WO2023128500A1 - Support de robot de stationnement à plancher bas - Google Patents

Support de robot de stationnement à plancher bas Download PDF

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Publication number
WO2023128500A1
WO2023128500A1 PCT/KR2022/021264 KR2022021264W WO2023128500A1 WO 2023128500 A1 WO2023128500 A1 WO 2023128500A1 KR 2022021264 W KR2022021264 W KR 2022021264W WO 2023128500 A1 WO2023128500 A1 WO 2023128500A1
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WO
WIPO (PCT)
Prior art keywords
jaw
plate
twelfth
wheel
vehicle
Prior art date
Application number
PCT/KR2022/021264
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English (en)
Korean (ko)
Inventor
조민서
Original Assignee
조민서
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Filing date
Publication date
Priority claimed from KR1020210190658A external-priority patent/KR102666465B1/ko
Application filed by 조민서 filed Critical 조민서
Publication of WO2023128500A1 publication Critical patent/WO2023128500A1/fr

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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
    • 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
    • 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

Definitions

  • the present invention relates to a low-floor parking robot, and more particularly, to a low-floor parking robot having a module structure that allows vehicles to be transported to a parking space and is easy to produce, and a holder related thereto.
  • Korean Application No. 10-2020-0089185 discloses an embodiment of a lifting method capable of parking a vehicle at an appropriate place in a parking space by lifting it.
  • an object of the present invention is to propose a structure that can increase the reliability of operation while simplifying the structure of a holder for holding a vehicle wheel.
  • the present invention is a vehicle moving device that moves the vehicle position by lifting the vehicle after entering the floor of the vehicle
  • the vehicle moving device includes a first device 500 and a second device 600
  • the two vehicles move independently, but the first device 500 and the second device 600 move in cooperation with each other to move one vehicle to a parking position, and the first device 500 enters the front wheel of the vehicle After lifting the front wheel, the second device 600 enters the rear wheel of the vehicle and lifts the rear wheel, and then the first device and the second device are cooperatively driven to move the one vehicle to the parking position
  • the first device includes a central frame (100, 1110) located in the center; and a moving unit (110, 1000) disposed inside the central frame to move the first device; and disposed on the left and right sides of the central frame.
  • the lifting means is provided with the first lifter (300) located on the left side and the right side with the center frame (100, 1110) in the center.
  • the first lifter 300 and the second lifter 300' are symmetrical to each other on the left and right sides with respect to the central frame 100, 1110 and have the same structure. , and the first lifter and the second lift are extended to the left and right sides with the center frame at the center to hold a wheel of a vehicle and then raise it.
  • the moving units 110 and 1000 disposed inside the central frames 100 and 1110 and the lifting means 300 and 300' disposed on the left and right sides of the central frame to lift the wheels of the vehicle are respectively module-by-module. By manufacturing and assembling, the efficiency of manufacturing and assembly can be increased.
  • the first and second lifters include an extension part extending outward from the central frame and a holding rising part assembled to the extension part to hold and lift a wheel
  • the first lifter 300 The deployed extension is formed of an 11th extension 210 extending outward from the upper left corner of the central frame and a 12th extension 220 extending leftward from the lower left corner of the central frame
  • the second lifter 300' is formed of a 21st extension 210′ extending outward from the upper right corner of the central frame and a 22nd extension 220′ extending to the right from the lower right corner of the central frame
  • the holding lift part includes a first lift frame 301 constituting the first lifter 300 and a second lift frame 301' constituting the second lifter 300', and one wheel is provided inside the first lift frame.
  • a first jaw set holding a and a first lifting means for lifting the first lifting frame are provided, and a second jaw set holding another wheel and the second lifting frame are provided inside the second lifting frame.
  • a second lifting means for lifting is provided, and the height of the upper surface of the central frame is 80 to 120 mm from the ground, and the height of the upper surface of the extension part is 70 to 120 mm from the ground.
  • a first extension means for extending the 11th extension and the 12th extension to the left is provided between the 11th extension 210 and the 12th extension 220 and the central frame
  • a second extension means for extending the 21st and 22nd extensions to the right is provided between the 21st and 22nd extensions 210' and the 22nd extensions 220' and the central frame.
  • the first extension means is composed of a rack and a pinion
  • the 11th rack 410 is mounted on the 11th extension part
  • the 12th rack 420 is mounted on the 12th extension part
  • the second extension part The means is also composed of a rack and a pinion
  • the 21st rack 410' is mounted on the 21st extension part
  • the 22nd rack 420' is mounted on the 12th extension part
  • the 11th rack is engaged with the 11th rack.
  • a pinion 401 and a twelfth pinion 402 meshed with the twelfth rack are provided.
  • the rotation of the second motor 430' rotates the 21st pinion 401' and the 22nd pinion 402' so that the 21st rack 410' and the 22nd rack 420' move left and right
  • the first set of jaws stored in the first lifting frame 301 is composed of an 11 jaw 310 and a 12 jaw 320 disposed below the 11 jaw, and the second lift
  • the second set of jaws stored in the frame 301' consists of a 21st jaw 310' and a 22nd jaw 320' disposed below the 21st jaw, and the 11th jaw 310 and the 22nd jaw set.
  • the 11 jaw and The twelfth jaw is extended toward one wheel
  • the 21st footer 300 is extended to the left so that the unfolded 11th jaw and 12th jaw can hold the one wheel
  • the 21st jaw 310 ') and the 22nd jaw 320' are accommodated inside the second lifting frame 301' and the second lifter 300' of the first device is in its original position without being extended to the lower part of the vehicle.
  • the 21st and 22nd jaws spread toward the other wheel, and the second lifter 300' moves to the right as much as the unfolded 21st and 22nd jaws can hold the other wheel.
