CN210217290U - Scalable parking robot control system - Google Patents
Scalable parking robot control system Download PDFInfo
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- CN210217290U CN210217290U CN201920920643.6U CN201920920643U CN210217290U CN 210217290 U CN210217290 U CN 210217290U CN 201920920643 U CN201920920643 U CN 201920920643U CN 210217290 U CN210217290 U CN 210217290U
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Abstract
The utility model discloses a scalable parking robot control system, including L type organism and crossbeam, two L type organisms are installed at the both ends of crossbeam through the slide rail, and the mid-mounting of crossbeam has the motor, and the output of motor still passes through a coupling joint double-line section of thick bamboo, has all wound wire rope in two wire casing on the double-line section of thick bamboo, and two wire rope's tail end all is connected with the fixed block, and two fixed blocks weld respectively at the both ends of two L type organisms, and the flexible end of one of them L type organism still installs the sensor of acting as go-between; the L-shaped machine body is also provided with a vehicle body scanning module, the vehicle body scanning module is connected with a processor through a lead, the processor is connected with a motor controller through a lead, and the motor controller is connected with a motor through a lead; the utility model discloses a parking robot does not inject the size that can fork and get the vehicle, and the robot can change along with vehicle size change, makes it can fork and get more types of vehicle.
Description
Technical Field
The utility model relates to a control system, in particular to scalable parking robot control system belongs to the flexible technical field of control robot crossbeam.
Background
With the development of the times, the number of motor vehicles in China is continuously increased, the available space of cities is less and less, and the number of parking lots cannot meet the increasing number of vehicles.
In the early days, the country generally adopts the mode of repairing more, widening the road and adding a parking lot to solve the problems. However, as the parking space is gradually saturated, the development is very difficult, and the construction of urban basic parking facilities cannot keep pace with the development, people start the change of ideas.
The parking robot can be used for solving the parking problem by utilizing the longitudinal space when the transverse space is unavailable and utilizing the air space and the ground when the ground is unavailable under the assistance of development and new technology.
Most parking robots on the market today are not retractable, but there are many different types of vehicles, large and small, so that the non-retractable property results in a fatal disadvantage that a vehicle with a length longer than the length of the vehicle can not be forked. The stretchable parking robot can solve the defect by receiving the size of the vehicle information, so that the length of the parking robot is changed to fork vehicles of different sizes.
SUMMERY OF THE UTILITY MODEL
The utility model provides a scalable parking robot control system has solved most parking robot among the prior art and has all been the not telescopic, can not fork the problem of getting the vehicle still longer than its self length.
In order to solve the technical problem, the utility model provides a following technical scheme:
the utility model relates to a scalable parking robot control system, including L type organism and crossbeam, two the L type organism is installed at the both ends of crossbeam through the slide rail, the mid-mounting of crossbeam has the motor, the output of motor still passes through a coupling joint double-line section of thick bamboo, all around wire rope in two wire casings on the double-line section of thick bamboo, two the tail end of wire rope all is connected with the fixed block, two the fixed block welds respectively at the both ends of two L type organisms, and one of them the flexible end of L type organism still installs the sensor of acting as go-between, still is connected with the spring between the flexible end of two L type organisms;
still install automobile body scanning module on the L type organism, automobile body scanning module passes through the wire and connects the treater, the treater passes through the wire and connects motor controller, motor controller passes through the wire and connects the motor.
As an optimized technical scheme of the utility model, two wire rope's shrink direction is the same, and winds in the wire casing on it from the top and the below of double-thread section of thick bamboo respectively.
As an optimized technical scheme of the utility model, the automobile body scanning module is the radar, the treater is the i treater.
As an optimal technical scheme of the utility model, two photoelectric switch is still installed to the fork truck end of L type organism, photoelectric switch passes through the wire and connects the treater, bee calling organ is still connected through the wire to the treater.
As an optimized technical solution of the present invention, the processor in the L-shaped body is further connected to the wireless communication module through a wire.
A control method of a telescopic parking robot comprises the following specific steps:
the method comprises the following steps: scanning the car body through the car body scanning module, calculating the length of the car body in the processor, and simultaneously transmitting a control signal to the motor controller by the processor to enable the motor controller to control the motor to work;
step two: when the length of the car body is greater than that of the robot, the motor rotates rightwards to enable the double-line cylinder to wind the two steel wire ropes, the length of the steel wire ropes is reduced, the two L-shaped bodies move inwards, the exposed part of the cross beam is shortened, the spring is compressed, or the length of the car body is smaller than that of the robot, the motor rotates leftwards to enable the double-line cylinder to unwind the two steel wire ropes, the length of the steel wire ropes is increased, the two L-shaped bodies move outwards under the action of the compressed spring, the exposed part of the cross beam is lengthened, and meanwhile, the stay wire sensor transmits self state data of the parking robot to the processor in real time to enable the processor to know the self length; when the processor detects that the stretched length is enough, namely the length of the robot is equal to the length of the vehicle body, the processor controls the motor to stop rotating through the motor controller;
step three: the parking robot forks the vehicle, moves the vehicle to a specified position, returns to the original position, resets, and waits for the next use.
