CN111550097A - Multi-parking-space intelligent robot parking equipment and parking method thereof - Google Patents
Multi-parking-space intelligent robot parking equipment and parking method thereof Download PDFInfo
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- CN111550097A CN111550097A CN202010351183.7A CN202010351183A CN111550097A CN 111550097 A CN111550097 A CN 111550097A CN 202010351183 A CN202010351183 A CN 202010351183A CN 111550097 A CN111550097 A CN 111550097A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
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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
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Abstract
The invention provides multi-parking-space intelligent robot parking equipment applied to the technical field of intelligent equipment, which comprises a plurality of parking spaces (1), wherein the parking spaces (1) are adjacently arranged, the parking spaces (1) are arranged at the side surface of a road surface (2), a moving track (3) is arranged above the parking spaces (1), the moving track (3) is connected with the ground through a support pillar (23), a moving robot (4) is arranged on the moving track (3), a T-shaped wheel groove (6) is arranged at the side surface of the moving track (3), a sliding wheel (7) on the moving robot (4) is clamped in the T-shaped wheel groove I (6), and the multi-parking-space intelligent robot parking equipment can conveniently realize the entrance and exit of a vehicle, realize the intelligent control degree of the entrance and exit of the vehicle and avoid the inconvenience of manually controlling the entrance and exit of the vehicle, and ensures the access safety when the vehicle enters and exits the parking space.
Description
Technical Field
The invention belongs to the technical field of intelligent equipment, and particularly relates to multi-parking-space intelligent robot parking equipment.
Background
In the areas where large parking garages are arranged in shopping malls, districts and the like, because the parking spaces are more, different parking spaces are adjacent. For the region, as more vehicles come and go, the parking space area is smaller, and manual parking is inconvenient, the arrangement of the robot parking equipment is a more convenient choice. And the robot parking equipment in the prior art has a complex structure and high cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the intelligent parking equipment comprises a parking space, a parking space and a parking space.
To solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a multi-parking-space intelligent robot parking device, which comprises a plurality of parking spaces, wherein the parking spaces are adjacently arranged, the parking spaces are arranged at the side position of a road surface, a moving track is arranged at the position above the parking spaces and is connected with the ground through a support column, a moving robot is arranged on the moving track, a T-shaped wheel groove is arranged at the side surface of the moving track, a sliding wheel on the moving robot is clamped in the T-shaped wheel groove I, a tooth part I is arranged on the upper surface of the moving track, a driving motor is arranged on the moving robot, a driving gear of the driving motor is meshed with the tooth part, the driving motor is connected with a control part, the moving robot comprises a moving arm, a moving plate is arranged at the end part of the moving arm and is connected with a transfer plate positioned below the moving plate, and the moving plate is connected with the moving arm through a rotating part, the rotating member is connected with the control member.
The mobile robot comprises a moving arm and a robot body, the moving arm comprises a moving joint I and a moving joint II, one end of the moving joint I is connected with the robot body, the other end of the moving joint I is connected with one end of the moving joint II, and the other end of the moving joint II is connected with a moving plate.
The mobile robot and the control part are arranged in a structure that the mobile joint I can be driven by the robot body to swing up and down in the robot body, and the control part is arranged in a structure that the mobile joint II can be driven by the robot body to swing up and down relative to the mobile joint I.
The parking equipment of many parking stalls intelligent robot include a plurality of transfer plate pieces, the quantity and the parking stall of transfer plate piece are the same, the position that every parking stall and road surface combine sets up a recess, a moving motor of installation in every recess, every transfer plate piece lower surface sets up and removes tooth, when every transfer plate piece supports and leans on the road surface, it is close to parking stall one end and sets up to the structure that can mesh with moving motor's removal gear to remove the tooth, moving motor is connected with control unit.
The movable plate is of a square plate structure, each edge position of the movable plate is provided with a retractor, the transfer plate is of a square plate structure, a winding chain of each retractor is connected with a transfer plate corner of the transfer plate respectively, each retractor is connected with the control component respectively, and the control component is of a structure capable of controlling the plurality of retractors to act synchronously.
