and negative y-direction a detecting element 64,
64'.Detecting element 64,64 ' is arranged on the longitudinally guiding element 54.Detecting element 64,64 ' is the independent part of corresponding supporting plate P
Part, and be fixed on the longitudinally guiding element 54.Detecting element 64,64 ' and affiliated control measurement sensor 49,49 ', braking
Measurement sensor 50,50 ' mutually cooperates with measurement sensor 51,51 ' is stopped.The length of detecting element 63,63 ', 64,64 ' or spy
It surveys length L and corresponds to corresponding measurement sensor spacing M.Detecting element 63,63 ', 64,64 ' is constructed by metal, and can be borrowed
Affiliated measurement sensor 46,46 ' to 51,51 ' is helped to detect.Detecting element 63,63 ', 64,64 ' comes for example as sheet metal
Construction.
The operation principle of the device 1 is as follows：
In rotation horizontal transferring device DHParking face on a vehicle stopped by user.The vehicle is then by the rotation
Rotary device D is around axis A by 180 ° of rotation.Then the supporting plate P with vehicle is by horizontal transferring device HyIt is moved to
Adjacent and idle horizontal transferring device Hxy, and it is moved to other horizontal transferring device H when necessaryxyOr vertical-horizontal
Conveying device VH.Supporting plate P passes through longitudinally guiding element 53,54 or laterally steering depending on desired conveying direction herein
The correspondence roll segment 58,59 of element 55,56 and in the roll segment 36,37 of idler wheel 10 or idler wheel 12.Pass through idler wheel 10 or rolling
Wheel 12 rotation driving, supporting plate P positive or negative longitudinally fed direction+y ,-y or positive or negative lateral transfers direction+x ,-
X is upper to be conveyed, and is laterally conveyed simultaneously by the protrusion 60 extended in the slot 41 of idler wheel 10 or idler wheel 12.In level
Conveying device HxyIn, in lateral transfer direction x and longitudinal direction by operating second driving motor 21 and pivoting eccentric wheel 25
It is switched between conveying direction y.
Supporting plate P being accurately positioned by Fig. 9 to 13 with defeated on positive lateral transfer direction+x on horizontal transferring device H
It send to be illustratively illustrated.In principle in a uniform matter by corresponding measurement sensor 46,46 ' to 51,51 ' and phase
Affiliated detecting element 63,63 ', 64,64 ' is answered to carry out the conveying on conveying direction+x ,-x and+y ,-y and positioning.For
Simplify, illustrated only in Fig. 9 to 12 control measurement sensor 46, braking measurement sensor 47 and stop measurement sensor 48 with
And affiliated detecting element 63.
Supporting plate P positioned at the horizontal transferring device H of front first by linearly being accelerated in the x direction, and at time point
t0Place reaches maximum delivery speed vmax.Supporting plate P is with maximum delivery speed vmaxIt is conveyed on the positive directions x.If the spy
Element 63 is surveyed in time point t1Place reaches the control measurement sensor 46, is measured then the control measurement sensor just generates control
Signal SK, and provide it to control device C.This shows in Fig. 9 to 13.
If the detecting element 63 is in the case where continuing to convey in the x direction in time point t2Place reaches the braking and measures
Sensor 47, then the braking sensor just generates a braking measuring signal SB, and provide it to control device C.It should
Control device C then imports a braking process, and correspondingly controls the driving motor 14 of horizontal transferring device H.It is braking
During process, the conveying speed of supporting plate P is from maximum delivery speed vmaxDrop to a lower conveying speed vred.This is such as
It so carries out, i.e., the conveying speed is linearly reduced, namely it is constant to slow down.This shows in Figure 10 and 13.