As a preferred technical scheme of the utility model, outside personnel can also set for parking robot's flexible length through wireless communication module in step two to through treater conveying control signal, make the corresponding control motor work of machine controller.
As a preferred technical scheme of the utility model, at fork truck's in-process, photoelectric switch still responds to whether there is the automobile body in robot fork truck end the place ahead to exist, and when the length after the robot stretches out and draws back was less than automobile body length promptly, treater control bee calling organ buzzed to corresponding control motor work, the length of adjustment robot.
The utility model discloses the beneficial effect who reaches is: the utility model discloses a scalable parking robot control system compares with prior art, has following beneficial effect:
1. the utility model discloses a parking robot does not inject the size that can fork and get the vehicle, and the robot can change along with vehicle size change, makes it can fork and get more types of vehicle.
2. The utility model discloses an adopt motor, double-wire section of thick bamboo and two L type bodies of wire rope pulling simultaneously to remove, can improve parking robot's flexible efficiency to through the compression of spring, make it can promote the outside removal of L type body, and stabilize the length of parking robot after stretching out and drawing back with wire rope together.
3. The utility model discloses whether still can the fork vehicle through the flexible parking robot length of photoelectric switch response after, the condition that can avoid parking robot to damage the vehicle appears, is favorable to improving the security that parking robot used.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of a subjective structure of a control system of a retractable parking robot according to the present invention;
fig. 2 is a top view of a retractable parking robot control system proposed by the present invention;
fig. 3 is a schematic block diagram of a retractable parking robot control system proposed by the present invention;
fig. 4 is a subjective structural diagram of another telescopic structure of the control system and the control method for a telescopic parking robot according to the present invention;
in the figure: 1. an L-shaped body; 2. a cross beam; 3. a pull wire sensor; 4. a motor; 5. a double-wire cylinder; 6. a wire rope; 7. a fixed block; 8. a spring; 9. a vehicle body scanning module; 10. a processor; 11. a motor controller; 12. a wireless communication module; 13. a photoelectric switch; 14. a buzzer; 15. a screw rod; 16. a slide block.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Example 1
As shown in fig. 1-3, the utility model provides a retractable parking robot control system, including L-shaped machine body 1 and crossbeam 2, two L-shaped machine bodies 1 are installed at both ends of crossbeam 2 through slide rails, the middle part of crossbeam 2 is installed with motor 4, the output end of motor 4 is still connected with a double-line cylinder 5 through a coupling joint, wire rope 6 is wound in two wire grooves on double-line cylinder 5, the tail ends of two wire rope 6 are connected with fixed block 7, two fixed blocks 7 are welded at both ends of two L-shaped machine bodies 1 respectively, the retractable end of one L-shaped machine body 1 is also installed with pull sensor 3, and spring 8 is also connected between the retractable ends of two L-shaped machine bodies 1;
drive a double-wire section of thick bamboo 5 through motor 4 and rotate, through 5 rolling or the release wire rope 6 of pivoted double-wire section of thick bamboo, through the flexible L type organism 1 that inwards or outwards removes of wire rope 6, when L type organism 1 outwards removes, the effort of compressed spring 8 through its bounce-back, can promote L type organism 1 outwards to remove, and simultaneously, act as go-between on the sensor 3 of acting as go-between is pulled, it is real-time to convey adjustment length and gives the parking robot, and only when the parking robot is in the longest state, spring 8 just is in the natural state, all the other are in the state of compressed.
The L-shaped machine body 1 is also provided with a vehicle body scanning module 9, the vehicle body scanning module 9 is connected with a processor 10 through a lead, the processor 10 is connected with a motor controller 11 through a lead, and the motor controller 11 is connected with the motor 4 through a lead.
The length of the vehicle body is scanned by the vehicle body scanning module 9 and calculated by the processor 10, and then the motor 4 is controlled to operate by the motor controller 11.
The two steel wire ropes 6 have the same contraction direction and are wound in the wire grooves on the two double-wire drums 5 from the upper part and the lower part of the double-wire drums 5 respectively, so that the two rotating double-wire drums 5 can simultaneously stretch the two steel wire ropes 6, and the two steel wire ropes 6 simultaneously drive the L-shaped machine body 1 to move inwards or outwards.
The vehicle body scanning module 9 is a radar which can detect the length of the vehicle through the radar used for measuring the length in the prior art, the processor 10 is an i7 processor, and an i7 processor has strong processing capacity and calculation capacity and can calculate the length of the vehicle body, receive signals and transmit control commands.
