CN101480796A - One-hoisting dual-purpose multi-position conveying robot - Google Patents
One-hoisting dual-purpose multi-position conveying robot Download PDFInfo
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- CN101480796A CN101480796A CNA2008102129280A CN200810212928A CN101480796A CN 101480796 A CN101480796 A CN 101480796A CN A2008102129280 A CNA2008102129280 A CN A2008102129280A CN 200810212928 A CN200810212928 A CN 200810212928A CN 101480796 A CN101480796 A CN 101480796A
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Abstract
The invention relates to a one-crane dual-purpose multi-positions transport robot which utilizes a general moving crane with an elevator and a transporter frame to complete the storage and the taking of vehicles and cargos of more than two arrays and two to seven layers with more than 48 positions by only one hoisting motor with 3.7 kilowatt power. Compared with other equipment of similar types, the one-crane dual-purpose multi-positions transport robot can be reduced in the fabrication cost by more than 30 percent, and can improve the storage capacity of vehicles and cargos stored in a same area(including the area of passages) by more than ten times. The one-crane dual-purpose multi-positions transport robot can be used for parking, cargo storage, united manufacture and common use; the bed plates of vehicle positions and packing cases can be increased or reduced according to the requirements of vehicles and cargos, and the one-crane dual-purpose multi-positions transport robot can be also singly used; with the use of the one-crane dual-purpose multi-positions transport robot, larger land sources and labor sources can be saved.
Description
Technical field
The present invention relates to a kind of smart three-dimensional garage, three-dimensional storage apparatus, especially relate to an one-hoisting dual-purpose multi-position conveying robot.Belong to parking, storage facilities technical field.
Background technology
At present in lift-sliding parking equipment, the per car position all must possess an elevating mechanism more than two layers, and this mechanism comprises: reducing motor, power transmission shaft, rolling bearing units, power transmission chain, sprocket wheel, locking rope device, falling proof device, pulley, lifting buffer unit, reel, steel wire rope or chain etc.One thus, account for more than 30% of manufacturing cost.Because its complex structure, productive labor intensity is big, installs, maintenance, safeguards loaded down with trivial detailsly that manufacturing cost is very high.Under the situation that vehicle population continues to increase, many local cars are completely of common occurrence for the phenomenon of suffering from, but because the garage manufacturing cost is high, and the have a mind owner of investment multi-storied garage of many scripts has to shrink back.
Also occur in the market using a superpower lifting motor to promote other classification garages of four to five cars, (the civil engineering difficulty is big, need dig out and the contour degree of depth of steel structure frame that is promoted under ground portion) realized in this kind garage parking by promoting a whole row steel structure frame.Comparatively speaking, its underground installation input cost huge (identical only deposit under the capacity prerequisite its civil engineering cost just exceeded general lift-sliding parking Kucheng this), the lift power output is huge, operating cost is quite high.
In storage facilities, because plane storage floor space is big, plot ratio is little at present, do not possess intelligent management, there is inconvenience greatly in storage, and many producers, businessman have selected to build more warehouse and realized that it to material handling and storage request, has wasted land resource and human resources.
When at present vehicle or goods were stored for a long time, every get on the bus goods platen or container body must be hung by cable wire.The one side cable wire life-span is short, and security performance is low on the other hand, when hanging, must possess falling proof device, in case cable wire damages and falls.
Summary of the invention
The objective of the invention is to overcome above deficiency, provide a kind of with low cost, security performance is good, and productive labor intensity is little, installation, maintenance, an one-hoisting dual-purpose multi-position conveying robot easy to maintenance.Realize above two to seven layers of 48 parking stall of two row, vehicle and goods access facility (and employed lifting motor power only is 3.7 kilowatts) more than the goods yard by a lifting transport device that is arranged at top layer band walking mechanism.In operating aspect, this equipment is taked the PLC automatic program control, by the height of each action of each layer of the unified control of spiral encoder, and can be by the fast access of single realization to vehicle and goods.