When the control component controls the movable joint I to swing upwards to the highest position and the movable joint II to swing downwards to the lowest position at the same time through the robot body, the movable plate is arranged to be in a structure which can be located at a position right above a parking space; when the control component controls the moving joint I and the moving joint II to swing to the horizontal position simultaneously through the robot body, the moving plate is set to be in a structure capable of being located above the road surface; after the movable plate is located at the position above the road surface, the control component is set to be a structure capable of controlling each retractor to synchronously release the furling chain, and when the control component controls each retractor to release the furling chain, the transfer plate is set to be a structure capable of abutting against the road surface.
The control part controls the movable joint I to swing upwards to the highest position and the movable joint II to swing downwards to the lowest position simultaneously through the robot body, the movable plate is arranged to be in a structure located right above a parking space, the control part controls the movable joint I to swing downwards to the lowest position and the movable joint II to swing upwards to the horizontal position simultaneously through the robot body, and the movable plate is arranged to be in a structure capable of abutting against the position on the road surface.
When the control component controls the driving motor to rotate, the driving motor is set to be a structure capable of driving the mobile robot to move along the mobile track.
The invention also relates to a multi-parking space intelligent robot parking method, which comprises a vehicle parking space entering method and a vehicle parking space exiting method, wherein the parking steps of the vehicle parking space entering method are as follows: 1) the control component controls the moving joint I and the moving joint II to swing to a horizontal position simultaneously through the robot body, the moving arm drives the moving plate to be located above a road surface, the control component controls the moving motor to rotate, drives the transfer plate on the parking space to move to the road surface position, connects the moving plate with the transfer plate, controls the transfer plate to rotate 90 degrees through the rotating motor, controls each retractor to synchronously release a winding chain, and the transfer plate abuts against the road surface; 2) a vehicle needing to enter a parking space is driven into the transfer plate, the control component controls each retractor to synchronously retract and retract the retraction chain, the transfer plate moves upwards away from the road surface until each retractor retracts and retracts the retraction chain in place, and the control component controls the transfer plate to rotate for 90 degrees through the rotating motor; 3) the control component controls the moving joint I to swing upwards and controls the moving joint II to swing downwards at the same time through the robot body, and after the moving joint I swings upwards to the highest position and the moving joint II swings downwards to the lowest position at the same time, the moving plate is located at a position right above a parking space; 4) control unit control driving motor rotates, and driving motor drives mobile robot and removes to an unoccupied parking stall along the removal track, removes behind this parking stall position, and driving motor stall, control unit controls every coiler again and emits the roll-up chain, and the roll-up chain emits the back that targets in place, and on the parking stall that needs the parking is fallen to the transfer plate, the removal plate separated with the transfer component, accomplishes the vehicle and gets into the parking stall.
The method for driving the vehicle out of the parking space comprises the following steps: 1) the control part controls the movable joint I to swing upwards to the highest position and the movable joint II to swing downwards to the lowest position through the robot body, the control part controls the driving motor to rotate, and the driving motor drives the movable robot to move to a position above a parking space where a vehicle needs to be driven out along the movable track; 2) the control component controls each coiler to pay out a coiling chain, and each coiling chain is connected with the transfer plate after the coiling chain is paid out in place; 3) the control component controls the furling chains of each retractor to furl synchronously, and the middle rotating plate piece moves upwards away from the road surface until each retractor furls the furling chains in place; 4) the control part controls the movable joint I and the movable joint II to swing to the horizontal position simultaneously again, the movable plate is located a position directly over the parking space, the movable arm drives the movable plate to be located the position above the road surface, the control part controls the rotation of the transfer plate by 90 degrees through the rotating motor, the control part controls each retractor to synchronously release the winding chain again, the transfer plate abuts against the road surface, the vehicle rolls off the transfer plate, and the vehicle rolls off the parking space.
