A Rotary Device for a Ring-Well Type Stereo Parking Garage

Abstract

The present invention relates to the technical field of ring-well type three-dimensional parking garages, and particularly relates to a rotating device for a ring-well type three-dimensional parking garage, which comprises a bottom plate. A rotating assembly is arranged on the bottom plate. The rotating assembly includes two driving members. Each driving member includes a hydraulic motor. The output end of the hydraulic motor is drivingly connected with a small gear. A rotating gear is meshingly drivingly connected between the two small gears. The lower end of the rotating gear is connected with a plurality of infrared switch transmitting ends, and the infrared switch transmitting ends are arranged at equal angles around the axis of the rotating gear. A side of each infrared switch transmitting end is provided with an infrared switch receiving end which is arranged in cooperation with it. The lower end of the rotating gear is connected with a fixed gear disk. A moving gear disk which is arranged in cooperation with the fixed gear disk is arranged below the fixed gear disk. The moving gear disk is connected with the bottom plate through an electric push rod. A car-carrying turntable is connected to the rotating gear, and the car-carrying turntable is used for carrying an automobile. The present invention improves the positioning accuracy after the turntable rotates.

Description

Technical Field

[0001] The invention relates to the technical field of an annular shaft type three-dimensional parking garage, and in particular to a rotating device for an annular shaft type three-dimensional parking garage. Background Art

[0002] With the continuous growth of the economy, the demand for parking spaces in shopping malls, hospitals, schools, etc. is increasing, so the required parking area is also getting larger and larger. However, my country's current land resources are scarce and the price is particularly expensive, so more multi-story parking garages with higher storage and retrieval efficiency are needed.

[0003] For example, a publication number CN110952816A was disclosed on July 27, 2021, and its name is a rotary parking garage, which includes a circular table with a horizontal surface for storing vehicles, and the outer circle of the circular table is provided with a wall, and a vehicle entrance and exit are arranged on the wall close to the ground, and the middle parts of the upper and lower multi-layer circular platforms are fixedly connected to the supporting columns, and a fan-shaped pallet with a horizontal surface for supporting the vehicle is placed above the circular table, and a notch with the same shape as the fan-shaped pallet is arranged at a position vertically corresponding to the vehicle entrance and exit on the circular table, and a lifting mechanism for driving the fan-shaped pallet to lift and lower is arranged in the area of ​​the supporting column corresponding to the lifting shaft, and the driving mechanism has a small structure and does not need to rotate the entire garage to save energy; however, the applicant found that the operation mode of the circular parking garage is to rise or fall first and then rotate, and the positioning accuracy of the rotating device after rotation is not high enough. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a rotating device for a ring-shaft type three-dimensional parking garage to solve the problem that the positioning accuracy of the turntable is not high enough after rotation.

[0005] Based on the above-mentioned purpose, the present invention provides a rotating device of a ring-well type three-dimensional parking garage, including a base plate, a rotating assembly is arranged on the base plate, the rotating assembly includes two driving parts, the driving part includes a hydraulic motor, the output end of the hydraulic motor is transmission-connected with a pinion, and the two pinions are meshingly transmission-connected with a rotating gear, the lower end of the rotating gear is connected to a plurality of infrared switch transmitting ends, the infrared switch transmitting ends are arranged at equal angles around the axis of the rotating gear, and one side of each infrared switch transmitting end is provided with an infrared switch receiving end arranged therewith, the lower end of the rotating gear is connected to a fixed gear plate, and a movable gear plate arranged therewith is arranged below the fixed gear plate, and the movable gear plate is connected to the base plate through an electronic push rod, and the rotating gear is connected to a vehicle-carrying turntable, and the vehicle-carrying turntable is used to carry a car.

[0006] Optionally, a servo controller is also included, and the servo controller output controls the speed to control the rotation of the two servo motors.

