KR20100006697U - Parking system used of robot - Google Patents

Abstract

The present invention relates to a parking lot value using a robot, and more particularly, to lock a key of a vehicle or to position a shift lever in a parking (P) and to store the desired wheel by a robot that lifts four wheels even when the side brake is locked. It is designed to move into a thread.

The apparatus of the present invention includes two frames (10) (11), each of which is installed to be movable in a state where they are separated from each other in order to elevate the front and rear tires respectively by the guide of the rail provided in the lift; Driving rollers 20 driving the frames 10 and 11 in a slide direction according to the driving direction of the driving motor 21; Position detection sensors 30 and 31 for controlling the driving by detecting the position of the tire when the frames 10 and 11 are moved by the driving roller 20; Arms 40 and 41 which are fixed to the pinion 43 and the gear 42 and extend outwardly in a state where the pinion 43 and the gear 42 are engaged with each other on both sides of the frames 10 and 11. and; Pivot means (50) for pivoting the arms (40) (41) at a desired angle; The arms 40 and 41 consist of lifting means 60 which allow the arms 40 and 41 to be lifted in contact after turning towards the tire.

Containing, Parking, Robot, 4 Wheel, Arm Slewing, Lifting, Lift

Description

Parking lot using robot {Parking system used of robot}

1 is a plan view showing a conventional parking robot structure

2 is a front view of FIG. 1;

Figure 3 is a block diagram showing each step of the parking method of the present invention.

4 is a plan view of the arm is operated by the device of the present invention.

5 is a front view of main parts of FIG. 4;

Figure 6 is an apparatus showing the structure in which the arm of the present invention is lifted by the lifting means.

7 is a front view of FIG. 6;

Figure 8 is a cross-sectional view showing a state in which the driving roller of the present invention is driven in the upper rail.

9 is a plan view showing a state in which the traveling motor and the swing means and the lifting means for moving the frame slide are installed.

10 is a front view of FIG. 9;

11 is a sectional view showing the main parts of the arm swing means of the present invention.

12 is a main view showing a state in which a lifting means is installed below the turning means of the present invention.

Figure 13 is an operating state showing an operating state of the lifting means of the present invention.

14 is a main view showing a state in which the tire is lifted by the operation of the lifting means of the present invention.

* Description of the symbols for the main parts of the drawings *

10, 11-frame 20-drive rollers

21-Drive motor 30, 31-Position sensor

40, 41-arm 42-gear

43-Pinion 50-Vehicle

51-Slewing Motor 54-Worm

55-Warm wheel 60-Lifting means

61-Lifting Motor 65, 66-Link

67, 68-disc cam 70, 71-eccentric cam

The present invention relates to a parking lot value using a robot, and more particularly, to lock a key of a vehicle or to position a shift lever in a parking (P) and to store the desired wheel by a robot that lifts four wheels even when the side brake is locked. It is designed to move into a thread.

Typically, a robot is provided as a means for moving a vehicle from a lift to a storage room or from a storage room to a lift in a planar reciprocating method or an elevator sliding type.

Conventionally, a parking lot value using a robot has been known to have a structure as shown in FIGS. 1 and 2.

First, for the parking, the driver can move the vehicle to a predetermined parking position, and then the robot can be operated only when the shift lever is in the neutral (N) position and the side brake is released to enable the movement of the vehicle.

The robot has an arm (1) rotatably installed at the front side to closely contact the front tire and the rear tire in different directions, and the support (2) for supporting the inner tire side is capable of parallel movement at the rear side. Each pair is provided.

That is, among the robot devices located at the lower part of the main vehicle, as shown in FIGS. 1 and 2, the arms 1 which are operated in pairs on both the left and right sides by the forward and backward operations of the cylinder 3 are centered on the hinge axis. It is pivoted and is in contact below the center of the tire circumferential surface.