If the detecting element 63 is in time point t3Place reaches the stopping measurement sensor 48, then the stopping measures sensing
Device just provides a stop signal S to control device CP, which then imports stopped process, and correspondingly control should
Driving motor 14.If supporting plate P and may thereon institute's parked vehicle have relatively small inertia, supporting plate P is just
It is stopped with relatively large deceleration.The physical location of supporting plate P so just corresponds to setting position x with enough accuracys。
Because the length L of the detecting element 63 corresponds to measurement sensor spacing M, the control measurement sensor 46 is in this feelings
Under condition also control measuring signal S is provided to control device CK.This is shown in FIG. 11.In time point t4Place, supporting plate P stop
Only, and the position fixing process terminates.
If opposite supporting plate P and thereon institute's parked vehicle have big inertia, deceleration is just smaller, and
Supporting plate P is in time point t5Place just stops.The detecting element 63 is more than the control measurement sensor 46 to movement, so that
It no longer provides control measuring signal S to control device CK.This is shown in FIG. 12.Control device C identifies this state,
And then import repositioning process or finely positioning process.Supporting plate P and thereon institute's parked vehicle are with minimum conveying speed vmin
It is conveyed on the conveying direction-x born always, until the detecting element 63 arrives again at the control measurement sensor 46, and to
Control device C provides control measuring signal SK.Control device C in be off repositioning.Because of the minimum delivery speed
vminLess than the conveying speed v of reductionred, so supporting plate P is stopped so that physical location x0Corresponded to enough accuracy
Setting position xs.In time point t6Place repositions to terminate.This is in figure 13 illustrates.
It is just real for positive and negative conveying direction using the detecting element belonging at least two measurement sensors and one
Show supporting plate P accurately to position relative to the quick of horizontal transferring device H.Such as first measurement on positive conveying direction
Sensor is being later used to a physical location compared with setting position for being braked to supporting plate P, and second survey
Quantity sensor is for stopping the supporting plate.This is correspondingly applicable on negative conveying direction, wherein being used on positive conveying direction
The measurement sensor of stopping is currently used for braking, and is later used to a physical location compared with the setting position, and just
Conveying direction on for braking and for measurement sensor of the physical location compared with setting position to be currently used for stopping
The supporting plate.Different functions such as can distribute to measurement sensor by identifying conveying direction.Conveying direction such as passes through
The direction of rotation of the driving motor 14 and be identified.By other measurement sensors, such as individually braking measurement sensor
Or the positive measurement sensor of conveying direction and the additional measurement sensor of negative conveying direction, speed, the essence of positioning can be improved
Exactness and reliability.
Claims (13)
1. a kind of device for parking has
- at least two horizontal transferring devices (H) being sequentially arranged in the conveying direction, the wherein horizontal transferring device (H) are respectively
Include：
-- at least one supporting member (3,4,5,6),
-- multiple idler wheels (10,12) of conveying support plate (P) are used for, these idler wheels to be revolvably supported on successively in the conveying direction
On at least one supporting member (3,4,5,6), and constitute have spacing at least two perpendicular with the conveying direction
Ranks,
-- at least one driving motor (14) drives idler wheel (10,12) to rotate,
At least one supporting plate (P) for providing parking plane for the vehicle to be stopped, the supporting plate pass through at least one water
The rotation of the idler wheel (10,12) of flat conveying device (H) drives and can be conveyed on the conveying direction, and
Control device (C) for controlling the horizontal transferring device (H),
It is characterized in that
Be sequentially arranged in the conveying direction at least two measurement sensors (46,47,48,46 ', 47 ', 48 ', 49,50,51,
49 ', 50 ', 51 '), and
It is at least one by least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ',
50 ', 51 ') detecting element (63,63 ', 64,64 ') that can be detected, to be positioned relative to one of described horizontal transferring device (H)
Supporting plate (P).
2. the apparatus according to claim 1, which is characterized in that at least two measurement sensor (46,47,48,46 ',
47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') have：
Stopping measurement sensor (48,48 ', 51,51 ') for stopping conveying at least one supporting plate (P), and it is used for handle
Control measurement sensor (46,46 ', 49,49 ') of the physical location of at least one supporting plate (P) compared with setting position.
3. the apparatus according to claim 1, which is characterized in that at least two measurement sensor (46,47,48,46 ',
47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') have：
Measurement sensor (47,47 ', 50,50 ') is braked, at least one supporting plate (P) braking to the conveying speed reduced
Degree.