  • the 12th jaw 320 moves toward the 11th jaw 310 to hold one wheel, and the unfolded 21st jaw 310' ) is fixed
  • the first lifting frame is raised through the first lifting means
  • the second lifting frame is raised through the second lifting means.
  • the first lifting means is formed of a first lifting jack 330 and a first lifting motor 340 that operates the first lifting jack
  • the first lifting jack is formed of a first jack top plate 431 and The first jack lower plate 432 and the first upper and lower part 433 positioned between the first jack upper plate and the first lower jack plate to rise and lower, and the first driving rod for driving the first upper and lower part 433 434 and the first lifting motor 340 that rotates the first driving rod 433, and the second lifting means operates the second lifting jack 330' and the second lifting jack.
  • the second lifting jack is located between the second jack upper plate 431' and the second jack lower plate 432' and between the second jack upper plate and the second jack lower plate to rise.
  • a second vertical lowering part 433' that moves and lowers, a second driving rod 434' that drives the second upper lowering part 433', and a second lifting motor that rotates the second driving rod 434' (340') to raise or lower the first lifting frame by driving the first lifting motor, and to raise or lower the second lifting frame by driving the second lifting motor.
  • the second rising frame is raised or lowered by lowering.
  • an 11th latch unit is disposed between the first rising frame 301 and the 11th extension part 210
  • a third latch unit is disposed between the first rising frame 301 and the 12th extension part 220.
  • Twelve latches are disposed to stop the first lifting frame raised by the first lifting means at the raised position
  • a 21st latch unit is provided between the second lifting frame 301' and the 21st extension part 210'.
  • a 22nd latch unit is disposed between the second lifting frame 301' and the 22nd extension part 220' to stop the second lifting frame raised by the second lifting means at the raised position.
  • the 11th latch part includes an 11th bracket 440 attached to one side of the first rising frame and an 11th sawtooth part 441 formed on the side of the bracket, and also the 11th extension part An 11th pin part 442 engaged with the 11th tooth part and an 11th hinge 443 for hinge movement of the 11th pin part 442 are disposed, and the 12th latch part is the other side of the first rising frame.
  • twelfth bracket 450 attached to the bracket and a twelfth tooth portion 451 formed on the side of the bracket
  • the twelfth extension portion includes a twelfth pin portion 452 engaged with the twelfth tooth portion and the twelfth pin portion 452 engaged with the twelfth tooth portion.
  • a twelfth hinge 453 for hinge movement of the twelfth pin part 452 is disposed.
  • the 21st latch part includes a 21st bracket 440' attached to one side of the second rising frame and a 21st sawtooth part 441' formed on the side of the bracket, and the 21st extension part A 21st pin part 442' engaged with the 21st sawtooth part and a 21st hinge 443' for hinge movement of the 21st pin part 442' are disposed, and the 22nd latch part of the second rising frame It includes a 22nd bracket 450′ attached to the other side and a 22nd sawtooth portion 451′ formed on the side of the bracket, and a 22nd pin portion engaged with the 22nd sawtooth portion ( 452') and the 22nd hinge 453' for hinge movement of the 22nd pin part 452' are disposed, the first rising frame is moved to the 11th latch part and the 12th latch part to the rising position and the lower position It is characterized in that it can be fixed at, and the second rising frame can be fixed at the rising position and the lower position by the 21st latch part and the
  • the first rising frame includes a first partition plate 311 dividing the inside in the longitudinal direction and a first roof plate 331 formed on the upper part of the first partition plate, and the first The 11th and 12th jaws are stored in the outer space located on the opposite side of the central frame based on the partition plate, and the first lifting jack and the first lifting motor are stored in the inner space, and the first lifting jack of the first lifting jack is stored.
  • the jack top plate 431 is coupled to the inside of the first roof plate 331, and the first jack bottom plate 432 is disposed so as to be exposed to the air.
  • the first jack top plate raises the first roof plate and raises the first lifting frame to raise the one wheel.
  • the first phase frame when the first phase frame reaches the highest lifting position, the first phase frame is fixed by the 11th latch part and the 12th latch part, and when the one wheel is lowered after moving the vehicle to a desired position
  • the first upper and lower parts are inflated so that the lower surface of the first jack lower plate touches the ground.
  • the first upper and lower part is contracted to lower the first rising frame until the one wheel touches the ground, and the second rising frame is It includes a second partitioning plate 311' partitioning in the longitudinal direction and a second roof plate 331' formed on the upper part of the second partitioning plate.
  • the 21st and 22nd jaws are accommodated in the outer space located on the opposite side of the central frame based on the second partition plate, and the second lifting jack and the second lifting motor are accommodated in the inner space, and the second lifting jack
  • the second jack top plate 431' of is coupled to the inside of the second roof plate 331', and the second jack bottom plate 432' is disposed to be exposed to the air.
  • the second jack lower plate is located at a certain distance from the ground, and the 21st jaw and the 22nd jaw hold one wheel and then raise the other wheel, The second upper and lower parts are inflated.
  • the second jack top plate lifts the second roof plate upward to raise the second lifting frame to raise the other wheel, and the first upper plate
  • the second upper frame is fixed by the 21st latch unit and the 22nd latch unit.
  • the second upper and lower parts are inflated so that the lower surface of the second jack lower plate touches the ground, and then the 21st latch part and the 22nd latch part After loosening, the second lifting frame is lowered until the other wheel touches the ground by contracting the second lifting part.