[0007] Detect the actual rotational speeds of two hydraulic motors, calculate the tracking error of each hydraulic motor by subtracting the actual rotational speed of each hydraulic motor from the control rotational speed of the two servo motors respectively; calculate the average synchronization error by taking the difference between the actual rotational speeds of the two hydraulic motors and then averaging; the sum of the average synchronization error and the tracking error of each hydraulic motor is the comprehensive error of each hydraulic motor; input the comprehensive error of each hydraulic motor and its corresponding comprehensive change rate into the servo controller, and output the control signals of the two hydraulic motors respectively to adjust the rotational speed of the rotating gear.

[0008] Optionally, the comprehensive change rate is obtained by differentiating the comprehensive error.

[0009] Optionally, the servo controller includes a fuzzy controller and a PID controller. Input the comprehensive error of each hydraulic motor and its corresponding comprehensive change rate into the fuzzy controller to obtain the fuzzy output of each hydraulic motor. Input the comprehensive error of each hydraulic motor and its corresponding comprehensive change rate into the PID controller to obtain the proportional output of each hydraulic motor. Input the fuzzy output and the proportional output of each hydraulic motor into the adjustment formula to obtain the control signals of the two hydraulic motors.

[0010] Optionally, the adjustment formula is:

[0011]

[0012]

[0013] where Uf is the fuzzy output, U pid is the proportional output, and both α and β are adjustment coefficients, which are adjusted according to the experience of the staff.

[0014] Optionally, the servo controller controls the infrared switch transmitter to emit an infrared signal. The infrared switch receiver corresponding to the infrared switch transmitter receives the infrared signal and sends it to the servo controller, and the servo controller controls the two servo motors to stop.

[0015] Optionally, a protective cylinder connected to the bottom plate is provided outside the rotating assembly. The upper end of the protective cylinder is equally angled with placement grooves provided in cooperation with the infrared switch transmitter, and a plurality of the infrared switch receivers are respectively arranged in the placement grooves.

[0016] Optionally, an annular groove is provided on the lower end surface of the carrier turntable, and a plurality of sliding members are slidably connected in the annular groove. The sliding members are connected to the bottom plate through support columns.

[0017] Optionally, the sliding member is a universal ball.

[0018] Optionally, a groove is provided on the upper end surface of the vehicle-carrying turntable. Reinforcing ribs are provided on both side walls of the groove. Two parallel limiting grooves are formed in the groove, and the limiting grooves are adapted to the vehicle carrier for vehicle handling.

[0019] Optionally, the output end of the hydraulic motor is connected to a rotating shaft through a speed reducer, and the rotating shaft is coaxially connected to the small gear.

[0020] Optionally, the speed reducer is located above the bottom plate, and a positioning plate connected to the speed reducer is connected to the bottom plate.

[0021] Beneficial effects of the present invention: For a rotary device of a ring-well type multi-story parking garage provided by the present invention, when the rotary device rises or falls, the hydraulic motor is started to drive two small gears to rotate, and torque is jointly transmitted to the rotating gear, thereby controlling the rotation of the rotating gear. When the receiving end of the infrared switch receives the signal emitted by the corresponding transmitting end of the infrared switch, the hydraulic motor immediately stops rotating, and the entire rotation action stops. Among them, the moving tooth disc moves upward under the action of the electric push rod and meshes with the fixed tooth disc to achieve positioning, preventing the rotary device from deflecting due to other external factors. The present invention improves the positioning accuracy after the turntable rotates. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the present invention;

[0024] Figure 2 It is a schematic top view structure diagram of the vehicle-carrying turntable of an embodiment of the present invention;

[0025] Figure 3 It is a schematic bottom view structure diagram of the vehicle-carrying turntable of an embodiment of the present invention;

[0026] Figure 4 It is a schematic partial structure diagram of the bottom plate of an embodiment of the present invention;

[0027] Figure 5 It is a schematic internal structure diagram of the rotating assembly of an embodiment of the present invention;

[0028] Figure 6 It is a schematic structure diagram of the rotating assembly of an embodiment of the present invention.