4. the apparatus according to claim 1, which is characterized in that at least two measurement sensor (46,47,48,46 ',
47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') include non-contact measurement sensor.
5. the apparatus according to claim 1, which is characterized in that at least one detecting element (63,63 ', 64,64 ')
Consist of metal.
6. the apparatus according to claim 1, which is characterized in that corresponding horizontal transferring device (H) has at least two to survey
Quantity sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 '), and corresponding supporting plate (P) has at least
One detecting element (63,63 ', 64,64 ').
7. the apparatus according to claim 1, which is characterized in that at least two measurement sensor (46,47,48,46 ',
47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') it is configured to breaking line preventive.
8. the apparatus according to claim 1, which is characterized in that
At least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') includes control
Measurement sensor (46,46 ', 49,49 '), braking measurement sensor (47,47 ', 50,50 ') and stop measurement sensor (48,
48 ', 51,51 '),
In the conveying direction, it is disposed with the braking after the control measurement sensor (46,46 ', 49,49 ') and measures biography
Sensor (47,47 ', 50,50 '),
In the conveying direction, it is disposed with the stopping after the braking measurement sensor (47,47 ', 50,50 ') and measures sensing
Device (48,48 ', 51,51 '), and
Between the control measurement sensor (46,46 ', 49,49 ') and the stopping measurement sensor (48,48 ', 51,51 ')
Measurement sensor spacing (M) is equal to the length (L) of at least one detecting element (63,63 ', 64,64 ').
9. the apparatus according to claim 1, which is characterized in that have：
At least two measurement sensors (46,47,48,49,50,51) being sequentially arranged on preceding conveying direction, and
At least two measurement sensors (46 ', 47 ', 48 ', 49 ', 50 ', 51 ') being sequentially arranged on rear conveying direction, and
Detecting element (63,63 ', 64,64 ') belonging at least two.
10. the apparatus according to claim 1, which is characterized in that
At least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') includes braking
Measurement sensor (47,47 ', 50,50 '), wherein the control device (C) is configured to so that passed being measured by the braking
Sensor (47,47 ', 50,50 ') brakes measuring signal (S to provideB) when, at least one driving motor (14) is with reduction
Rotary speed and to run.
11. the apparatus according to claim 1, which is characterized in that
At least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') includes stopping
Measurement sensor (48,48 ', 51,51 '), wherein the control device (C) is configured to so that passed being measured by the stopping
Sensor (48,48 ', 51,51 ') stops measuring signal (S to provideP) when, at least one driving motor (14) is stopped.
12. the apparatus according to claim 1, which is characterized in that
At least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') includes control
Measurement sensor (46,46 ', 49,49 '),
Wherein, which is configured to so that comes by the control measurement sensor (46,46 ', 49,49 ')
One control measuring signal (S is providedK) when, the physical location of at least one supporting plate (P) is identified corresponding to setting position
(x0)。
13. the apparatus according to claim 1, which is characterized in that
At least two measurement sensor (46,47,48,46 ', 47 ', 48 ', 49,50,51,49 ', 50 ', 51 ') includes control
Measurement sensor (46,46 ', 49,49 '),
Wherein, which is configured to so that not over the control measurement sensor (46,46 ', 49,
49 ') measuring signal (S is controlled to provideK) when, the repositioning of at least one supporting plate (P) is imported, until reaching setting position
It sets.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016208235.3A DE102016208235A1 (en) | 2016-05-12 | 2016-05-12 | Device and method for parking a vehicle |