  • the lower ends of the 11th extension part 210 and the 12th extension part 220 are disposed so as not to touch the ground, but in order to extend from the center frame to the left side, the bottom surface of the 11th extension part 210
  • An 11th support wheel 211 is provided, a 12th support wheel 221 is provided on the bottom of the 12th extension part 220, and the 21st extension part 210' and the 22nd extension part ( 220') is arranged so as not to touch the ground, but in order to extend from the center frame to the left, a 21st support wheel 211' is provided on the underside of the 21st extension part 210', and the 22nd extension part It is characterized in that a 22nd support wheel 221' is provided on the bottom of the 220'.
  • a first rising frame 301 is disposed between the 11th extension part 210 and the 12th extension part 220, and the first rising frame 301 and the 11th extension part 210
  • An 11th latch unit is disposed between )
  • a 12th latch unit is disposed between the first rising frame 301 and the twelfth extension unit 220 to raise the first rising frame raised by the first lifting means.
  • a second rising frame 301' is disposed between the 21st extension part 210' and the 22nd extension part 220', and the second rising frame 301' and the 2nd extension part 220'
  • a 21st latch part is disposed between the 21st extension part 210'
  • a 22nd latch part is disposed between the second rising frame 301' and the 22nd extension part 220', It is characterized in that the second rising frame raised by is stopped at the raised position.
  • the second device 600 is formed in the same structure as the first device 500, and after the first device and the second device are moved under one vehicle, the first device Lifting the front two wheels of the vehicle and the second device lifting the rear two wheels of the vehicle, characterized in that the first device and the second device are cooperatively driven to move the one vehicle to a parking position do.
  • the first moving wheel 111 attached to the first device and the second moving wheel attached to the second device are included in the moving unit 110. It is characterized in that it is moved by driving the same structure as the mounted first moving wheel).
  • the present invention is a vehicle moving device that moves a vehicle position by lifting the vehicle after entering the floor of the vehicle, wherein the vehicle moving device has two units, a first device and a second device, independently moving, but the first device and the second device As the devices move in collaboration with each other, one vehicle is moved to a parking position.
  • the first device enters toward the front wheel of the vehicle and lifts the front wheel
  • the second device enters toward the rear wheel of the vehicle and lifts the rear wheel, and then is cooperatively driven to move the one vehicle to a parking position.
  • first device and the second device are mechanically separated and disposed independently, and the first device includes a first microcomputer for controlling the first device and a first communication unit for communicating with the outside.
  • the second device includes a second microcomputer for controlling the second device and a second communication unit for communicating with the outside.
  • a central control unit for managing movement is provided so that the first device and the second device move the one vehicle to a parking position according to a command of the central control unit.
  • a plurality of first proximity sensors and a plurality of first cameras are attached to the first device, and the plurality of first proximity sensors and the plurality of first cameras monitor the surroundings of the first device while communicating with the first microcomputer and collide with the first device. is controlled to move while preventing the second device, and a plurality of second proximity sensors and a plurality of second cameras are attached to the second device, and the plurality of second proximity sensors and the plurality of second cameras communicate with the second microcomputer while controlling the second proximity sensor. It is controlled to move while preventing collision by monitoring the surroundings of the device.
  • the moving unit is formed to include steering means for steering the traveling direction of the moving unit and driving means for controlling the traveling speed of the moving unit, so that the steering unit controls the traveling direction and traveling speed of the moving unit to drive the first device.
  • the second device moves the one vehicle to a parking position.
  • first device and the second device are provided with a central frame for holding the moving unit in the center, and the central frame includes storage spaces 120 and 1020 for accommodating batteries and a holding space 121 for inserting the moving unit. 1130) is provided so that a battery is stored in the storage space and a moving unit is mounted in the holding spaces 121 and 1130.
  • the moving wheel 111 includes first wheels 111a and 1230 and second wheels 111b and 1330, and a first motor that transmits rotational force to the first wheels 111a and 1230 and the first It includes a first reducer that reduces the rotation of the motor and transmits it to the first wheel (111a, 1230), and a second motor that transmits rotational force to the second wheel (111b, 1330) and reduces the rotation of the second motor
  • first rotational axis disposed at right angles to the traveling direction of the first wheels 111a and 1230 and the second rotational axis disposed perpendicularly to the traveling direction of the second wheels 111b and 1330 are parallel to each other or coincide with each other.
  • the steering means of the moving unit includes the driving means, and the first rotation axis of the first wheels 111a and 1230 and the second wheels 111b and 1330 A direction shifting unit for rotating the direction of the rotation shaft in the longitudinal direction or the width direction is further provided.
  • the direction change unit determines the moving direction of the vehicle by converting the direction of the first axis of rotation of the first wheel (111a, 1230) and the direction of the second axis of rotation of the second wheel (111b, 1330) do.
  • the direction change unit includes the first wheel (111a, 1230), the first motor, the first reducer, the second wheel (111b, 1330), the second motor and the bottom plate for mounting the second reducer, , A cover plate covering the bottom plate, and a thrust bearing disposed between the bottom plate and the cover plate.
  • the spruce bearing includes a lower wheel disposed in close contact with the bottom plate, an upper wheel disposed in close contact with the cover plate, and a rolling ball disposed between the upper wheel and the lower wheel.
  • the outer circumferential surface of the upper wheel is coupled to the rims of the central frame mounting spaces 121 and 1130, the upper wheel is fixed to the central frame, and the first wheels 111a and 1230, the first motor, and the first reducer And the second wheel (111b, 1330), the second motor and the second reducer are fixed to the lower wheel.
  • the first rotation shaft of the first wheel 111a or 1230 and the second rotation shaft of the second wheel 111b or 1330 are formed by the intersection of the first wheel 111a or 1230 and the second wheel 111b or 1330. It is characterized in that the direction of is changed to the longitudinal direction or width direction or any direction.