The object of the present invention is achieved like this: an a kind of one-hoisting dual-purpose multi-position conveying robot is characterized in that comprising walking mechanism, elevating mechanism, carrying mechanism, storing mechanism, transverse-moving mechanism and steel frame construction.
Described walking mechanism is installed on the track of entablature before and after the steelframe top layer and comprises: walking framework, reducing motor, transmission drive sprocket, by movable sprocket, driving chain, two of active rollers, two on passive roller, four of rolling bearing units, initiative drive shaft, passive power transmission shaft, front and back only shake four on bar.The walking framework comprises respectively one on left-right longeron and front and back crossbeam, combination mutually, and it is inner that reducing motor is installed on the positive left longeron outside.Drive sprocket is installed on the output shaft of reducing motor, and the passive chain gear apparatus of another between active roller and rolling bearing units, connects two sprocket wheels by chain in one side of final drive shaft.Active roller is installed on initiative drive shaft two, passive roller devices is in two of passive power transmission shaft, rolling bearing units are installed on the power transmission shaft, be positioned at main passive roller inboard, wherein one is installed on by the inboard of movable sprocket, and main, passive power transmission shaft is installed on the left-right longeron bottom of framework by rolling bearing units.Lever apparatus only shake before two in the left-right longeron forward lower part, and two are only shaken lever apparatus in two limits, rear cross beam bottom in addition, and walking mechanism links to each other with elevating mechanism;
Described elevating mechanism comprises: lifting with reducing motor, lifting with drive sprocket, rolled four of bridges, two of rope rolls, control line cable, cable wire with two of rolling bearing units, lifting with power transmission shaft, insulation control line reel, the anti-wire jumper of control line reel by movable sprocket, chain, lifting.Reducing motor is installed on running mechanism frame rear cross beam frontal left top, drive sprocket is installed on the output shaft of reducing motor, passive chain gear apparatus in one side of power transmission shaft between reel and rolling bearing units, two drive sprockets are linked to each other by driving chain, rolling bearing units are installed on the two winding drum inboard, and power transmission shaft is installed on the reducing motor bottom by rolling bearing units.Insulation control line roll device is in the middle part of power transmission shaft, the anti-wire jumper of control line reel rolls bridge and is installed on rear cross beam top near by the insulation control line reel, rope roll is installed on two ends of power transmission shaft, and the control line cable unit directly links to each other with carrying mechanism on insulation control line reel; Rope elongation arrangment on the rope roll wherein two directly is connected with lifting buffer unit behind the carrying mechanism, in addition two and pass through locking rope device and pulley and carrying mechanism before lift by crane buffer unit and link to each other;
Described carrying mechanism comprises: carrier framework, rearview mirror with four of grooves, taper triangle leading truck with four of grooves, lifting buffer unit four groups (comprising connecting rod, spring, spring housing, snap close), only shake four in bar hole (wherein two shared), four of suspension rod slotted eyes, locking bar device four groups of (comprising tractive magnet, sliding seat, motion bar, slide bar, sliding sleeve, locking bar, lock bar seat, metal tray, inductive switch seat), bellmouth orifices with bellmouth orifice.The carrier framework comprises respectively one on left-right longeron and front and back crossbeam, combination mutually.Rearview mirror is arranged in inboard two limits, left-right longeron middle part with groove.Taper triangle leading truck is arranged in top and bottom, left-right longeron two with groove, and before being positioned at the locking bar device.The lifting buffer unit is installed on inner each two groups of left-right longeron rear inside and front end, only shakes two in bar hole to be arranged in left-right longeron the place ahead, is positioned at by the lifting buffer unit, and two are arranged in top, rear cross beam two ends (bellmouth orifice) in addition.The suspension rod slotted eye is arranged in taper triangle leading truck and uses each one of groove center bottom.The locking bar apparatus is positioned at taper tripod with groove inboard each in left-right longeron, the locking bar by the locking bar device links to each other with storing mechanism;