Photoelectric switches 13 are further mounted at the forklift ends of the two L-shaped bodies 1, the photoelectric switches 13 are connected with a processor 10 through wires, the processor 10 is further connected with a buzzer 14 through wires, whether an object exists at the forklift end of the parking robot through the photoelectric switches 13 or not is judged, namely, whether the forklift end can fork the vehicle or not is judged, when the length is insufficient, the photoelectric switches 13 sense the existence of the object, the processor 10 controls the buzzer 14 to sound, the motor 4 is controlled to work, and the length of the parking robot is adjusted.
The processor 10 in the L-shaped body 1 is further connected with a wireless communication module 12 through a wire, and outside personnel can also communicate with the parking robot in real time through the wireless communication module 12 to set the telescopic length of the parking robot.
Example 2
As shown in fig. 1 to 3, a control method for a retractable parking robot includes the following specific steps:
the method comprises the following steps: scanning the vehicle body through the vehicle body scanning module 9, calculating the length of the vehicle body in the processor 10, and simultaneously transmitting a control signal to the motor controller 11 by the processor 10 to enable the motor controller 11 to control the motor 4 to work;
step two: when the length of the car body is greater than that of the robot, the motor 4 rotates rightwards to enable the double-line cylinder 5 to wind two steel wire ropes 6, the length of the steel wire ropes 6 is reduced, the two L-shaped bodies 1 move inwards, the exposed part of the cross beam 2 is shortened, the spring 8 is compressed, or the length of the car body is smaller than that of the robot, the motor 4 rotates leftwards to enable the double-line cylinder 5 to release the two steel wire ropes 6, the length of the steel wire ropes 6 is increased, the two L-shaped bodies 1 move outwards under the action of the compressed spring 8, the exposed part of the cross beam 2 is lengthened, and meanwhile, the bracing wire sensor 3 transmits the self state data of the parking robot to the processor 10 in real time to enable the processor to know the self length; when the processor detects that the stretched length is enough, namely the length of the robot is equal to the length of the vehicle body, the processor 10 controls the motor 4 to stop rotating through the motor controller 11;
step three: the parking robot forks the vehicle, moves the vehicle to a specified position, returns to the original position, resets, and waits for the next use.
In the second step, the external personnel can also set the telescopic length of the parking robot through the wireless communication module 12, and transmit a control signal through the processor 10, so that the motor controller 11 correspondingly controls the motor 4 to work.
In the process of the forklift, the photoelectric switch 13 also senses whether a vehicle body exists in front of the forklift end of the robot, namely when the length of the robot after stretching is smaller than the length of the vehicle body, the processor 10 controls the buzzer 14 to sound, correspondingly controls the motor 4 to work, adjusts the length of the robot, and avoids the situation that the length of the parking robot is insufficient and the vehicle is damaged.
Example 3
The utility model discloses a scalable parking robot control system's extending structure also can be as shown in fig. 4, including L type organism 1 and crossbeam 2, two L type organisms 1 pass through the slide rail and install on crossbeam 2, and motor 4 is installed respectively at two L type organism 1's both ends, and stay wire sensor 3 is still installed to one of them L type organism 1's flexible end, and two motor 4 all have lead screw 15 through the coupling joint, and equal thread bush is equipped with slider 16 on two lead screw 15, and two sliders 16 still weld together with the 2 bellied part in both ends of crossbeam.
Similarly, the telescopic robot can be stretched by the structure, and the specific control steps of the telescopic robot control method are as follows:
the method comprises the following steps: scanning the vehicle body through the vehicle body scanning module 9, calculating the length of the vehicle body in the processor 10, and simultaneously transmitting a control signal to the motor controller 11 by the processor 10 to enable the motor controller 11 to control the motor 4 to work;
step two: when the length of the vehicle body is smaller than that of the robot, the motor 4 rotates rightwards, the two motors 4 drive the two screw rods 15 to rotate rightwards respectively, the slide block 16 is fixed and does not move, the screw rods 15 move inwards, namely the slide block 16 moves towards the top ends of the screw rods 15 relative to the screw rods 15, the cross beam 2 and the slide block 16 are fixed, the L-shaped machine body 1 slides towards the middle of the cross beam 2 on the cross beam 2 under the driving of the screw rods 15, and the length of the exposed cross beam 2 is shortened;
or, the length of the car body is greater than that of the robot, the motor 4 rotates leftwards, so that the two motors 4 drive the two screw rods 15 to rotate leftwards respectively, the slide block 16 is fixed and does not move, so that the screw rods 15 move outwards, namely, the slide block 16 moves towards the tail end of the screw rod 15 relative to the screw rods 15, the cross beam 2 and the slide block 16 are fixed, so that the L-shaped machine body 1 slides towards the two ends of the cross beam 2 on the cross beam 2 under the driving of the screw rods 15, the length of the exposed cross beam 2 is increased, and meanwhile, the pull line sensor 3 transmits the self state data of the parking robot to the processor 10 in real time, so that the processor knows the self length; when the processor detects that the stretched length is enough, namely the length of the robot is equal to the length of the vehicle body, the processor 10 controls the motor 4 to stop rotating through the motor controller 11;
step three: the parking robot forks the vehicle, moves the vehicle to a specified position, returns to the original position, resets, and waits for the next use.