  • the upper ring is welded to the inside of the mounting space (121, 1130) of the center frame, but the welding portion of the upper ring is formed with a protruding jaw for a flat surface so that the welding joint is solid.
  • the first device is disposed on the front wheel side of the vehicle after entering the lower part of the vehicle
  • the second device is disposed on the rear wheel side of the vehicle after entering the lower part of the same vehicle as the first device entered.
  • the first and second devices rotate the first wheels 111a and 1230 and the second wheels 111b and 1330 included in the moving parts of the first and second devices to move the vehicle to a parking position. move
  • the first wheels 111a, 1230 and the second wheels 111b, 1330 are rotated in the same direction, and the direction is changed to move the vehicle to the parking position.
  • the first wheel and the second wheel (111b, 1330) are rotated in opposite directions so that the directions of the first axis of rotation of the first wheel and the direction of the second axis of rotation of the second wheel (111b, 1330) are the same as above. It is changed in the longitudinal direction or width direction or in any direction.
  • the central control unit moves the vehicle forward again after changing the direction to move the vehicle to the parking position
  • the directions of the first axis of rotation of the first wheel and the direction of the second axis of rotation of the second wheel are aligned in the same direction. After confirming this, move the vehicle forward.
  • the holding rising part includes a first rising frame 301 constituting the first lifter 300 and a second rising frame 301' constituting the second lifter 300'.
  • a first jaw set holding one wheel and a first lifting means for raising the first lifting frame are provided inside, and a second jaw set holding the other wheel and the second jaw set holding the other wheel are provided inside the second lifting frame. It is characterized in that a second lifting means for raising the second rising frame is provided.
  • the first lifting frame is raised through the first lifting means
  • the second rising frame is raised through the second lifting means
  • the first lifting frame 301 has the first lifting means. and a first partitioning plate 510 for partitioning and arranging the first jaw set, and a first partitioning plate 510 for partitioning and arranging the second lifting means and the second jaw set on the second lifting frame 301'. It is characterized in that the partition plate 510 'is disposed.
  • the position of the 11th jaw and the 12th jaw is divided into a storage position stored in the first rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position ,
  • One side end of the 11th jaw has an 11th rotation part coupled to the first partition plate
  • one side end of the 12th jaw has a 12th rotation part coupled to the first partition plate.
  • the position of the 21st jaw and the 22nd jaw is divided into a storage position stored in the second rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position
  • One side end of the 21st jaw has a 21st rotation part coupled to the second partition plate
  • one side end of the 22nd jaw has a 22nd rotation part coupled to the second partition plate.
  • the 11th rotation unit and the 12th rotation unit have the same structure except that the installed position is different, and the 21st rotation unit and the 22nd rotation unit have the same structure except the installation position is different, and the 11th rotation unit has the same structure.
  • An 11th support plate 550 mounted on the partition plate, an 11th bracket part 560 coupled to the 11th support plate, and an 11th rotating plate 542 disposed between the top plate 561 of the 11th bracket part and the 11th support plate.
  • the 11th geared motor 541 disposed above the upper plate 561 of the 11th bracket part to rotate the 11th rotary plate and the 11th pin part for rotating the 11th jaw according to the rotation of the 11th rotary plate ( 312).
  • an 11th tail block 311 rotating about the central axis of the 11th rotating plate is disposed at one end of the 11th jaw, and an 11th tail block 311 supporting the 11th tail block is disposed at the lower end of the 11th tail block.
  • a support plate 313 is provided so that the 11th rotating plate rotates by driving the 11th geared motor, the 11th pin part moves by the rotation of the 11th rotary plate, and the 11th pin part moves by the movement of the 11th pin part. It is characterized in that the tape block rotates to rotate the 11th jaw.
  • an arc-shaped long hole 543 into which the 11th pin part 312 is inserted is formed in the 11th rotary plate, and the lower end of the 11th pin part is coupled to the 11th table block, and the 11th rotary plate It rotates between 0 degrees and 180 degrees, but the 11th pin moves along the first part 543a and the second part 543b of the long hole to move the 11th jaw to the storage position and the unfolded position.
  • the 11th rotary plate When moving from the collapsed position to the unfolded position, the 11th rotary plate is at the 0 degree position and the 11th pin part is in contact with the second part of the long hole, and when the 11th rotary plate rotates 90 degrees, the 11th pin part of the long hole
  • the 11th pin part rotates along the first part of the elongated hole to reach the expanded position while the 11th rotating plate rotates from 90 degrees to 180 degrees, and the 11th jaw moves from the expanded position to the storage position.
  • the 11th rotary plate When the 11th rotary plate is at the 180 degree position and the 11th pin part contacts the first part of the long hole, when the 11th rotary plate rotates 90 degrees, the 11th pin part comes into contact with the second part of the long hole. It is characterized in that the 11th pin part rotates along the second part of the long hole to reach the storage position while the 11th rotation plate rotates from 90 degrees to 0 degrees.
  • a circumferential through-hole 552 is formed in the 11th support plate to provide a space for the 11th pin to move, and an 11th stopper is disposed to stop the 11th jaw in the unfolded position when the 11th jaw is in the unfolded position.
  • the 11th support plate is provided with a square through hole 551 for installing the 11th stopper 555 so that the 11th stopper can be inserted, but the 11th stopper is hinged to the 11th hinge pin 556 and when the 11th rotation plate is positioned at 180 degrees, the 11th stopper is vertically disposed as the 11th rotation plate is disposed so as not to overlap with the square through hole, so that one side of the 11th stutter is positioned at the 11th table
  • the side of the block is constrained so that the 11th jaw is locked in the unfolded position, and when the 11th rotary plate rotates out of 180 and rotates toward 90 degrees, and between 0 degrees and 90 degrees, the 11th rotary plate
  • the restraint of the side of the 11th table lock is released and the locking is released so that the 11th jaw can move to the stowed position It is characterized by doing.