[0029] In the figure: 1, vehicle-carrying turntable; 2, groove; 3, limiting groove; 4, reinforcing rib; 5, annular groove; 6, bottom plate; 7, support column; 8, universal ball; 9, protective cylinder; 10, rotating assembly; 11, hydraulic motor; 12, rotating shaft; 13, pinion gear; 14, reducer; 15, positioning plate; 16, fixed gear disk; 17, moving gear disk; 18, electric push rod; 19, support rod; 20, rotating gear; 21, infrared switch receiving end; 22, infrared switch transmitting end. Specific implementation manner

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the following further describes the present invention in detail with reference to specific embodiments and the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be the general meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0032] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6As shown in the figure, a rotary device for a ring-well type three-dimensional parking garage includes a bottom plate 6. A rotating assembly 10 is provided on the bottom plate 6. The rotating assembly 10 includes two driving members. Each driving member includes a hydraulic motor 11. The output end of the hydraulic motor 11 is drivingly connected to a small gear 13. A rotating gear 20 is meshingly drivingly connected between the two small gears 13. A plurality of infrared switch transmitting ends 22 are connected to the lower end of the rotating gear 20. The infrared switch transmitting ends 22 are arranged at equal angles around the axis of the rotating gear 20. An infrared switch receiving end 21 is arranged on one side of each infrared switch transmitting end 22 and is arranged in cooperation with it. A fixed gear disk 16 is connected to the lower end of the rotating gear 20. A moving gear disk 17 is arranged below the fixed gear disk 16 and is arranged in cooperation with it. The moving gear disk 17 is connected to the bottom plate 6 through an electric push rod 18. The electric push rod 18 and the bottom plate 6 are connected through a support rod 19. A car-carrying turntable 1 is connected to the rotating gear 20. The car-carrying turntable 1 is used to carry cars.

[0033] The diameter of the car-carrying turntable 1 is 7.8 m. When the rotary device rises or falls, the hydraulic motor 11 is started to drive the two small gears 13 to rotate, and torque is jointly transmitted to the rotating gear 20, thereby controlling the rotation of the rotating gear 20. When the infrared switch receiving end 21 receives the signal emitted by the corresponding infrared switch transmitting end 22, the hydraulic motor 11 immediately stops rotating, and the entire rotation action stops. Among them, the moving gear disk 17 moves upward under the action of the electric push rod 16 and meshes with the fixed gear disk 16 to achieve positioning, preventing the rotary device from deflecting due to other external factors. The present invention improves the positioning accuracy after the turntable rotates.

[0034] It further includes a servo controller. The servo controller outputs control to control the rotation speeds of two servo motors.

[0035] The actual rotation speeds of the two hydraulic motors 11 are detected, and the difference between the actual rotation speeds of the two hydraulic motors 11 and the control rotation speeds of the two servo motors is taken to obtain the tracking error of each hydraulic motor 11; the difference between the actual rotation speeds of the two hydraulic motors 11 is averaged to obtain the average synchronous error; the sum of the average synchronous error and the tracking error of each hydraulic motor 11 is the comprehensive error of each hydraulic motor 11; the comprehensive error of each hydraulic motor 11 and its corresponding comprehensive change rate are input into the servo controller, and control signals for the two hydraulic motors 11 are respectively output to adjust the rotation speed of the rotating gear 20.

[0036] The comprehensive change rate is obtained by differentiating the comprehensive error through the differential block diagram in the simulink algorithm.

[0037] The servo controller includes a fuzzy controller and a PID controller. The comprehensive error of each hydraulic motor 11 and its corresponding comprehensive change rate are input into the fuzzy controller to obtain the fuzzy output of each hydraulic motor 11. The comprehensive error of each hydraulic motor 11 and its corresponding comprehensive change rate are input into the PID controller to obtain the proportional output of each hydraulic motor 11. The fuzzy output and the proportional output of each hydraulic motor 11 are input into an adjustment formula to obtain the control signals of the two hydraulic motors 11, thereby adjusting the rotation speed of the rotating gear 20.

[0038] The adjustment formula is as follows:

[0039]

[0040]

[0041] where Uf is the fuzzy output, U pid is the proportional output, and both α and β are adjustment coefficients, which are adjusted according to the experience of the staff.

