1 Introduction
In recent years, with the increasing number of urban car ownership, the problem of parking difficulties has become more and more serious. In order to get as many parking spaces as possible, the space that originally parked only one car can stop 2 to 3 cars, or even more. In order to solve the problem of tightness and narrowness of the parking space in the city, various stereo parking garages and corresponding The control system came into being. They are also diverse in the way of handling and storage of automobiles, and the more representative ones are intelligent three-dimensional parking garages in the form of car handling robots .
The intelligent three-dimensional parking garage is an intelligent and three-dimensional intelligent vehicle storage and transportation system that integrates various high-tech technologies. It can quickly and reliably complete the access of cars and the management of related information, such as parking spaces and parking time records. , parking fees, etc. The three-dimensional parking garage can be built on the ground or built underground. The core component of this kind of stereo parking garage is the car handling robot . It is a high-tech product integrating automation technology, robot technology and computer technology.
In order to meet the needs of the market, we have developed a new type of car handling robot, which is used in the intelligent three-dimensional parking garage. The following describes its working principle and hardware and software design.
2 Stereo parking garage using car handling robot
2.1 Mechanical handling system for three-dimensional parking garage
The mechanical handling system of the three-dimensional parking garage is generally composed of a transportation platform, an autonomously guided walking robot (ie, a car handling robot), an entrance and exit rotary platform, and a quick rolling door. Generally, there is a rotary positioning platform in the car entrance and exit of the three-dimensional parking garage. The transportation platform runs in the roadway of the three-dimensional parking garage, and the vehicle transportation robot is equipped on the transportation platform to form a complete rotating, running, lifting and handover working device. The rolling doors are respectively arranged on the front side and the inner side of the swing platform, the entrance and exit, and the turntable is separated from the garage, the turntable and the entrance and exit. The layout of the three-dimensional parking garage is shown in Figure 1.
2.2 Electrical control system for three-dimensional parking garage
The electrical control system of the three-dimensional parking garage is generally composed of a computer information management system, an entrance and exit control system, and a handling control system. The handling control system is generally composed of a programmable controller , including a handling robot control system and a transportation platform control system; the entrance and exit control system includes a main controller, a computer server, and a parking space attitude detection system; the information management system includes a host computer and a hot backup. A computer and a number of computer operating terminals.
3 Structure and working process of the car handling robot
(1) Structure of the car handling machine
The car handling robot has a flat rectangular shape with a height of 170 mm and a length and width of 1750 mm × 1430 mm. There are 4 internally embedded wheels on the 4 corners for horizontal walking, driven by 2 dc24v/370w DC motors with a walking speed of 20m/min. There are two sets of clamping arms on both sides of the robot, namely the main clamping arm and the auxiliary clamping arm, which are controlled by the main and auxiliary arm hydraulic pumps and hydraulic reversing valves respectively to push and retract. The action of the main arm is push-lift, and the action of the auxiliary arm is retraction-clamping, which is used to lift the four wheels of the car and lift it off the ground, so as to achieve the purpose of transporting the car. The hydraulic pump is made of Italian hydrapp, the specification is dc24v/600w, and the reversing valve is made by German bosch. The main arm thrust is 1.2t and the auxiliary arm gripping force is 200kg. The walking position of the robot is performed by a dmp laser position detector mounted on its left and right sides. The collision detection of the robot is performed by a dme laser detecting switch mounted on the front and rear ends thereof. In addition, there is a set of strip-shaped LED displays on the front and rear sides of the robot to monitor the operation and failure status of the car handling robot.
When the car handling robot is running, according to the control command of the host computer, it walks under the chassis of the car to be transported, extends its gripping arm, lifts the four wheels of the car, and runs it to the destination and then puts it down. The operating conditions of the car handling robot when transporting the car are shown in Figure 2.
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