  • the 12th rotation part is coupled to the 12th support plate 533 mounted on the first partition plate 510 and the side surface of the 12th support plate, but a part of the 12 bracket part 524 having a protrusion plate and the protrusion plate A twelfth geared motor 523 disposed on one side to move the twelfth support plate left and right, a first pinion 522 connected to the twelfth geared motor to move the twelfth support plate left and right, and the first partition plate A first rack gear 521 is provided, the first pinion is provided on the other side of the protruding plate and meshes with the first rack gear, and a twelfth tail is provided at one end of the twelfth jaw.
  • a block 321 is disposed, and a twelfth support plate 323 supporting the twelfth tail block is provided at the lower end of the twelfth tail block, and the upper side of the twelfth support plate 323 is provided to rotate the twelfth jaw.
  • the twelfth geared motor rotates, the first pinion moves left and right, the twelfth support plate assembled with the first pinion moves left and right, and as the twelfth support plate moves left and right, the twelfth support plate It is characterized in that the second pinion located on the upper side rotates left and right, and according to the left and right rotation of the second pinion, the twelfth tail block connected to the second pinion and the shaft rotates left and right, so that the twelfth jaw rotates.
  • a guide means for moving the twelfth support plate 533 left and right is provided in the first partition plate.
  • the guide means minimizes the space in which the twelfth support plate is disposed while reducing the number of components by disposing a part of the twelfth support plate inside the first partition plate without adding a separate component.
  • the guide means is provided with a square groove 511 in which a part of the twelfth support plate is inserted and can move left and right, and the twelfth support plate is disposed as the twelfth support plate is fitted into the square groove 511 It is characterized by minimizing space.
  • the vehicle can be moved to the parking space by lifting the vehicle while turning and moving up and down, and it is economical because these series of operations are automatically controlled, and a number of vehicles can be moved by utilizing the maximum occupied area. It has the effect of being able to park in a parking space.
  • the structure of the holder for holding the wheel of the vehicle is simplified and the reliability of the operation is provided, thereby providing an effect of accurately holding the wheel of the vehicle.
  • FIG. 1 is a conceptual diagram schematically showing the structure of the present invention.
  • FIG. 2 is a block diagram schematically showing the structure of the present invention.
  • Figure 3 shows the operating state of the driving means of the present invention.
  • Figure 4 shows the structure of the moving unit of the present invention.
  • Figure 5 is a plan view showing the operating process of the robot parking of the present invention.
  • Figure 6 shows the operating process of the rising jack of the present invention.
  • FIG 7 shows the arrangement of the first device and the second device of the present invention.
  • Figure 8 shows the operating process of the robot parking of the present invention from the side.
  • FIG 9 shows a first partition plate installed on the first rising frame 301 .
  • FIG. 10 shows a twelfth rotating part coupled to the first partition plate while being formed at one end of the twelfth jaw.
  • FIG. 1 is a conceptual diagram schematically illustrating the structure of the present invention.
  • first device and the second device are provided with a moving unit (110, 1000) for moving the first device and the second device, and a holding lift unit for lifting the vehicle.
  • the moving unit (110, 1000) is formed to include a steering means for steering the traveling direction of the moving unit and a driving unit for controlling the traveling speed of the moving unit, so that the steering unit controls the traveling direction and traveling speed of the moving unit.
  • the first device and the second device move the one vehicle to a parking position.
  • first device and the second device are provided with central frames (100, 100', 1110) for holding the moving unit in the center, and storage spaces for storing batteries in the central frames (100, 100', 1110).
  • storage spaces for storing batteries in the central frames (100, 100', 1110).
  • 120, 120', 1020 and mounting spaces (121, 121', 1130) for inserting the moving unit are provided, and batteries are accommodated in the storage spaces (120, 1020), and the moving unit is mounted in the holding space.
  • control unit and the moving unit for controlling the structure of the present invention are described in detail in the specification previously filed by the present applicant (application number 10-2021-0124910), a detailed description is omitted in the present invention.
  • Attached Figure 2 is a block diagram schematically showing the structure of the present invention.
  • the first device and the second device are mechanically separated and disposed independently, and the first device includes a first microcomputer 512 that controls the first device and a first device that communicates with the outside.
  • 1 communication unit 511 is provided
  • the second device 600 includes a second microcomputer 612 that controls the second device and a second communication unit 611 that communicates with the outside, the first communication unit,
  • a central control unit 300 that manages the movement of the first device and the second device while communicating with the second communication unit is provided, so that the first device and the second device are connected to each other according to a command of the central control unit. Move the vehicle to the parking position.
  • a plurality of first proximity sensors 513 and a plurality of first cameras 514 are attached to the first device, and the plurality of first proximity sensors 513 and the plurality of first cameras 514 are While communicating with the microcomputer 512, it is controlled to move while preventing collision by monitoring the surroundings of the first device.
  • a plurality of second proximity sensors 613 and a plurality of second cameras 614 are attached to the second device, and the plurality of second proximity sensors 613 and the plurality of second cameras 614 are second microcomputers ( 612) while monitoring the surroundings of the second device to prevent collision while moving.
  • Attached Figure 3 shows the operating state of the driving means of the present invention.
  • the driving unit of the moving unit includes first wheels 111a and 1230 and second wheels 111b and 1330, and a first motor that transmits rotational force to the first wheels 111a and 1230.
  • 1210 and a first reducer 1220 that reduces the rotation of the first motor and transmits it to the first wheels 111a and 1230, and transmits rotational force to the second wheels 111b and 1330.