By adopting the technical scheme of the invention, the following beneficial effects can be obtained:
according to the multi-parking-space intelligent robot parking equipment, when a vehicle needs to enter and exit a parking space, the vehicle is parked on the transfer plate on the road, the vehicle and the parking space are basically in a vertical state at the moment, the control part controls the moving arm to stretch and retract, after the moving arm swings and extends, the moving plate connected with the moving arm extends to the road and is located above the transfer plate, and then the transfer plate and the moving plate are connected through the chain. Then rethread control part control moving arm's is flexible, make the moving arm shrink, transit plate leaves the road surface certain distance this moment, the moving arm shrink back that targets in place, control part control rotating electrical machines rotates 90, drive the vehicle and rotate to with parking stall parallel state, control part controls driving motor again and rotates, thereby drive mobile robot and remove along removing the track, remove the parking stall that needs to park, then control part control moving arm removes again, place the subaerial on parking stall with the transit plate, will remove plate and transit plate and part, accomplish the vehicle and get into the parking stall. When the vehicle is driven out from the parking space, the control part controls the driving motor to rotate firstly, the driving motor drives the robot to move to the parking space, and then the moving plate and the transfer plate are connected through the chain. The control part controls the movement of the moving arm, the moving arm swings to drive the transfer plate to leave the ground for a certain distance, then the control part controls the movement of the moving arm again, after the moving arm swings and extends, the moving plate connected with the moving arm extends to the road surface and is located above the transfer plate, the control part controls the movement of the moving arm again, the transfer plate is placed on the road surface, and the vehicle exits from the transfer plate to finish the exit of the vehicle. Then the transfer plate returns to the corresponding parking space. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The multi-parking space intelligent robot parking device can conveniently realize the intelligent control degree of vehicles entering and exiting the parking spaces, avoid the inconvenience of manually controlling the vehicles entering and exiting the parking spaces, and ensure the entering and exiting safety when the vehicles enter and exit the parking spaces.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
FIG. 1 is a schematic structural diagram of a multi-parking space intelligent robot parking equipment according to the present invention;
FIG. 2 is a schematic sectional view of the connection between the moving track and the mobile robot of the multi-parking-space intelligent robot parking equipment according to the present invention;
FIG. 3 is a schematic side view of the multi-parking-space intelligent robot parking equipment according to the present invention;
reference numerals: 1. a parking space; 2. a pavement; 3. a moving track; 4. a mobile robot; 6. a T-shaped wheel groove; 7. a sliding wheel; 8. a tooth part I; 9. a drive motor; 10. a drive gear; 11. a control component; 12. moving the plate; 13. a moving arm; 14. transferring a plate; 15. a robot body; 16. a mobile joint I; 17. a moving joint II; 18. a retractor; 19. a groove; 20. a moving motor; 21. moving the teeth; 22. a moving gear; 23. and (4) a support column.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shapes and structures of the components, the mutual positions and connection relations among the components, the functions and operation principles of the components, will be made by referring to the accompanying drawings and the description of the embodiments:
as shown in the attached drawings 1 and 2, the invention relates to a multi-parking-space intelligent robot parking device, which comprises a plurality of parking spaces 1, wherein the parking spaces 1 are adjacently arranged, the parking spaces are arranged at the side surface of a road surface 2, a moving track 3 is arranged at the position above the parking spaces 1, the moving track 3 is connected with the ground through a support column 23, a moving robot 4 is arranged on the moving track 3, a T-shaped wheel groove 6 is arranged at the side surface of the moving track, a sliding wheel 7 on the moving robot 4 is clamped in the T-shaped wheel groove I6, a tooth part I8 is arranged on the upper surface of the moving track 3, a driving motor 9 is arranged on the moving robot 4, a driving gear 10 of the driving motor 9 is meshed with the tooth part 8, the driving motor 9 is connected with a control part 11, the moving robot 4 comprises a moving arm 13, a moving plate part 12 is arranged at the end part of the moving arm 13, the moving plate 12 is connected with a transfer plate 14 positioned below the moving plate 12, the moving plate 12 is connected with the moving arm 13 through a rotating part, and the rotating part is connected with the control part 11. Above-mentioned