[0042] Using the servo controller to control the two hydraulic motors 11 makes the actual rotational speeds of the two hydraulic motors 11 not differ much, improving the anti-interference ability, so that the two hydraulic motors 11 have better synchronization.

[0043] A main shaft sensor is provided on each of the rotating shafts 12. The two main shaft sensors are respectively used to detect the actual rotational speeds of the two hydraulic motors 11, and can accurately display the actual rotational speeds of the rotating shafts 12.

[0044] The servo controller controls the infrared switch transmitting end 22 to emit an infrared signal. The infrared switch receiving end 21 corresponding to the infrared switch transmitting end 22 receives the infrared signal and sends it to the servo controller, and the servo controller controls the two servo motors to stop.

[0045] A protective cylinder 9 connected to the bottom plate 6 is provided outside the rotating assembly 10. The upper end of the protective cylinder 9 is equally angled with placement grooves provided in cooperation with the infrared switch transmitting end 22, and a plurality of the infrared switch receiving ends 21 are respectively arranged in the placement grooves.

[0046] An annular groove 5 is formed in the lower end surface of the vehicle-carrying turntable 1. A plurality of sliding members are slidably connected in the annular groove 5, and the sliding members are connected to the bottom plate 6 through support columns 7.

[0047] Wherein the sliding member is a universal ball 8. The universal ball 8 bearing the vehicle-carrying turntable 1 can greatly reduce the friction when the vehicle-carrying turntable 1 rotates and improve the service life of the vehicle-carrying turntable 1.

[0048] A groove 2 is provided on the upper end surface of the vehicle-carrying turntable 1. Reinforcing ribs 4 are provided on both side walls of the groove 2. Two parallel limiting grooves 3 are provided in the groove 2. The limiting grooves 3 are adapted to a vehicle carrier for vehicle handling. The two rows of reinforcing ribs 4 can greatly reduce the stress and deformation inside the vehicle-carrying turntable 1 and improve the service life of the vehicle-carrying turntable 1.

[0049] The output end of the hydraulic motor 11 is connected to the rotating shaft 12 through a speed reducer 14. The rotating shaft 12 is coaxially connected to the pinion 13, which is convenient for controlling the rotation of the pinion 13.

[0050] The speed reducer 14 is located above the bottom plate 6. A positioning plate 15 connected to the speed reducer 14 is connected to the bottom plate 6, which is convenient for the fixed placement of the speed reducer 14.

[0051] The vehicle carrier, the vehicle and the vehicle-carrying turntable are loads.

[0052] In use, the ring well type multi-storey parking garage is provided with five floors, and each floor has a rotating device. Ten parking spaces are provided on the rotating device, so there are a total of fifty parking spaces. Taking parking as an example, if the transfer position required for the vehicle is the tenth transfer position,

[0053] The specific parking process is as follows:

[0054] When the vehicle carrier finishes handling the vehicle and is at the center of the vehicle-carrying turntable 1, the reinforcing ribs on both sides of the middle groove 2 of the vehicle-carrying turntable 1 can greatly reduce the stress and deformation inside the vehicle-carrying turntable 1 when carrying the load. Since the receiving ends 21 and transmitting ends 22 of the infrared switches corresponding to all transfer positions are on the rotating device, the lifting (lowering) and rotation actions of the ring well type multi-storey parking garage can be carried out simultaneously. When the rotating device rises or falls, the two hydraulic motors 11 are started simultaneously, driving the two pinions 8 to rotate, jointly transmitting the torque to the rotating gear 20, driving the rotation of the vehicle-carrying turntable 1. When the receiving end 21 of the infrared switch corresponding to the sixth transfer position among the ten receiving ends 21 of the infrared switches receives the signal from the transmitting end 22 of the infrared switch, the hydraulic motor 11 immediately stops rotating, and the vehicle-carrying turntable 1 stops rotating.