Described storing mechanism comprises: last parking stall platen, parking space platen, the get in stocks casing and the casing of unloading goods.Last parking stall platen comprises: one group of rear cross beam assembly, each one of left-right longeron, three of web beams, wave base plate several piece, two of guide posts, four on suspension rod (bar suspends).The rear cross beam assembly is installed on the positive rear portion of left-right longeron, left-right longeron is installed on the both sides of rear cross beam group and web beam, bottom between web beam device two longerons, the wave bottom plate apparatus is in two longerons inside and be positioned at web beam top, guide post is installed on top, the inboard two ends of rear cross beam assembly, and suspension rod (bar suspends) is installed on rear and front end, the left-right longeron outside.The parking space platen comprises: one of rear cross beam, each one of left-right longeron, three of web beams, wave base plate several piece.Rear cross beam is installed on the positive rear portion of left-right longeron, and left-right longeron is installed on the both sides of rear cross beam and web beam, bottom between web beam device two longerons, and the wave bottom plate apparatus is in two longerons inside and be positioned at web beam top.The casing of getting in stocks comprises: four longerons, four crossbeams, four root posts, four reinforcement columns, cargo box door, casing steel plate, base plate, two of guide posts, four of single triangle leading trucks of taper, four on suspension rods, four on bar suspends.Four longerons and four crossbeams are combined into two rectangular frames, four root posts are installed on four angles of two rectangular frames, connect rectangle up and down, strengthen stand column device outside in about the container body, between column and column, cargo box door is installed on both sides, the positive the place ahead of casing, face and inboard, back about the casing steel plate is installed on, bottom plate apparatus is in the bottom surface of casing, guide post is installed on both sides, rear cross beam top, derrick rig is in both sides, the last left-right longeron outside, and the lever apparatus that suspends is in both sides, the following left-right longeron outside.The casing of unloading goods comprises: four longerons, four crossbeams, four root posts, four reinforcement columns, cargo box door, casing steel plate, base plate.Four longerons and four crossbeams are combined into two rectangular frames, four root posts are installed on four angles of two rectangular frames, connect rectangle up and down, strengthen stand column device outside in about the container body, between column and column, cargo box door is installed on both sides, the positive the place ahead of casing, face and inboard, back about the casing steel plate is installed on, and bottom plate apparatus is in the bottom surface of casing.The bar that suspends of the suspension rod of last parking stall platen (bar suspends) or the casing of getting in stocks links to each other with the two triangle leading truck of the taper of transverse-moving mechanism;
Described transverse-moving mechanism comprises: traversing little frame, crashproof rubber bumper, the two triangle leading truck of taper, traversing drive mechanism.Traversing little frame comprises each one on left-right longeron front and back crossbeam, combination mutually, and four groups of the two triangle leading trucks of taper are installed on both sides, left-right longeron top.Crashproof rubber bumper is installed on both sides, the left-right longeron outside.Traversing transmission mechanism comprises: reducing motor, traversing transmission master, by four on movable sprocket, driving chain, traversing master, passive power transmission shaft, four groups of rolling bearing units and master, passive roller.It is inner that reducing motor is installed on the positive left longeron of the traversing dolly framework outside, drive sprocket is installed on the axle of reducing motor, passive chain gear apparatus is in one side of initiative drive shaft, between active roller and rolling bearing units, initiative drive shaft, passive power transmission shaft are installed on the left-right longeron bottom by rolling bearing units, two active rollers are installed on two of initiative drive shaft, and two passive roller devices are in the both sides of passive power transmission shaft in addition, and active and passive roller links to each other with the front and back track of steel frame construction;
Described steel frame construction comprises: column, entablature (containing track), longeron, time track, suspension column, steelframe top, total car of walking, carrier, control line cable, cable wire, traversing dolly, last parking stall platen, the casing of getting in stocks, parking space platen (containing traversing function), the casing of unloading goods (containing traversing function).All around column is connected by each seven entablature, and the front and back column is connected by each seven longeron, and following track is arranged on the cement flooring, and the column bottom is connected the cement flooring with suspension column, and the steelframe top is arranged in the top of column.Total car of walking is installed on the track of top layer entablature, carrier is installed on walking framework bottom, is hung by four cable wires, and four rope elongation arrangments are on two rope rolls of elevating mechanism, control line cable one end connects carrier, and the other end is centered around in the insulation control line reel of elevating mechanism.On the track of in two to seven layers of entablature of traversing carriage device, last parking stall platen, the casing of getting in stocks are suspended in the traversing dolly, and parking space platen, the casing of unloading goods (containing traversing function) are installed on down on the track.