structure, when needs vehicle business turn over parking stall, on the transfer plate spare with the vehicle stops on the road surface, the vehicle is in the vertical state basically with the parking stall this moment, realizes through the flexible of control part control removal arm, and the removal arm swing extension back, the movable plate spare of being connected with the removal arm extends to the road surface on, is located transfer plate spare top position, then connects transfer plate spare and removal plate spare through the chain. Then rethread control part control moving arm's is flexible, make the moving arm shrink, transit plate leaves the road surface certain distance this moment, the moving arm shrink back that targets in place, control part control rotating electrical machines rotates 90, drive the vehicle and rotate to with parking stall parallel state, control part controls driving motor again and rotates, thereby drive mobile robot and remove along removing the track, remove the parking stall that needs to park, then control part control moving arm removes again, place the subaerial on parking stall with the transit plate, will remove plate and transit plate and part, accomplish the vehicle and get into the parking stall. When the vehicle is driven out from the parking space, the control part controls the driving motor to rotate firstly, the driving motor drives the robot to move to the parking space, and then the moving plate and the transfer plate are connected through the chain. The control part controls the movement of the moving arm, the moving arm swings to drive the transfer plate to leave the ground for a certain distance, then the control part controls the movement of the moving arm again, after the moving arm swings and extends, the moving plate connected with the moving arm extends to the road surface and is located above the transfer plate, the control part controls the movement of the moving arm again, the transfer plate is placed on the road surface, and the vehicle exits from the transfer plate to finish the exit of the vehicle. Then the transfer plate returns to the corresponding parking space. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The multi-parking space intelligent robot parking equipment is simple in structure, can conveniently realize the intelligent control degree of vehicles entering and exiting a parking space, avoids the inconvenience of manually controlling the vehicles entering and exiting the parking space, and ensures the entering and exiting safety when the vehicles enter and exit the parking space.
The mobile robot 4 and the control part 11, the control part 11 is set to be a structure capable of driving the mobile joint I16 to swing up and down relative to the robot body 15 through the robot body 15, and the control part 11 is set to be a structure capable of driving the mobile joint II 17 to swing up and down relative to the mobile joint I16 through the robot body 15. When control unit control moved joint I16 and the swing of removal joint II 17, the position that removes the plate just can change to remove between road surface and parking stall, drive the vehicle on the transfer plate and advance out of parking stall.
Many parking stalls intelligent robot parking equip and include a plurality of transfer plate spare 14, the quantity of transfer plate spare 14 is the same with parking stall 1, the position that every parking stall 1 and road surface 2 combine sets up one recess 19, a moving motor 20 of installation in every recess 19, 14 lower surfaces of every transfer plate spare set up with remove tooth 21, when every transfer plate spare 14 supports and leans on road surface 2, it sets up to the structure that can mesh with moving gear 22 of moving motor 20 to remove tooth 21 to be close to 1 one end in parking stall, moving motor 20 is connected with control unit 11. Above-mentioned structure, after the vehicle exited the parking stall, removed the motor through control unit control and rotate, just can drive the transfer plate automatically and remove corresponding parking stall. When the vehicle needs to drive into the parking space, the control part controls the moving motor to rotate, so that the transfer plate can be driven to move to the road surface, and the vehicle parking is facilitated.
The moving plate 12 is of a square plate structure, a retractor 18 is arranged at each edge position of the moving plate 12, the transfer plate 14 is of a square plate structure, a retraction chain of each retractor 18 is connected with a transfer plate corner of the transfer plate 14, each retractor 18 is connected with the control component 11, and the control component 11 is set to be of a structure capable of controlling the plurality of retractors 18 to act synchronously. Above-mentioned structure, through the action of control unit control roll-up ware, can realize that the roll-up chain receive and releases, realize that the transfer plate is placed subaerially or leaves ground to be convenient for control unit then control the removal arm and drive the transfer plate and remove, the transfer plate is at the removal in-process, thereby with driving motor cooperation, accomplish vehicle business turn over parking stall.