[0055] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary, and is not intended to imply that the scope of the present invention is limited to these examples; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0056] Embodiments of the present invention are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A rotary device for a ring-well type three-dimensional parking garage, comprising a bottom plate, characterized in that, A rotating assembly is provided on the bottom plate. The rotating assembly includes two driving members. Each driving member includes a hydraulic motor. The output end of the hydraulic motor is drivingly connected to a small gear. A rotating gear is meshingly drivingly connected between the two small gears. The lower end of the rotating gear is connected to a plurality of infrared switch transmitting ends. The infrared switch transmitting ends are arranged at equal angles around the axis of the rotating gear. On one side of each infrared switch transmitting end, an infrared switch receiving end is arranged in cooperation therewith. The lower end of the rotating gear is connected to a fixed gear disk. A moving gear disk is arranged below the fixed gear disk and is arranged in cooperation therewith. The moving gear disk is connected to the bottom plate through an electric push rod. A vehicle-carrying turntable is connected to the rotating gear. The vehicle-carrying turntable is used for carrying an automobile.

2. The rotary device of a ring-well type three-dimensional parking garage according to claim 1, characterized in that, It further includes a servo controller. The servo controller outputs control speeds to control the rotation of two servo motors. The actual rotation speeds of the two hydraulic motors are detected. The difference between the actual rotation speeds of the two hydraulic motors and the control speeds of the two servo motors is calculated to obtain the tracking error of each hydraulic motor. The difference between the actual rotation speeds of the two hydraulic motors is averaged to obtain the mean synchronization error. The sum of the mean synchronization error and the tracking error of each hydraulic motor is the comprehensive error of each hydraulic motor. The comprehensive error of each hydraulic motor and its corresponding comprehensive change rate are input into the servo controller, and control signals for the two hydraulic motors are respectively output to adjust the rotation speed of the rotating gear.

3. The rotary device of a ring-well type three-dimensional parking garage according to claim 2, characterized in that, The servo controller includes a fuzzy controller and a PID controller. The comprehensive error of each hydraulic motor and its corresponding comprehensive change rate are input into the fuzzy controller to obtain the fuzzy output quantity of each hydraulic motor. The comprehensive error of each hydraulic motor and its corresponding comprehensive change rate are input into the PID controller to obtain the proportional output quantity of each hydraulic motor. The fuzzy output quantity and the proportional output quantity of each hydraulic motor are input into an adjustment formula to further obtain the control signals for the two hydraulic motors.

4. The rotary device of a ring-well type three-dimensional parking garage according to claim 3, characterized in that, The adjustment formula is: Among them, Uf is the fuzzy output quantity, and U pid is the proportional output quantity, and both α and β are adjustment coefficients.

5. The rotary device of a ring well type three-dimensional parking garage according to claim 1, characterized in that, A protective cylinder connected to the bottom plate is arranged outside the rotating assembly. The upper end of the protective cylinder is provided with placement grooves arranged at equal angles and in cooperation with the infrared switch transmitting ends. A plurality of the infrared switch receiving ends are respectively arranged in the placement grooves.

6. The rotary device of a ring-well type three-dimensional parking garage according to claim 1, characterized in that An annular groove is formed on the lower end surface of the vehicle-carrying turntable. A plurality of sliding members are slidably connected in the annular groove. The sliding members are connected to the bottom plate through support columns.

7. The rotary device of a ring well type three-dimensional parking garage according to claim 6, characterized in that, The sliding member is a universal ball.

8. The rotary device of a ring well type three-dimensional parking garage according to claim 1, characterized in that, A groove is formed on the upper end surface of the vehicle-carrying turntable. Reinforcing ribs are arranged on both side walls of the groove. Two parallel limiting grooves are formed in the groove. The limiting grooves are adapted to a vehicle transporter for vehicle handling.

9. The rotary device of a ring-well type three-dimensional parking garage according to claim 1, characterized in that, The output end of the hydraulic motor is connected to a rotating shaft through a speed reducer. The rotating shaft is coaxially connected to the small gear.

10. A rotary device for a ring-well type three-dimensional parking garage according to claim 9, characterized in that, The speed reducer is located above the bottom plate. A positioning plate connected to the speed reducer is connected to the bottom plate.

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