The present invention has following advantage:
1, takes an one-hoisting dual-purpose multi-position conveying robot access vehicle and goods technology, each traversing dolly can save elevating mechanism, can save most of cost thus, improve automation parking and the price competitiveness of storage facilities on market, cheap price can impel more owner to carry out in this respect investment.
2, adopt an one-hoisting dual-purpose multi-position conveying robot access vehicle technology, discarded the numerous and diverse structure of traditional lift-sliding parking systems, for installation, the care and maintenance in garage provides a great convenience.
3, adopt one-hoisting dual-purpose multi-position conveying robot storage goods technology, the assortment of article classification is easy, and convenient management has been saved a large amount of land resource, has significantly reduced working strength of workers.
4, adopt an one-hoisting dual-purpose multi-position conveying robot access vehicle cargo technology, when long-time store car goods, the last parking stall platen and the casing of getting in stocks directly are suspended in the traversing little frame, need not falling proof device, and safety coefficient reaches 100%.
Description of drawings
Fig. 1 is the side view of the present invention's one one-hoisting dual-purpose multi-position conveying robot walking mechanism.
Fig. 2-1 is the front view of the present invention's one one-hoisting dual-purpose multi-position conveying robot elevating mechanism.
Fig. 2-2 is insulation control line reel front view.
Fig. 3-1 is carrier one a hoisting dual-purpose multi-position vertical view; 3-2 locking bar device side view.
Fig. 4-1 is a last parking stall platen vertical view; 4-2 parking space side view; The 4-3 casing side view of getting in stocks; The 4-4 casing side view of unloading goods.
Fig. 5 is traversing dolly side view.
Fig. 6-1 is that traversing dolly combines side view with last parking stall platen; The traversing dolly of 6-2, last container combine side view with the carrier framework; The traversing dolly of 6-3, last parking stall platen combine side view with the carrier framework; The traversing dolly of 6-4, last parking stall platen combine vertical view with the carrier framework.The traversing dolly of 6-5, last parking stall platen, carrier framework left-right longeron are in conjunction with front view.
Fig. 7-1 is total figure front view; The total figure front view of 7-2; The total figure side view of 7-3.
Among Fig. 1: walking framework 1, reducing motor 2, drive sprocket 3, only shaken bar 9, pulley 10, locking rope device 11 by movable sprocket 4, driving chain 5, main passive roller 6, rolling bearing units 7, main passive power transmission shaft 8, front and back.
Among Fig. 2-1: lifting with reducing motor 12, lifting with drive sprocket 13, rolled bridge 19, rope roll 20, control line cable 21, cable wire 22 with rolling bearing units 16, lifting with power transmission shaft 17, insulation control line reel 18, anti-wire jumper by movable sprocket 14, chain 15, lifting.
Among Fig. 2-2: insulation control line reel 18, anti-wire jumper roll bridge 19, control line cable 21.
Among Fig. 3-1: carrier framework 23, rearview mirror with groove 24, triangle leading truck with groove 25, lifting buffer unit 26, only shake bar hole 27 (wherein two shared), suspension rod slotted eye 28, locking bar device 29, horn base 30, bellmouth orifice 31 with bellmouth orifice.
Among Fig. 3-2: tractive magnet 32, sliding seat 33, motion bar 34, slide bar 35, sliding sleeve 36, locking bar 37, lock bar seat 38, metal tray 39, inductive switch seat 40.