In addition, on the rear side, the supporters 2 located on the inner side of both tires are operated in a direction that opens or contracts in parallel with the link movement by the forward and backward operation of the cylinder 4. Close to

Thus, the support 2 actuated on the rear side allows the tire to be clouded in a straight direction in order to enable the linear movement of the vehicle, and the front arms 1 move left and right by driving means not shown by the robot. When it is possible to cover the front tires to be clouded together in the direction of the robot.

At this time, the arm 1 is not in contact with both sides of the tire, but maintains a proper clearance, so that only the arm 1 in the pushing direction is in contact with the moving direction, and the other arm 1 does not contact the tire. Will not interfere with.

In addition, when driving in reverse, the arms 1 perform these roles interchangeably.

According to the parking lot value using a conventional robot as described above, since the parked vehicle is pushed and moved with the arm 1 in contact, the shift lever must be in the neutral (N) position and the side brake is released to release the vehicle. The robot can only be operated when the movement is enabled.

Therefore, when the driver does not comply with the above, the robot cannot be operated. When the robot is forcibly operated in a state in which the driver is violated, the vehicle or the robot may be damaged.

In addition, since the support members 2 are in contact with the rear tires for the tire direction alignment, the tire inner surfaces of the tires, which are relatively weak, may be worn or scratched while the robot is running, thereby reducing tire life.

Therefore, there was a problem such that the car key is always inserted in the car to check the compliance matters at the request of the guiding agent during parking, giving a lot of inconveniences with fear of losing valuables.

An object of the present invention is to provide a parking lot using a robot so that the shift lever can be parked in the parking (P) position and the side brake can be parked even when the driver holds the key in the locked state.

Another object of the present invention is to provide a parking lot that can be parked conveniently not only the driver but also the parking management personnel without fear of damages such as cars and tires.

The apparatus for achieving the object of the present invention, two frames (10) (11) are installed so as to be movable in a state separated from each other in order to lift the front tire and the rear tire respectively by the guide of the rail provided in the lift. );

Driving rollers 20 driving the frames 10 and 11 in a slide direction according to the driving direction of the driving motor 21;

Position detection sensors 30 and 31 for controlling the driving by detecting the position of the tire when the frames 10 and 11 are moved by the driving roller 20;

Arms 40 and 41 which are fixed to the pinion 43 and the gear 42 and extend outwardly in a state where the pinion 43 and the gear 42 are engaged with each other on both sides of the frames 10 and 11. and;

Consisting of pivot means (50) for pivoting the arms (40) (41) at a desired angle;

The pivot means 50 drives the driven gear 53 in which the center gear 52 is engaged with both sides thereof by the rotation of the swing motor 51 located at the center of the frame 10, 11,

The worm 54, which is coaxially rotated to the driven gear 53, drives the worm wheel 55, and the worm 54 is attached to the gear 42 by rotating the worm wheel 55. ) Is driven together with the pinion 43 engaged and a pair of arms 40, 41 are symmetrically opened or retracted so that the pivoting operation is performed.

Further provided with lifting means 60 to allow the arms 40, 41 to be lifted in contact after turning towards the tire,

The lifting means 60 rotates the lifting pinions 63 and 64 in which the lifting gears 62 are engaged with each other by the driving of the lifting motor 61, and the links 65 and 66 are pivotally connected to the outside in the symmetrical directions. In the state, both ends of the links 65 and 66 are pivotally connected to the disc cams 67 and 68 so that the disc cams 67 and 68 are rotated on both sides in accordance with the rotation of the lifting pins 63 and 64, respectively. To transmit rotational movement symmetrically,

The disc cams 67 and 68 connect the eccentric cams 70 and 71 using the shaft 69 so that the disc cams 67 and 68 and the eccentric cams 70 and 71 are integrally in the same direction. Rotated eccentric cam 70 is in contact with the lower portion of the worm wheel 55,

A lower support plate 72 having the same shape as the worm wheel 55 is attached to the lower portion of the other arm 41 to maintain the contact state by the other eccentric cam 71.