When the control part 11 controls the moving joint I16 to swing upwards to the highest position and the moving joint II 17 to swing downwards to the lowest position at the same time through the robot body 15, the moving plate 12 is arranged to be positioned at a position right above a parking space 1; when the control component 11 controls the moving joint I16 and the moving joint II 17 to simultaneously swing to the horizontal position through the robot body 16, the moving plate 12 is set to be a structure capable of being positioned above the road surface 2; after the moving plate member 12 is located on the road surface 2, the control part 11 is configured to control each retractor 18 to synchronously pay out the retraction chain, and when the control part 11 controls each retractor 18 to synchronously pay out the retraction chain, the transfer plate member 14 is configured to abut on the road surface 2. According to the structure, the moving joint I16 and the moving joint II 17 of the moving arm swing to be in different states, and the moving plate is in different positions, so that the vehicle is driven to move.
When the control component 11 controls the moving joint I16 to swing upwards to the highest position and the moving joint II 17 to swing downwards to the lowest position simultaneously through the robot body 15, the moving plate 12 is arranged to be in a structure capable of being located at a position right above a parking space 1, and when the control component 11 controls the moving joint I16 to swing downwards to the lowest position and the moving joint II 17 to swing upwards to the horizontal position simultaneously through the robot body 16, the moving plate 12 is arranged to be in a structure capable of abutting against the position on the road surface 2.
When the control part 11 controls the driving motor 9 to rotate, the driving motor 9 is set to be a structure capable of driving the mobile robot 4 to move along the moving track 3.
The invention also relates to a multi-parking space intelligent robot parking method which is simple in steps, can conveniently realize intelligent control degree of vehicles entering and exiting the parking spaces, avoids inconvenience of manually controlling the vehicles entering and exiting the parking spaces, and ensures the entering and exiting safety when the vehicles enter and exit the parking spaces.
The multi-parking space intelligent robot parking method comprises a vehicle parking space entering method and a vehicle parking space exiting method, wherein the vehicle parking space entering method comprises the following parking steps: 1) the control component 11 controls the moving joint I16 and the moving joint II 17 to swing to the horizontal position simultaneously through the robot body 15, the moving arm 13 drives the moving plate 12 to be located above the road surface 2, the control component 11 controls the moving motor 20 to rotate, the transfer plate 14 on the parking space 1 is driven to move to the road surface 2, the moving plate 12 and the transfer plate 14 are connected, the control component 11 controls the transfer plate 14 to rotate 90 degrees through the rotating motor, the control component 11 controls each retractor 18 to synchronously release a winding chain, and the transfer plate 14 abuts against the road surface 2; 2) a vehicle needing to enter a parking space is driven into the transfer plate member 14, the control component 11 controls each retractor 18 to synchronously retract a retraction chain, the transfer plate member 14 moves upwards away from the road surface 2 until each retractor 18 retracts the retraction chain in place, and the control component 11 controls the transfer plate member 14 to rotate for 90 degrees through a rotating motor; 3) the control part 11 controls the moving joint I16 to swing upwards and controls the moving joint II 17 to swing downwards at the same time through the robot body 15, and after the moving joint I16 swings upwards to the highest position and the moving joint II 17 swings downwards to the lowest position at the same time, the moving plate 12 is located at a position right above the parking space 1; 4) control unit 11 control driving motor 9 rotates, driving motor 9 drives mobile robot 4 and moves to an empty parking stall 1 along moving track 3, after moving to this parking stall 1 top position, driving motor 9 stall, control unit 11 controls every coiler 18 again and emits the coiling chain, the coiling chain is emitted and is targeted in place the back, on transfer plate 14 fell the parking stall 1 that needs to park, move plate 12 and transfer component 14 and part, accomplish the vehicle and get into the parking stall.