Among Fig. 4-1: rear cross beam assembly 41, left-right longeron 42, web beam 43, wave base plate 44, guide post 45, suspension rod 46 (bar suspends).
Among Fig. 4-2: rear cross beam 41, left-right longeron 42, web beam 43, wave base plate 44
Among Fig. 4-3: longeron 47, crossbeam 48, column 49, strengthen column 50, cargo box door 51, casing steel plate 52, base plate 53, guide post 54, single triangle leading truck 55 of taper, suspension rod 56, bar 57 suspends.
Among Fig. 4-4: longeron 47, crossbeam 48, column 49, reinforcement column 50, casing steel plate 52, base plate 53.
Among Fig. 5: the two triangle leading truck 67 of traversing dolly framework 58, crashproof rubber bumper 59, taper, traversing reducing motor 60, traversing transmission drive sprocket 61, by movable sprocket 62, driving chain 63, traversing rolling bearing units 64, traversing master by power transmission shaft 65, the passive roller 66 of traversing master.
Among Fig. 6-1: go up parking stall platen framework 42, traversing dolly framework 58, suspension rod (bar suspends) 46, the two triangle leading truck 67 of taper.
Among Fig. 6-2: guide post 54, bellmouth orifice 31, cable wire 22, lifting buffer unit 26, locking bar device 29, suspension rod 56, carrying frame 23, the casing upper frame 47 of getting in stocks, single triangle leading truck 55 of taper, tripod are with groove 25, the casing underframe 47 of getting in stocks, traversing dolly framework 58, the bar 57 that suspends, a taper pair triangle leading truck 67.
Among Fig. 6-3: guide post 45, bellmouth orifice 31, cable wire 22, lifting buffer unit 26, last parking stall framework 42, traversing dolly framework 58, carrier framework 23, locking bar device 29, suspension rod 46 (bar suspends), the two triangle leading truck 67 of taper, triangle leading truck groove 25.
Among Fig. 6-4: bellmouth orifice 31, guide post 45, suspension rod 46 (bar suspends), the two triangle leading truck 67 of taper, triangle leading truck groove 25.
Among Fig. 6-5: the two triangle leading truck 67 of taper, carrier framework 23 left-right longerons, suspension rod 46 (bar suspends), last parking stall platen framework 42 left-right longerons, traversing dolly framework 58 left-right longerons.
Among Fig. 7-1: suspension column 68, parking space platen (conjuncted) 69, column 70, entablature (containing track) 71, carrier 72, traversing dolly 73, last parking stall platen 74, control line cable 21, cable wire 22, the total car 75 of walking, rigid frame top 76, the casing 77 of getting in stocks, the casing 78 of unloading goods, following track 79 with transverse-moving mechanism.
Among Fig. 7-2: the numbering with Fig. 7-1 in consistent.
Among Fig. 7-3: suspension column 68, column 70, rigid frame top 76, longeron 80.
The specific embodiment:
The present invention's one one-hoisting dual-purpose multi-position conveying robot comprises walking mechanism, elevating mechanism, carrying mechanism, storing mechanism, transverse-moving mechanism and steel frame construction.
Described walking mechanism is installed on the track of entablature before and after the steelframe top layer referring to Fig. 1, comprising: walking framework 1, reducing motor 2, drive sprocket 3, only shaken formations such as bar 9, pulley 10, locking rope device 11 by movable sprocket 4, driving chain 5, main passive roller 6, rolling bearing units 7, main passive power transmission shaft 8, front and back.It is inner that walking reducing motor 2 is installed on the running mechanism frame 1 positive left longeron outside, walking transmission drive sprocket 3 is installed on walking reducing motor 2 output axle heads, the walking transmission is installed on a end of 1 in main, the passive roller 6 by movable sprocket 4, main, passive roller 6 has 4, and wherein two active rollers connect by walking power transmission shaft 8.Drive 3 runnings of walking transmission drive sprocket by walking reducing motor 2, walking transmission drive sprocket 3 drives the walking transmission by driving chain 5 and is turned round by movable sprocket 4, the walking transmission is driven 8 runnings of walking power transmission shaft by movable sprocket 4, walking power transmission shaft 8 drives main, passive roller 6 runnings, thereby realizes the horizontal movement of whole running mechanism frame.