The pinion 43 and the gear 42 rotatably attached to the arms 40 and 41 are rotatably centered by a bracket 73 so that the brackets 73 are connected to each other in a pair of right and left. By installing a hinge 74 in the center, the hinge 74 is connected to be rotated about an axis.

On the other hand, the device of the present invention is operated in the following steps.

That is, an entry step in which two frames 10 and 11, which are installed to be movable by guides of the rails 15, move to the bottom toward the vehicle;

Frame setting to stop the driving of the driving roller 20 at the setting position where the position of the tire is detected by the position sensor 30, 31 when the frame 10, 11 proceeds to the bottom of the vehicle by the above entry step Steps;

An arm turning step of turning the arms 40 and 41 provided in the front and rear wheel frames 10 and 11 to contact the tire after setting the moving position of the frame by the frame setting step;

A front wheel lifting step of first lifting the lifting means (60) to lift the front wheel side tires in the state where the arms (40) (41) are in contact with both sides of the front wheel tires in the arm turning step;

A relaxation step in which the front wheel tire is first lifted from the undercarriage in the front wheel lifting step and then the brake 23 of the travel motor 21 is relaxed to enable the flow of the rear wheel side frame 11;

A rear wheel lifting step of operating a lifting means (60) to lift the rear wheel side tire in a state in which the rear wheel side frame (11) can be flown by the relaxation step;

A vehicle movement step of sequentially rotating the driving motors 21 provided in the frames 10 and 11 to move to a desired storage position in a state in which all four-wheel tires are lifted is performed.

Therefore, since the vehicle's four-wheel tires can all be lifted up, the robot moves the vehicle to the desired position without necessarily carrying out the necessary precautions such as setting the shift lever to neutral (N) and releasing the side brake when parking. Can be stored in the hangar or received and released.

In addition, parking is possible without having to put the key of the vehicle, so there is no need to worry about the loss of valuables or anxiety about it, and the driver and the parking manager can give comfort.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a block diagram showing each step of the parking method of the present invention.

4 is a plan view showing a structure in which the positions of the rear wheel frame 11 and the arms 40 and 41 installed therein are different from each other according to the size of the vehicle, and FIG. 5 is a front view of the main part of FIG. .

Fig. 6 is a schematic view of the main part planar device showing the structure in which the arm 40, 41 being engaged and pivoted by the lifting means 60 is lifted.

7 is a front view of FIG. 6.

8 is a cross-sectional view showing a state in which the driving roller 20 is driven from the upper rail.

FIG. 9 is a plan view illustrating a state in which the traveling motor 21, the pivoting means 50, and the lifting means 60 are installed on the frames 10 and 11.

10 is a front view of FIG. 9.

11 is a sectional view showing the main parts of the swing means 50 of the arms 40 and 41.

12 is a main view showing a state in which the lifting means 60 is installed below the turning means 50.

13 is a diagram showing the main operation state showing the operating state of the lifting means (60).

14 is a main view showing a state in which the arms 40 and 41 are lifted and the tires are lifted by the operation of the lifting means 60.

The parking lot to which the present invention is applied is, for example, to produce a three-dimensional storage tower by combining the ground and the underground, and the center part is provided with a hoistway for moving up and down the vehicle, which is stored in the lift and lift state. They will either be parked in containment spaces on each floor, or the parked vehicles will be moved to their factory locations.

In general, the lifting space on the first floor has a boarding point which is a vehicle loading position.

Distribution boards and automatic opening and closing doors are installed around the entrance.

Therefore, when the vehicle returns from the containment space to the entrance, the automatic opening and closing door is opened and the driver drives the vehicle.

In the lift of the present invention, two frames 10 and 11 separated from each other are provided in a driveable state.

The frames 10 and 11 are guided along rails of the frame provided in the lifting lift or the storage room and moved toward the vehicle by driving the driving rollers 20. Why the frames 10 and 11 are separated from each other? Is for elevating the front and rear tires, respectively.

In addition, a driving motor 21 for driving the driving rollers 20 left and right slides is provided at one side of each of the frames 10 and 11.