| DE102016208235.3 | 2016-05-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208024034U true CN208024034U (en) | 2018-10-30 |
Family
ID=58707468
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720524536.2U Active CN208024034U (en) | 2016-05-12 | 2017-05-11 | device for parking |
| CN201710330372.4A Active CN107366459B (en) | 2016-05-12 | 2017-05-11 | Device and method for parking |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710330372.4A Active CN107366459B (en) | 2016-05-12 | 2017-05-11 | Device and method for parking |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3455434B1 (en) |
| CN (2) | CN208024034U (en) |
| DE (1) | DE102016208235A1 (en) |
| WO (1) | WO2017194191A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107366459A (en) * | 2016-05-12 | 2017-11-21 | 萨泰格控制及自动化技术有限公司 | Apparatus and method for parking |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL263131B (en) * | 2018-11-19 | 2021-07-29 | Parkomat Int Ltd | Multiaxial drive system for robotic parking system |
| DE102018221169B4 (en) | 2018-12-06 | 2022-02-24 | Volkswagen Aktiengesellschaft | Parking robot for a motor vehicle with at least two wheel axles and method for operating such a parking robot |
| JP7107897B2 (en) * | 2019-08-08 | 2022-07-27 | 日精株式会社 | mechanical parking device |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3823728A1 (en) | 1988-07-13 | 1990-01-18 | Hammer Hans | Drive system for pallets of a parking system for the automatic parking of motor vehicles |
| WO1989012152A1 (en) | 1988-06-09 | 1989-12-14 | Hans Hammer | Parking system and process for automatic parking of vehicles |
| US5176484A (en) * | 1988-12-16 | 1993-01-05 | Eric Kuperman | Multi-storey depot for storing cargo and automobiles |
| JP3869096B2 (en) * | 1997-11-27 | 2007-01-17 | 古河機械金属株式会社 | Pallet stop control device for parking equipment |
| DE19823601A1 (en) * | 1998-05-27 | 1999-12-02 | Thomas Felden | Device for storing transport containers |
| DE10110871A1 (en) * | 2001-03-07 | 2002-09-12 | Kms Gmbh | Fully automatic multi-level car park has parking areas concerted by tracks with stator elements controlled to generate moving magnetic field that interacts with magnets on pallets |
| KR100581623B1 (en) * | 2004-01-15 | 2006-05-23 | 오티스 엘리베이터 컴파니 | Parking apparatus for solving a transfer failure of a pallet due to an elevation difference between a lift and a cart and method for controlling a pallet transfer |
| JP6095939B2 (en) * | 2012-10-16 | 2017-03-15 | 三菱重工メカトロシステムズ株式会社 | Pallet feeding device, mechanical parking equipment provided with the same, control method for pallet feeding device, and repair method for mechanical parking equipment |
| DE102014210088A1 (en) * | 2013-05-28 | 2014-12-04 | Unitronics Parking Solutions Ltd. | Shuttle car for use in automated parking |
| PL3146130T3 (en) * | 2014-05-21 | 2020-11-30 | Sotefin Patents Sa | Transferring carriage of vehicles for automatic mechanical parking systems |
| DE102016208235A1 (en) * | 2016-05-12 | 2017-11-16 | SATEG Steuerungs- und Automatisierungstechnik GmbH | Device and method for parking a vehicle |
-
2016
- 2016-05-12 DE DE102016208235.3A patent/DE102016208235A1/en not_active Withdrawn
-
2017
- 2017-05-11 CN CN201720524536.2U patent/CN208024034U/en active Active
- 2017-05-11 WO PCT/EP2017/000576 patent/WO2017194191A1/en unknown
- 2017-05-11 CN CN201710330372.4A patent/CN107366459B/en active Active
- 2017-05-11 EP EP17723259.2A patent/EP3455434B1/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107366459A (en) * | 2016-05-12 | 2017-11-21 | 萨泰格控制及自动化技术有限公司 | Apparatus and method for parking |
| CN107366459B (en) * | 2016-05-12 | 2021-07-16 | 全球雷托集团有限公司 | Device and method for parking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107366459A (en) | 2017-11-21 |
| WO2017194191A1 (en) | 2017-11-16 |
| DE102016208235A1 (en) | 2017-11-16 |
| EP3455434B1 (en) | 2020-12-16 |
| CN107366459B (en) | 2021-07-16 |
| EP3455434A1 (en) | 2019-03-20 |
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