  • 2 motors 1310 and a second reducer 1320 that decelerates the rotation of the second motor and transfers it to the second wheel 1330, so that the rotation of the first wheel and the second wheel The first device and the second device are driven.
  • first rotational shaft 1231 disposed perpendicular to the traveling direction of the first wheels 111a and 1230 and the second rotational shaft 1331 disposed perpendicularly to the traveling direction of the second wheels 111b and 1330 They are arranged so that they are parallel to each other or coincident with each other.
  • the first device is disposed on the front wheel side of the vehicle after entering the lower part of the vehicle
  • the second device is disposed on the rear wheel side of the vehicle after entering the lower part of the same vehicle as the first device entered.
  • the first and second devices lift the vehicle by the holding lift and rotate the first and second wheels included in the moving parts 110 and 1000 of the first and second devices.
  • the vehicle is moved to a parking position.
  • the first wheel and the second wheel are rotated in the same direction, and when changing direction to move the vehicle to the parking position, the first wheel and the second wheel are rotated in the same direction.
  • the directions of the first rotation axis 1231 of the first wheel and the second rotation axis 1331 of the second wheel are the longitudinal direction (X direction) or width direction (Y direction) or change in any direction.
  • the first lifter 300 and the second lifter 300' are installed in the same structure while being symmetrical to each other on the left and right sides of the center frame 100, and the first lifter and the second lift are It is characterized in that it extends to the left and right with the central frame at the center to hold the wheel of one vehicle and then raise it.
  • the first and second lifters include an extension part extending outward from the central frame and a holding rising part assembled to the extension part to hold and lift a wheel
  • the first lifter 300 The deployed extension is formed of an 11th extension 210 extending outward from the upper left corner of the central frame and a 12th extension 220 extending leftward from the lower left corner of the central frame
  • the second lifter 300' is formed of a 21st extension 210′ extending outward from the upper right corner of the central frame and a 22nd extension 220′ extending to the right from the lower right corner of the central frame
  • the holding lift part includes a first lift frame 301 constituting the first lifter 300 and a second lift frame 301' constituting the second lifter 300', and one wheel is provided inside the first lift frame.
  • a first jaw set holding a and a first lifting means for lifting the first lifting frame are provided, and a second jaw set holding another wheel and the second lifting frame are provided inside the second lifting frame.
  • a second lifting means for lifting is provided, and the height of the upper surface of the central frame is 80 to 120 mm from the ground, and the height of the upper surface of the extension part is 70 to 120 mm from the ground.
  • FIG. 5 shows a plan view of the first device entering the lower part of the moving vehicle
  • FIG. 5 (a) shows one wheel A and the other wheel B among the front wheels of the vehicle.
  • It is shown as an 11th extension part 210 extending outward from the upper left corner of the central frame and a 12th extension part 220 extending leftward from the lower left corner of the central frame, and FIG. The state before expansion of the 11th expansion unit 210 and the 12th expansion unit 220 is shown.
  • a first extension means for extending the 11th extension and the 12th extension to the left is provided between the 11th extension 210 and the 12th extension 220 and the central frame, and the 21st extension 210 is provided.
  • a second extension means for extending the 21st extension and the 22nd extension to the right is shown between the portion 210', the 22nd extension 220' and the central frame.
  • FIG. 5(b) shows the 11th jaw 310 stored in the first rising frame 301 and the 12th jaw 320 disposed below the 11th jaw opened toward one wheel A. , the 21st jaw 310' stored in the second rising frame 301 and the 22nd jaw 320' disposed below the 21st jaw open toward the other wheel A'. show gin
  • FIG. 5(c) shows that the 11th, 12th, 21st, and 22nd jaws move toward the wheel after the first lifter 300 and the second lifter 300′ are connected to the one wheel after FIG. 5(b). It shows an extended appearance to the position where the wheel of another Hannah can be held.
  • FIG. 5(d) is a view of the 12th jaw 320 moving toward the 11th jaw 310 and holding the one wheel A after FIG. 5(c), and the 22nd jaw (320') moves toward the 21st jaw (310') and shows the holding of the other wheel (A').
  • FIG. 6 shows a state in which the first device 500 and the second device 600 enter the lower part of a vehicle. As shown in FIG. 6, the first device enters to hold the front wheel (or rear wheel) of the vehicle, and the second device enters to hold the rear wheel (or front wheel) of the vehicle.
  • FIG. 7 shows the 11th support wheel 211 and the 12th support wheel 221 located below the 11th extension part 210 and the 12th extension part 220, and the 21st extension part 210' And the lower portion of the 22nd extension part 220' is provided with a 21st support wheel 211' and a 12th support wheel 221'.
  • the 11th extension part 210 and the 12th extension part 220 are supported on the ground G by the 11th support wheel 211 and the 12th support wheel 221 .
  • the first rising frame includes a first partition plate 311 that partitions the inside in the longitudinal direction and a first roof plate 331 formed on the upper part of the first partition plate, and the first partition plate is used as a reference.
  • the 11th jaw and the 12th jaw are accommodated, and the first lifting jack and the first lifting motor are accommodated in the inner space.
  • the first jack top plate 431 of the first rising jack 330 is coupled to the inside of the first roof plate 331, and the first jack bottom plate 432 is disposed above the ground.
  • the first jack lower plate when the first upper and lower parts are contracted, the first jack lower plate is located at a certain distance from the ground, and after the 11th jaw and the 12th jaw hold one wheel, the In order to raise one wheel, the first upper and lower parts are inflated as shown in FIG.