Described elevating mechanism is referring to Fig. 2-1: by lifting with reducing motor 12, lifting with drive sprocket 13, rolled bridge 19, rope roll 20, control line cable 21, cable wire 22 etc. and constitute with power transmission shaft 17, insulation control line reel 18, anti-wire jumper with rolling bearing units 16, lifting by movable sprocket 14, chain 15, lifting.Lifting reducing motor 12, be installed on running mechanism frame 1 rear cross beam top, lifting is installed on reducing motor 12 output axle heads with drive sprocket 13, lifting is used by movable sprocket 14 and is installed on lifting power transmission shaft 17 1 ends, lifting is installed on the rolling bearing units 16 and by rolling bearing units 16 with power transmission shaft 17 and is installed on walking framework 1 rear cross beam, rope roll 20 has two and is installed on lifting usefulness power transmission shaft 17 two ends, and lifting buffer unit 26 (referring to Fig. 3-1) has 4 groups and is installed on carrier framework 23 (referring to Fig. 3-1) left-right longeron two ends left and right sides.Lifting drives drive sprocket 13 runnings with reducing motor 12, drive sprocket 13 drives by chain 15 and is turned round by movable sprocket 14, being driven lifting by movable sprocket 14 turns round with power transmission shaft 17, lifting drives rope roll 20 and 18 runnings of control line reel with power transmission shaft 17, the cable wire 22 that is wrapped on the rope roll 20 is connected with lifting buffer unit 26 (referring to Fig. 3-1) by locking rope device 11 (referring to Fig. 1) and pulley 10 (referring to Fig. 1), thereby realizes the elevating movement of walking carrier framework.In lifting process, 18 runnings simultaneously of insulation control line reel, the control line cable 21 that twines is thereon done the folding and unfolding campaign simultaneously, and anti-wire jumper rolls bridge 19 and is close to control line reel 18, and the control line cable is controlled in drum grooves all the time when control line cable 21 is done the folding and unfolding campaign.
Described insulation control line reel is referring to Fig. 2-2: roll bridge 19 etc. by insulation control line reel 18, control line cable 21, anti-wire jumper and constitute.Insulation control line reel 18 adopts insulating materials made, wire casing is arranged according to the both sides, center of reel length, article one, left and around, another to the right and around, control line cable 21 is taked according to the length doubles of practicality, the center fixation of total length is at the central point of insulation control line reel length, combines around controlling with inlet wire to the reel edge left on one side, and another side is to the right around combining with control position in the carrier framework rear cross beam of bottom to the edge.When rising or descending, left and right sides control line cable 21 is done the folding and unfolding campaign simultaneously.Anti-wire jumper rolls bridge 19 two and is arranged on the rolling bearing units.Rolling bearing units are installed on the metal frame on both sides.Roll bar and be close to insulation control line reel 18 sides, in case the cable job-hopping.