The traveling motor 21 can slide the frames 10 and 11 in the direction of the storage in the lift or the direction of the lift in the storage room according to the driving direction.

A reduction gear 22 is provided between the driving motor 21 and the driving roller 20 to change the rotational transmission direction and to decelerate at a desired ratio.

In addition, the guide rollers 25 are installed at each corner of the frame 10 or 11 so as to move smoothly without being separated when moved along the rail.

Position detection sensors 30 and 31 are provided outside the frames 10 and 11, respectively.

When the two position detection sensors 30 and 31 are moved in pairs by the driving rollers 20 and the frames 10 and 11 are moved, the front position detection sensor 30 is next to the tire after passing. The position sensor 31 detects the position of the tire at the moment the tire is detected to control the driving.

The position detecting sensors 30 and 31 may use a method of detecting an object by transmitting light or a method of detecting an object by a proximity sensor.

Therefore, the first position detection sensor 30, which is moved among the two position detection sensors 30 and 31, detects an object and then detects an object in the second position detection sensor 31 of the driving roller 20. By stopping the driving, the position of the tire can be sensed to control the movement of the frames 10 and 11.

On the other hand, arms 40 and 41 are provided on both sides of the frames 10 and 11 for turning and lifting toward the front and rear wheels of the vehicle, respectively.

The arms 40 and 41 are a pair of left and right, and extend toward the outside with the pinion 43 and the gear 42 engaged with each other at the center thereof, and rolling rollers (a roller) on the contact surface so as not to be damaged by friction when contacting the tire. 44 are subsequently installed.

The arms 40 and 41 can be pivoted at a necessary angle by the pivot means 50.

That is, with the turning means 50, the center gear 52 drives the driven gear 53 engaged with both sides by the rotation of the turning motor 51 located in the center part of the frame 10, 11, and this driven The worm 54, which is coaxially rotated to the gear 53, drives the worm wheel 55.

This worm wheel 55 is fixedly attached to the gear 42 at the bottom of one arm 40.

Accordingly, the pair of arms 40, 41 are driven by the worm 54 being driven together by rotating the worm wheel 55 so that the gear 42 attached thereto is driven together with the pinion 43 engaged. Symmetrically acts as a shearing operation that opens or contracts along its driving direction.

When the arms 40 and 41 are retracted toward the tire, they are prepared to be brought under contact with the tire and lifted up.

In addition, when the frames 10 and 11 are moved, the arms 40 and 41 are kept open, and the frame 10 and 11 are substantially overlapped with each other. do.

On the other hand, the arms 40, 41 allow the lifting means 60 to move the front wheels and the rear wheels, respectively, at the required time.

As the lifting means 60, the lifting gear 62 rotates the lifting pinion 63 on one side by driving the lifting motor 61.

The lifting pinions 63 and 64 are rotated in pairs in engagement with each other, and the links 65 and 66 are pivotally connected to the outer surfaces thereof in the symmetrical directions.

Both ends of the links 65 and 66 are pivotally connected to the disc cams 67 and 68, respectively, so that the disc cams 67 and 68 are rotated on both sides as the repeating pins 63 and 64 rotate. It transmits rotational movement symmetrically.

The disc cams 67 and 68 connect the eccentric cams 70 and 71 using the shaft 69 so that the disc cams 67 and 68 and the eccentric cams 70 and 71 are integrally in the same direction. Is rotated.

One side of the eccentric cam 70 is in contact with the lower portion of the worm wheel 55.

And the lower arm 41 is attached to the base plate 72 having the same shape as the worm wheel 55 to maintain the contact state by the other eccentric cam (71).

Meanwhile, the pinion 43 and the gear 42 rotatably attached to the arms 40 and 41 are pivotally installed to be rotatable by the bracket 73, and the brackets 73 are left and right. A pair of hinges 74 are installed at the center of the pair to connect the hinges 74 so that they can be rotated about an axis.