  • the first lifting frame is lifted upward to raise the one wheel, and when the first upper frame reaches the highest lifting position, the first lifting frame is at the highest position by the 11th latch part and the 12th latch part. is fixed in
  • the first lifting jack 330 must be contracted again to separate the first lower plate 432 from the ground and move upward.
  • the first jack top plate is attached to the first roof. Since it is coupled to the plate, the first jack lower plate 432 is separated from the ground and moved upward, and as shown in FIG. 7 (c), in a state where the first rising frame is fixed at the highest position, the first jack lower plate It leaves the ground and moves to the top.
  • the first device moves to a desired location using the first and second wheels of the moving unit, and after moving the vehicle to a desired location, the first up and down portion expands so that the lower surface of the first jack lower plate is on the ground
  • the first lifting frame is lowered until the one wheel touches the ground by contracting the first upper and lowering part.
  • the second upper and lower parts are inflated so that the lower surface of the second jack lower plate touches the ground, and then the 21st and 22nd latches are released, and then the second upper and lower parts are contracted so that the other wheel moves.
  • the second rising frame is lowered until it touches the ground.
  • the 11th, 12th, 21st, and 22nd extensions contract, and after removing the 11th, 12th, 21st, and 22nd jaws from the wheels, the 11th, 12th, 21st, and 22nd jaws are recalled. It is housed in the first and second lifting frames, and the first jack 330 on the left side of the first device and the second jack on the right side are contracted to place the first jack lower plate and the second jack lower plate on the ground Separate it from the original position.
  • the first device is mainly described, but in reality, the first device and the second device cooperate to move one car to a desired location.
  • FIG 8 shows a view in which the first device 500 and the second device 600 enter the lower part of a vehicle. As shown in the figure, the first device and the second device lift four wheels (A, A', B, B') of one vehicle and then move to a desired location.
  • FIG 9 shows a first partition plate installed on the first rising frame 301 .
  • a first partitioning plate 510 for partitioning and arranging the first lifting means and the first jaw set is disposed on the first lifting frame 301, and the second lifting frame 301' has the second lifting frame 301'.
  • a first partitioning plate 510' (not shown) is disposed to divide and dispose the means and the second jaw set.
  • the position of the 11th jaw and the 12th jaw is divided into a storage position stored in the first rising frame and an unfolding position extending toward the wheel, and to change from the storage position to the unfolded position or from the unfolded position to the stowed position ,
  • One side end of the 11th jaw has an 11th rotation part coupled to the first partition plate
  • one side end of the 12th jaw has a 12th rotation part coupled to the first partition plate.
  • FIG. 10 shows a twelfth rotating part coupled to the first partition plate while being formed at one end of the twelfth jaw.
  • the 12th rotation part is coupled to the 12th support plate 533 mounted on the first partition plate 510 and the side surface of the 12th support plate, but a part of the 12th bracket part 524 having a protrusion plate and one part of the protrusion plate.
  • a twelfth geared motor 523 disposed on a side surface to move the twelfth support plate left and right, a first pinion 522 connected to the twelfth geared motor to move the twelfth support plate left and right, and the first partition plate
  • a coupled first rack gear 521 is provided, and the first pinion is provided on the other side of the protrusion plate and meshes with the first rack gear, and a twelfth tail block is provided at one end of the twelfth jaw.
  • a twelfth support plate 323 for supporting the twelfth tail block is provided at the lower end of the twelfth tail block, and on the upper side of the twelfth support plate to rotate the twelfth jaw.
  • a second pinion 532 axially connected to the center of the twelfth tail block 321 and a second rack gear 531 engaged with the second pinion and coupled to the first partition plate are provided.
  • the twelfth geared motor rotates, the first pinion moves left and right, the twelfth support plate assembled with the first pinion moves left and right, and as the twelfth support plate moves left and right, the twelfth support plate It is preferable that the second pinion located on the upper side rotates left and right, and according to the left and right rotation of the second pinion, the twelfth tail block axially connected to the second pinion rotates left and right, so that the twelfth jaw rotates.
  • the first partition plate is provided with a guide means for moving the twelfth support plate 533 left and right, and the guide means is provided with a square groove 511 through which a part of the twelfth support plate is inserted to move left and right. As the twelfth support plate is fitted into the square groove 511, it is preferable to minimize the space in which the twelfth support plate is disposed.
  • 11 shows an 11th rotating part coupled to the first partition plate while being formed at one end of the 11th jaw.
  • An 11th tail block 311 rotating about the central axis of the 11th rotating plate is disposed at one end of the 11th jaw, and an 11th support supporting the 11th tail block is placed at the lower end of the 11th tail block.
  • a plate 313 is provided so that the 11th rotating plate rotates by driving the 11th geared motor, the 11th pin part moves by the rotation of the 11th rotary plate, and the 11th tape is moved by the movement of the 11th pin part. It is characterized in that the block rotates to rotate the 11th jaw.
  • a circumferential through-hole 552 is formed in the 11th support plate to provide a space for the 11th pin to move, and an 11th stopper is disposed to stop the 11th jaw in the unfolded position when the 11th jaw is in the unfolded position.
  • the 11th support plate is provided with a square through hole 551 for installing the 11th stopper 555.
  • the 11th stopper is fixed by the 11th hinge pin 556 so as to be hinged, and when the 11th rotation plate is positioned at 180 degrees as shown in FIG. 11(c), the 11th As the rotating plate is arranged so as not to overlap with the square through hole, the 11th stopper is vertically arranged so that one side of the 11th stutter restrains the side surface of the 11th table lock so that the 11th jaw is locked in the unfolded position do.
  • An arc-shaped long hole 543 into which the 11th pin part 312 is inserted is formed in the 11th rotating plate, and the lower end of the 11th pin part is coupled to the 11th table block. While rotating between degrees, the 11th pin moves along the first part 543a and the second part 543b of the long hole to move the 11th jaw to a storage position and an unfolded position.