In the second step, the external personnel can also set the telescopic length of the parking robot through the wireless communication module 12, and transmit a control signal through the processor 10, so that the motor controller 11 correspondingly controls the motor 4 to work.
In the process of the forklift, the photoelectric switch 13 also senses whether a vehicle body exists in front of the forklift end of the robot, namely when the length of the robot after stretching is smaller than the length of the vehicle body, the processor 10 controls the buzzer 14 to sound, correspondingly controls the motor 4 to work, adjusts the length of the robot, and avoids the situation that the length of the parking robot is insufficient and the vehicle is damaged.
The parking robot of the utility model does not limit the size of the forkable vehicle, and the robot can change along with the change of the size of the vehicle, so that the robot can fork more types of vehicles; the two L-shaped bodies 1 are pulled to move by the motor 4, the double-wire cylinder 5 and the steel wire rope 6, so that the telescopic efficiency of the parking robot can be improved, and the L-shaped bodies 1 can be pushed to move outwards through the compression action of the spring 8 and can be stably stretched together with the steel wire rope 6 to achieve the length of the parking robot; whether the length of the parking robot can be used for forking the vehicle after the parking robot is stretched or not is sensed by the photoelectric switch 13, the condition that the parking robot damages the vehicle can be avoided, and the use safety of the parking robot is improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The control system comprises L-shaped bodies (1) and a cross beam (2), and is characterized in that the two L-shaped bodies (1) are arranged at two ends of the cross beam (2) through slide rails, a motor (4) is arranged in the middle of the cross beam (2), the output end of the motor (4) is connected with a double-line cylinder (5) through a coupler, steel wire ropes (6) are wound in two wire grooves in the double-line cylinder (5), the tail ends of the two steel wire ropes (6) are connected with fixing blocks (7), the two fixing blocks (7) are respectively welded at two ends of the two L-shaped bodies (1), one of the two L-shaped bodies (1) is provided with a stay wire sensor (3), and a spring (8) is connected between the two L-shaped bodies (1);
still install automobile body scanning module (9) on L type organism (1), automobile body scanning module (9) pass through wire connection treater (10), treater (10) pass through wire connection motor controller (11), motor controller (11) pass through wire connection motor (4).
2. A retractable parking robot control system according to claim 1, characterized in that the two wire ropes (6) are retracted in the same direction and are wound in wire grooves on the double bobbin (5) from above and below, respectively.
3. Retractable parking robot control system according to claim 1, characterized in that the body scanning module (9) is a radar and the processor (10) is an i7 processor.
4. The retractable parking robot control system as claimed in claim 1, wherein a photoelectric switch (13) is further installed at the forklift end of the two L-shaped bodies (1), the photoelectric switch (13) is connected with the processor (10) through a wire, and the processor (10) is further connected with the buzzer (14) through a wire.
5. The retractable parking robot control system as claimed in claim 1, wherein the processor (10) in the L-shaped body (1) is further connected with a wireless communication module (12) through a wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920643.6U CN210217290U (en) | 2019-06-18 | 2019-06-18 | Scalable parking robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920643.6U CN210217290U (en) | 2019-06-18 | 2019-06-18 | Scalable parking robot control system |
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| Publication Number | Publication Date |
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| CN210217290U true CN210217290U (en) | 2020-03-31 |
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| CN201920920643.6U Active CN210217290U (en) | 2019-06-18 | 2019-06-18 | Scalable parking robot control system |
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| CN (1) | CN210217290U (en) |
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- 2019-06-18 CN CN201920920643.6U patent/CN210217290U/en active Active
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Effective date of registration: 20230423 Address after: Room 103A, 1st Floor, Building 5 (Building 1), No. 2266 Sun Road, High Speed Rail New City, Xiangcheng District, Suzhou City, Jiangsu Province, 215100 Patentee after: Enjiai Technology (Suzhou) Co.,Ltd. Address before: Unit F101, building 1, 168 xinshawu Road, Tangjiawan Town, high tech Zone, Zhuhai, Guangdong 519000 Patentee before: ZHUHAI LITING INTELLIGENT TECHNOLOGY Co.,Ltd. |