The method for driving the vehicle out of the parking space comprises the following steps: 1) the control part 11 controls the movable joint I16 to swing upwards to the highest position and the movable joint II 17 to swing downwards to the lowest position through the robot body 15, the control part 11 controls the driving motor 9 to rotate, and the driving motor 9 drives the movable robot 4 to move to the position above the parking space 1 where the vehicle needs to be driven out along the movable track 3; 2) the control component 11 controls each coiler 18 to pay out a coiling chain, and after the coiling chain is paid out in place, each coiling chain is respectively connected with the transfer plate component 14; 3) the control part 11 controls the retraction chain of each retractor 18 to retract synchronously, and the transfer plate member 14 moves upward away from the road surface 2 until each retractor 18 retracts the retraction chain in place; 4) the control component 11 controls the moving joint I16 and the moving joint II 17 to swing to the horizontal position simultaneously, the moving plate 12 is located right above a parking space 1, the moving arm 13 drives the moving plate 12 to be located above the road surface 2, the control component 11 controls the middle rotating plate 14 to rotate 90 degrees through the rotating motor, the control component 11 controls each retractor 18 to synchronously release a winding chain, the middle rotating plate 14 abuts against the road surface 2, the vehicle exits from the middle rotating plate 14, and the vehicle exits from the parking space.
According to the multi-parking-space intelligent robot parking equipment, when a vehicle needs to enter and exit a parking space, the vehicle is parked on the transfer plate on the road, the vehicle and the parking space are basically in a vertical state at the moment, the control part controls the moving arm to stretch and retract, after the moving arm swings and extends, the moving plate connected with the moving arm extends to the road and is located above the transfer plate, and then the transfer plate and the moving plate are connected through the chain. Then rethread control part control moving arm's is flexible, make the moving arm shrink, transit plate leaves the road surface certain distance this moment, the moving arm shrink back that targets in place, control part control rotating electrical machines rotates 90, drive the vehicle and rotate to with parking stall parallel state, control part controls driving motor again and rotates, thereby drive mobile robot and remove along removing the track, remove the parking stall that needs to park, then control part control moving arm removes again, place the subaerial on parking stall with the transit plate, will remove plate and transit plate and part, accomplish the vehicle and get into the parking stall. When the vehicle is driven out from the parking space, the control part controls the driving motor to rotate firstly, the driving motor drives the robot to move to the parking space, and then the moving plate and the transfer plate are connected through the chain. The control part controls the movement of the moving arm, the moving arm swings to drive the transfer plate to leave the ground for a certain distance, then the control part controls the movement of the moving arm again, after the moving arm swings and extends, the moving plate connected with the moving arm extends to the road surface and is located above the transfer plate, the control part controls the movement of the moving arm again, the transfer plate is placed on the road surface, and the vehicle exits from the transfer plate to finish the exit of the vehicle. Then the transfer plate returns to the corresponding parking space. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The multi-parking space intelligent robot parking device can conveniently realize the intelligent control degree of vehicles entering and exiting the parking spaces, avoid the inconvenience of manually controlling the vehicles entering and exiting the parking spaces, and ensure the entering and exiting safety when the vehicles enter and exit the parking spaces.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, changes and equivalents of the embodiments of the invention, and its application to other applications without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a many parking stalls intelligent robot parking equipment which characterized in that: the parking equipment of the multi-parking-place intelligent robot comprises a plurality of parking places (1), the parking places (1) are arranged adjacently, the parking places (1) are arranged at the side position of a road surface (2), a moving track (3) is arranged above the parking places (1), the moving track (3) is connected with the ground through a support column (23), a moving robot (4) is arranged on the moving track (3), a T-shaped wheel groove (6) is arranged at the side surface of the moving track (3), a sliding wheel (7) on the moving robot (4) is clamped in the T-shaped wheel groove I (6), a tooth part I (8) is arranged on the upper surface of the moving track (3), a driving motor (9) is arranged on the moving robot (4), a driving gear (10) of the driving motor (9) is meshed with the tooth part (8), the driving motor (9) is connected with a control part (11), the moving robot (4) comprises a moving arm (13), a moving plate (12) is arranged at the end part of the moving arm (13), the moving plate (12) is connected with a transfer plate (14) positioned below the moving plate (12), the moving plate (12) is connected with the moving arm (13) through a rotating part, and the rotating part is connected with the control part (11); when the control component (11) controls the driving motor (9) to rotate, the driving motor (9) is set to be a structure capable of driving the mobile robot (4) to move along the mobile track (3).