  • the 11th pin part is in contact with the second part 543b of the long hole in a state where the 11th rotary plate is located at 0 degree, and in this state, the 11th jaw is in the stowed position as shown in FIG. 11(a) .
  • (a2) shows a state in which the 11th rotary plate is rotated from 0 degrees to 45 degrees, and even at this time, the 11th jaw maintains the storage position.
  • (a3) shows a state in which the 11th rotary plate is rotated from 45 degrees to 90 degrees, and even at this time, the 11th jaw maintains the stowed position, but the 11th pin part comes into contact with the first part 543a of the long hole. .
  • (a4) shows a state in which the 11th rotary plate is rotated from 90 degrees to 135 degrees. At this time, since the 11th pin part rotates along the first part 543a of the long hole, the 11th jaw is in the stowed position. It rotates toward the unfolded position.
  • (a5) shows a state in which the 11th rotary plate is rotated from 135 degrees to 180 degrees, and at this time, the 11th pin part rotates along the first part 543a of the long hole, and the 11th jaw is unfolded. reach the position
  • (b1) to (b5) show the process of rotating the 11th jaw from the unfolded position to the retracted position according to the rotation of the 11th rotating plate.
  • the 11th pin part is in contact with the first part 543a of the long hole in a state where the 11th rotating plate is positioned at 180 degrees, and in this state, the 11th jaw is in an unfolded position as shown in FIG. 11(c) .
  • (b2) shows a state in which the 11th rotary plate is rotated from 180 degrees to 135 degrees, and even at this time, the 11th jaw maintains its unfolded position.
  • (b3) shows a state in which the 11th rotary plate is rotated from 135 degrees to 90 degrees, and even at this time, the 11th jaw maintains the unfolded position, but the 11th pin part comes into contact with the second part 543b of the long hole. .
  • (b4) shows a state in which the 11th rotary plate is rotated from 90 degrees to 45 degrees. At this time, since the 11th pin part rotates along the second part 543b of the long hole, the 11th jaw is in the unfolded position. It rotates toward the stowed position.
  • (b5) shows a state in which the 11th rotary plate is rotated from 45 degrees to 0 degrees, and at this time, the 11th pin part is rotated along the second part 543b of the long hole, and the 11th jaw is also rotated. As shown in 11 (a), it reaches the storage position.
  • the first device and the second device of the present invention have the same structure, and the first device has the same structure with left and right symmetrical with respect to the center.
  • the same drawing number is used for the same component, but the same drawing number is used for the component on the right side as the drawing number on the left side. It has been explained that the elements have the same configuration as each other.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot de stationnement à plancher bas dans un appareil de déplacement de véhicule qui passe sous le plancher d'un véhicule et soulève ensuite le véhicule et change la position du véhicule, un premier appareil et un second dispositif se déplaçant indépendamment dans l'appareil de déplacement de véhicule, déplaçant un véhicule unique vers une position de stationnement tout en se déplaçant en coordination, et étant mécaniquement séparés et disposés indépendamment. Le premier appareil comprend un premier micro-ordinateur pour commander le premier appareil et une première unité de communication pour communiquer avec l'extérieur, et le second appareil comprend un second micro-ordinateur pour commander le second appareil et une seconde unité de communication pour communiquer avec l'extérieur. Une unité centrale de commande qui gère les mouvements du premier appareil et du second appareil tout en communiquant avec la première unité de communication et la seconde unité de communication, ce qui permet d'effectuer un stationnement automatique de manière plus efficace.
PCT/KR2022/021264 2021-12-29 2022-12-26 Support de robot de stationnement à plancher bas WO2023128500A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2021-0190658 2021-12-29
KR1020210190658A KR102666465B1 (ko) 2021-12-29 저상형 주차로봇의 홀더

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WO2023128500A1 true WO2023128500A1 (fr) 2023-07-06

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060030352A (ko) * 2004-10-05 2006-04-10 주식회사 엠피시스템 주차 시스템의 차량 자동 이송 장치 및 이를 이용한 주차시스템에서의 차량 자동 이송 방법
KR20060064497A (ko) * 2005-06-21 2006-06-13 시마텍(주) 주차설비용 차량이송장치
KR101703651B1 (ko) * 2015-08-13 2017-02-08 시마텍인터내셔널 주식회사 로봇 트롤리 주차 제어방법 및 그 장치
JP2019078099A (ja) * 2017-10-26 2019-05-23 新明工業株式会社 車両のリフト搬送台車、縦列無人走行台車、車両縦列駐車システムおよび車両縦列駐車方法
CN209958860U (zh) * 2019-02-28 2020-01-17 江苏中泰停车产业有限公司 分体式自适应浮动车搬运器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060030352A (ko) * 2004-10-05 2006-04-10 주식회사 엠피시스템 주차 시스템의 차량 자동 이송 장치 및 이를 이용한 주차시스템에서의 차량 자동 이송 방법
KR20060064497A (ko) * 2005-06-21 2006-06-13 시마텍(주) 주차설비용 차량이송장치
KR101703651B1 (ko) * 2015-08-13 2017-02-08 시마텍인터내셔널 주식회사 로봇 트롤리 주차 제어방법 및 그 장치
JP2019078099A (ja) * 2017-10-26 2019-05-23 新明工業株式会社 車両のリフト搬送台車、縦列無人走行台車、車両縦列駐車システムおよび車両縦列駐車方法
CN209958860U (zh) * 2019-02-28 2020-01-17 江苏中泰停车产业有限公司 分体式自适应浮动车搬运器

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