Described carrying mechanism is referring to Fig. 3-1: mainly by carrier framework 23, rearview mirror with groove 24, taper triangle leading truck with groove 25, lifting buffer unit 26, only shake formations such as bar hole 27 (wherein two shared), suspension rod slotted eye 28, locking bar device 29, horn base 30, bellmouth orifice 31 with bellmouth orifice.Carrier framework 23, what wherein left-right longeron adopted is that the shaped steel manufacturing forms, and cooperates with the longeron of traversing dolly, reaches the function (referring to 4-3) that carrying is gone up parking stall platen (referring to Fig. 6-5), gone up container.Rearview mirror no matter dolly advances or retreats in the platen of parking stall, during carrier framework decline work, can not damage the dolly rearview mirror with groove 24.Taper triangle leading truck is with groove 25, and this groove is in conjunction with the traversing dolly and the casing of getting in stocks, for two triangle leading trucks 67 (referring to Fig. 6-1), single triangle leading truck 55 (referring to Fig. 4-3) provide short-range cooperation target and space.Lifting buffer unit 26, this device is connected with the cable wire 22 (referring to Fig. 2) of elevating mechanism, when elevating mechanism lifts by crane or drops to ground, under the effect of stage clip, can reach lifting steadily, the effect of landing and buffering, minimizing vibration, can also prolong the life-span that cable wire uses.Only shake bar hole 27, this hole be for walking mechanism in walking work, combine with the bar 9 (referring to Fig. 2) that only shakes of walking mechanism bottom, prevent that carrier framework all around from rocking.Suspension rod slotted eye 28, this hole are the suspension rods (bar suspends) 46 (referring to Fig. 6-3) for carrier framework and last parking stall platen, the mating reaction the during suspension rod 56 of the casing of getting in stocks (referring to Fig. 6-2) work.Locking bar device 29 is the core components in the carrying mechanism, parking stall platen and when getting in stocks casing in the carrying, and locking bar wherein plays combination and centrifugation.Detailed structure is referring to Fig. 3-2.Bellmouth orifice 31, claim only to shake the hole again, this hole is when rising to the top, with the walking framework, the bar 9 (referring to Fig. 2) that only shakes on both sides, rear cross beam bottom cooperates, descend take the parking stall platen by strategy, when getting in stocks casing, the diameter of this end opening is bigger, about, front and back under the situation of error 40mm, this device can search out the suspension rod (bar suspends) 46 of parking stall platen, the target of the suspension rod 56 of the casing of getting in stocks accurately.
Described locking bar device is referring to Fig. 3-2: be made of tractive magnet 32, sliding seat 33, motion bar 34, slide bar 35, sliding sleeve 36, locking bar 37, lock bar seat 38, metal tray 39, inductive switch seat 40 etc.Tractive magnet 32, be installed in carrier framework 23 left-right longerons, the motion bar 34 that tractive magnet 32 drives in the sliding seat 33 seesaws, motion bar 34 drives slide bar 35 and makes the short distance circular motion, slide bar 35 drives sliding sleeve 36 and seesaws up and down, sliding sleeve 36 drives locking bar 37 front and back horizontal movements, locking bar 37 passes the inside of lock bar seat 38, the front end bottom surface is contacted with the last plane of metal tray 39 during locking bar 37 work, locking bar 37 advances or when moving back, leading flank is subjected to inductive switch 40 to control (induction switch device is on each metal tray 39).Finding in any locking bar device is as breaking down, and any locking bar front end does not arrive specified position, and inductive switch all can't send signal.Electrical equipment has the measuring ability to mechanical breakdown, carrier at work, rate of premium can reach 100%.
The described parking stall platen of going up is referring to Fig. 4-1: by rear cross beam assembly 41, left-right longeron 42, web beam 43, wave base plate 44, guide post 45, suspension rod 46 formations such as (bar suspend).Guide post 45 uses when cooperating with bellmouth orifice 31 (referring to Fig. 3-1).The height of this guide post is higher than the top of dolly.When the carrier framework was carried on any platform the parking stall platen, guide post 45 at first cooperated with bellmouth orifice 31, and bellmouth orifice can be eliminated the error of all around 40mm.The carrier framework after guide post 45 guiding, the damage of avoiding being in operation to dolly.Suspension rod (bar suspends) 46 cooperates with suspension rod slotted eye 28 (referring to Fig. 3-2), combines with taper triangle leading truck 67 more in addition, and double duty claims suspension rod when lifting, in conjunction with the time claim the bar that suspends.
Described parking space platen is referring to Fig. 4-2: be made of rear cross beam 41, left-right longeron 42, web beam 43, wave base plate 44 etc.Remaining be connected with transverse-moving mechanism (referring to Fig. 5).