Therefore, when the lifting motor 61 is driven at the required time, the lifting gear 62 rotates the lifting pinions 63 and 64 in the engagement direction, and the discs 65 and 66 are installed at a distance from the disc cam ( 67) (68) by rotating the eccentric cam (70) (71) by operating the link to rotate the worm wheel 55 and the backing plate (72) by lifting the hinge 74 on the axis according to the eccentric position The lower arms 40 and 41 and the front and rear wheels supported by the lower arms 40 and 41 may be lifted, respectively.

In this manner, the driving motor 21 drives the driving roller 20 to move the front wheel and the rear wheel to the desired position in the state where the arms 40 and 41 are lifted up, and then the lifting means 60 is released. When the arms 40 and 41 are returned, the storage or shipping is possible.

In addition, the parking method using the above-described device is configured by a main controller (not shown) to select a switch for entry or exit, so that two frames 10 and 11 move to the bottom toward the vehicle. Will perform the steps.

In this entry step, the driving motor 21 drives the driving roller 20 through the reduction gear 22 to move to the position for lifting and moving the front and rear wheels of the vehicle.

When the frame 10, 11 proceeds to the bottom of the vehicle by the above entry step, after detecting the position of the front wheel and the rear wheel by the frame setting step, the vehicle is stopped and ready to wrap and lift the tire.

That is, the frame 10 and 11 are moved by the driving of the driving motor 21 and the driving roller 20 of the entry stage, the frame 10 for moving toward the front wheel side position monitoring sensor respectively installed on both sides The drive is stopped by detecting the position of the tire at 30 and 31.

Then, the frame 11 for the rear wheel movement is also moved by the drive of the driving motor 21 and the driving roller 20 by the entry step, and then the position sensor 30, 31 is detected each of the rear tires In this position, the driving of the driving roller 20 is stopped to perform a frame setting step for lifting and moving the tire.

When the two position detection sensors 30 and 31 are moved in pairs by the driving rollers 20 and the frames 10 and 11 are moved, the front position detection sensor 30 is next to the tire after passing. The position sensor 31 detects the position of the tire at the moment the tire is detected to control the driving.

The position detecting sensors 30 and 31 may use a method of detecting an object by transmitting light or a method of detecting an object by a proximity sensor.

The arm turning step is performed after setting the moving position of the frame by this frame setting step.

The arm pivoting step is to pivot the arms 40 and 41 provided on the front and rear wheel frames 10 and 11 by the arm pivoting means 50 so as to contact the tire.

As the turning means 50, the center gear 52 drives the driven gear 53 engaged with both sides by the rotation of the turning motor 51 located at the center of the frame 10, 11, and the driven gear ( The worm 54, which is coaxially rotated at 53, drives the worm wheel 55.

This worm wheel 55 is fixedly attached to the gear 42 at the bottom of one arm 40.

Accordingly, the pair of arms 40, 41 are driven by the worm 54 being driven together by rotating the worm wheel 55 so that the gear 42 attached thereto is driven together with the pinion 43 engaged. Symmetrically acts as a shearing operation that opens or contracts along its driving direction.

When the arms 40 and 41 are retracted toward the tire, they are prepared to be brought under contact with the tire and lifted up.

In addition, when the frames 10 and 11 are moved, the arms 40 and 41 are kept open, and the frame 10 and 11 are substantially overlapped with each other. do.

As described above, the front wheel lifting step of lifting the front wheel side tire by the lifting means 60 is performed in the state where the arms 40 and 41 are in contact with each of the front rear tire tires in the arm turning step.

In this front wheel lifting step, after the front wheel tire is first lifted from the chassis, a relaxation step for freeing the flow of the frame 11 for lifting and moving the rear wheel is performed.

The relaxation step enables the flow of the rear wheel side frame 11 by relaxing the brake 23 of the traveling motor 21 mounted on the rear wheel side frame 11.

The reason for performing the relaxation step by releasing the flake 23 as described above is that, when the rear wheels are lifted by the rear wheel lifting step, the distance between the front wheels and the rear wheels differs according to the vehicle type, so that the tires are flowed in correspondence with the tires. Is to be lifted up to support.