2. The multi-space intelligent robot parking equipment of claim 1, wherein: mobile robot (4) including removal arm (13) and robot body (15), removal arm (13) are including moving joint I (16) and moving joint II (17), move joint I (16) one end and be connected with robot body (15), move joint I (16) other end and move joint II (17) one end and be connected, move joint II (17) other end and move plate (12) and be connected.
3. The multi-space intelligent robot parking equipment according to claim 1 or 2, wherein: the mobile robot comprises a mobile robot (4) and a control part (11), wherein the control part (11) is arranged to be capable of driving a mobile joint I (16) to swing up and down relative to a robot body (15) through the robot body (15), and the control part (11) is arranged to be capable of driving a mobile joint II (17) to swing up and down relative to the mobile joint I (16) through the robot body (15).
4. The multi-space intelligent robot parking equipment according to claim 1 or 2, wherein: many parking stalls intelligent robot parking equip and include a plurality of transfer plate spare (14), the quantity and the parking stall (1) of transfer plate spare (14) are the same, the position that every parking stall (1) and road surface (2) combine sets up one recess (19), install one in every recess (19) and remove motor (20), every transfer plate spare (14) lower surface sets up and removes tooth (21), when every transfer plate spare (14) support and lean on road surface (2), it sets up to the structure that can mesh with the removal gear (22) of removing motor (20) to remove tooth (21) and be close to parking stall (1) one end, remove motor (20) and control unit (11) are connected.
5. The multi-space intelligent robot parking equipment according to claim 1 or 2, wherein: the movable plate (12) is of a square plate structure, each corner position of each movable plate of the movable plate (12) is provided with a retractor (18), the transfer plate (14) is of a square plate structure, a winding chain of each retractor (18) is connected with a corner of one transfer plate of the transfer plate (14) respectively, each retractor (18) is connected with the control component (11) respectively, and the control component (11) is arranged into a structure capable of controlling the synchronous action of the plurality of retractors (18).
6. The multi-space intelligent robot parking equipment of claim 2, wherein: when the control component (11) controls the movable joint I (16) to swing upwards to the highest position and the movable joint II (17) to swing downwards to the lowest position simultaneously through the robot body (15), the movable plate (12) is arranged to be in a structure capable of being located at a position right above one parking space (1); when the control component (11) controls the movable joint I (16) and the movable joint II (17) to swing to the horizontal position simultaneously through the robot body (16), the movable plate (12) is arranged to be positioned above the road surface (2); after the moving plate (12) is located on the road surface (2), the control component (11) is set to be capable of controlling each retractor (18) to synchronously pay out the furling chain, and when the control component (11) controls each retractor (18) to synchronously pay out the furling chain, the transfer plate (14) is set to be capable of abutting against the road surface (2).
7. The multi-space intelligent robot parking equipment of claim 2, wherein: when the control component (11) controls the movable joint I (16) to swing upwards to the highest position and the movable joint II (17) to swing downwards to the lowest position simultaneously through the robot body (15), the movable plate (12) is arranged to be in a structure which can be located right above one parking space (1), and when the control component (11) controls the movable joint I (16) to swing downwards to the lowest position and the movable joint II (17) to swing upwards to the horizontal position simultaneously through the robot body (16), the movable plate (12) is arranged to be in a structure which can abut against the position on the road surface (2).
8. The multi-space intelligent robot parking equipment according to claim 1 or 2, wherein: when the control part (11) controls the driving motor (9) to rotate, the driving motor (9) is set to be a structure capable of driving the mobile robot (4) to move along the mobile track (3).
9. A multi-parking space intelligent robot parking method is characterized in that: the multi-parking space intelligent robot parking method comprises a vehicle parking space entering method and a vehicle parking space exiting method, wherein the vehicle parking space entering method comprises the following parking steps: 1) the control component (11) controls the moving joint I (16) and the moving joint II (17) to swing to a horizontal position through the robot body (15), the moving arm (13) drives the moving plate (12) to be located above the road surface (2), the control component (11) controls the moving motor (20) to rotate, the transfer plate (14) on the parking space (1) is driven to move to the position of the road surface (2) and is connected with the moving plate (12) and the transfer plate (14), the control component (11) controls the transfer plate (14) to rotate 90 degrees through the rotating motor, the control component (11) controls each retractor (18) to synchronously release a winding chain, and the transfer plate (14) abuts against the road surface (2); 2) a vehicle needing to enter a parking space is driven into the transfer plate (14), the control component (11) controls each retractor (18) to synchronously retract and retract a retraction chain, the transfer plate (14) leaves a road surface (2) to move upwards until each retractor (18) retracts and retracts the retraction chain in place, and the control component (11) controls the transfer plate (14) to rotate for 90 degrees through a rotating motor; 3) the control part (11) controls the moving joint I (16) to swing upwards through the robot body (15), controls the moving joint II (17) to swing downwards at the same time, and moves the plate (12) to be located at a position right above one parking space (1) after the moving joint I (16) swings upwards to the highest position and the moving joint II (17) swings downwards to the lowest position at the same time; 4) the control component (11) controls the driving motor (9) to rotate, the driving motor (9) drives the mobile robot (4) to move to an empty parking space (1) along the moving track (3), after the mobile robot moves to the upper position of the parking space (1), the driving motor (9) stops rotating, the control component (11) controls each retractor (18) to emit a winding chain, after the winding chain emits to the right position, the transfer plate (14) falls onto the parking space (1) needing parking, the mobile plate (12) is separated from the transfer component (14), and the vehicle enters the parking space.
10. The multi-space intelligent robot parking method apparatus according to claim 9, wherein: the method for driving the vehicle out of the parking space comprises the following steps: 1) the control part (11) controls the movable joint I (16) to swing upwards to the highest position and the movable joint II (17) to swing downwards to the lowest position through the robot body (15), the control part (11) controls the driving motor (9) to rotate, and the driving motor (9) drives the movable robot (4) to move to the position above the parking space (1) where the vehicle needs to be driven out along the movable track (3); 2) the control component (11) controls each coiler (18) to pay out a coiling chain, and after the coiling chains are paid out in place, each coiling chain is respectively connected with the transfer plate component (14); 3) the control component (11) controls the retraction chain of each retractor (18) to retract synchronously, and the transfer plate component (14) moves upwards away from the road surface (2) until each retractor (18) retracts the retraction chain in place; 4) control unit (11) is controlled again and is controlled and remove I (16) of joint and remove II (17) and swing horizontal position simultaneously, it is located a parking stall (1) position directly over to remove plate (12), removal arm (13) drive and remove plate (12) and be located road surface (2) top position, control unit (11) are rotatory 90 through rotating electrical machines control transfer plate (14), control unit (11) is controlled every coiler (18) again and is played the roll-up chain in step, transfer plate (14) support and lean on road surface (2), the vehicle is rolled over transfer plate (14), accomplish the vehicle and is rolled over out the parking stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351183.7A CN111550097A (en) | 2020-04-28 | 2020-04-28 | Multi-parking-space intelligent robot parking equipment and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351183.7A CN111550097A (en) | 2020-04-28 | 2020-04-28 | Multi-parking-space intelligent robot parking equipment and parking method thereof |
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| Publication Number | Publication Date |
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| CN111550097A true CN111550097A (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010351183.7A Withdrawn CN111550097A (en) | 2020-04-28 | 2020-04-28 | Multi-parking-space intelligent robot parking equipment and parking method thereof |
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| Country | Link |
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| CN (1) | CN111550097A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022187605A1 (en) * | 2021-03-05 | 2022-09-09 | Cheetah Robotic Parking Systems, Llc | Transport robots, systems, and methods for automated parking, inventory, storage, and like systems |
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Application publication date: 20200818 |