This relaxation step is performed by the input program of the main controller.

Then, the rear wheel lifting step is performed to operate the lifting means 60 to lift the rear wheel side tire in a state in which the rear wheel side frame 11 can flow by the relaxation step.

The lifting means 60 is a disc cam in which the lifting gear 62 rotates the lifting pinions 63 and 64 in the engagement direction when the lifting motor 61 is needed, and the links 65 and 66 are provided at a distance. The worm wheel 55 and the backing plate 72 are rotated by rotating the eccentric cams 70 and 71 by operating the link to rotate the 67 and 68, and the hinge 74 is rotated about the hinge 74 according to the eccentric position. The raised arms 40 and 41 and the front and rear wheels supported by them can be lifted, respectively.

As described above, the vehicle driving step of sequentially moving the front wheels and the rear wheels to the desired position by driving the driving roller 20 in the state in which the arms 40 and 41 are lifted up, respectively.

Then, when the lifting means 60 is released and the arms 40 and 41 are returned again, storage or shipping is possible.

As described above, the present invention can move all four-wheel tires of the vehicle in a lifted state, so that the parking lever can be moved to neutral (N) and parked without having to carry out the necessary precautions such as releasing the side brakes. The robot can be moved to a location to store, receive and leave the hangar.

In addition, it is possible to park without having to put the key of the vehicle, so there is no need to worry about loss of valuables or the like, and it is a very useful design such as to give the driver and the parking manager a comfort.

Claims (1)

Two frames (10) (11) installed so as to be movable in a state in which they are separated from each other so as to lift the front tire and the rear tire by the guide of the rail provided in the lift; Driving rollers 20 driving the frames 10 and 11 in a slide direction according to the driving direction of the driving motor 21; Position detection sensors 30 and 31 for controlling the driving by detecting the position of the tire when the frames 10 and 11 are moved by the driving roller 20; Arms 40 and 41 which are fixed to the pinion 43 and the gear 42 and extend outwardly in a state where the pinion 43 and the gear 42 are engaged with each other on both sides of the frames 10 and 11. and; Consisting of pivot means (50) for pivoting the arms (40) (41) at a desired angle; The pivot means 50 drives the driven gear 53 in which the center gear 52 is engaged with both sides thereof by the rotation of the swing motor 51 located at the center of the frame 10, 11, The worm 54, which is coaxially rotated to the driven gear 53, drives the worm wheel 55, and the worm 54 is attached to the gear 42 by rotating the worm wheel 55. ) Is driven together with the pinion 43 and a pair of arms 40, 41 are symmetrically opened or retracted so that the pivoting operation is performed. It is further provided with a lifting means 60 to allow the arms 40, 41 to be lifted in contact after turning towards the tire, The lifting means 60 rotates the lifting pinions 63 and 64 in which the lifting gears 62 are engaged with each other by the driving of the lifting motor 61, and the links 65 and 66 are pivotally connected to the outside in the symmetrical directions. In the state, both ends of the links 65 and 66 are pivotally connected to the disc cams 67 and 68 so that the disc cams 67 and 68 are rotated on both sides in accordance with the rotation of the lifting pins 63 and 64, respectively. To transmit rotational movement symmetrically, The disc cams 67 and 68 connect the eccentric cams 70 and 71 using the shaft 69 so that the disc cams 67 and 68 and the eccentric cams 70 and 71 are integrally in the same direction. Rotated eccentric cam 70 is in contact with the lower portion of the worm wheel 55, A lower support plate 72 having the same shape as the worm wheel 55 is attached to the lower portion of the other arm 41 to maintain the contact state by the other eccentric cam 71. The pinion 43 and the gear 42 rotatably attached to the arms 40 and 41 are rotatably centered by a bracket 73 so that the brackets 73 are connected to each other in a pair of right and left. By installing a hinge 74 in the center of the parking lot using a robot, characterized in that the hinge 74 is connected to be rotated to the axis.

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