The described casing of getting in stocks is referring to Fig. 4-3: be made of guide post 54, single triangle leading truck 55 of taper, suspension rod 56, the bar 57 that suspends etc.。31 (referring to Fig. 3-1) are used when carrier descends for guide post 54 and bellmouth orifice (only shake hole), and this device is sought target and is easier to, in conjunction with before, all around error in 40mm equal energy in conjunction with.Single triangle leading truck 55 of taper cooperates with groove 25 (referring to Fig. 3-1) with the triangle guiding, serves for the locking bar 37 (referring to Fig. 3-2) in the locking bar device 29 (referring to Fig. 3-1) accurately pins suspension rod 56.The bar 57 that suspends cooperates with a two taper triangle leading truck 67 (referring to Fig. 5), and the casing underframe of getting in stocks is accurately inserted in the transverse-moving mechanism framework, and the bar 57 that suspends is suspended at the center of the two triangle leading truck 67 of taper.
The described casing of unloading goods is referring to Fig. 4-4: by longeron 47, crossbeam 48, column 49, strengthen column 50, casing steel plate 52, base plate 53 etc. and constitute.Remaining link to each other with transverse-moving mechanism (referring to Fig. 5).
Described transverse-moving mechanism is referring to Fig. 5: by traversing dolly framework 58, crashproof rubber bumper 59, the two triangle leading truck 67 of taper, traversing reducing motor 60, traversing transmission drive sprocket 61, by movable sprocket 62, driving chain 63, traversing rolling bearing units 64, traversing master, constituted by power transmission shaft 65, traversing master, passive roller 66 etc.Reducing motor 60 drives drive sprocket 61 runnings, turned round by movable sprocket 62 by driving chain 63 drives, driven initiative drive shaft 65 runnings by movable sprocket 62, initiative drive shaft 65 drives active roller 66 runnings, active roller 66 drives passive power transmission shaft 65 and the running of passive roller, thereby realizes the transverse motion of traversing dolly.
The described parking stall platen of going up combines with traversing dolly referring to Fig. 6-1: by formations such as last parking stall platen framework 42, traversing dolly framework 58, suspension rod (bar suspends) 46, the two triangle leading trucks 67 of taper.Platen framework 42 bottoms, last parking stall are inserted in the traversing dolly framework 58, and suspension rod (bar suspends) 46 is suspended at the center of the two triangle leading truck 67 of taper, and are positioned at the last plane of travelling car left-right longeron.
Described traversing dolly, last container combine with the carrier framework referring to Fig. 6-2: be made of with groove 25, the casing underframe 47 of getting in stocks, traversing dolly framework 58, the bar 57 that suspends, the two triangle leading truck 67 of taper etc. guide post 54, bellmouth orifice 31, cable wire 22, lifting buffer unit 26, locking bar device 29, suspension rod 56, carrying frame 23, the casing upper frame 47 of getting in stocks, single triangle leading truck 55 of taper, tripod.Guide post 54 cooperates with bellmouth orifice 31, and cable wire 22 is connected with lifting buffer unit 26.The locking bar of locking bar device 29 pins suspension rod 56, puts container body upper frame 47 first halves in carrier framework 23 Lower Halves, and single triangle leading truck 55 of taper penetrates tripod groove 25, and casing underframe 47 the latter halfs of getting in stocks are inserted traversing dolly framework 58 inside.The bar 57 that suspends is suspended in the center of the two triangle leading truck 67 of taper, and is positioned at plane on the traversing dolly left-right longeron.
Described traversing dolly, go up the parking stall platen and combine referring to Fig. 6-3 with the side-looking of carrier framework: by guide post 45, bellmouth orifice 31, cable wire 22, lifting buffer unit 26, a taper pair triangle leading truck 67, triangle leading truck with groove 25, last parking stall framework 42, traversing dolly framework 58, carrier framework 23, locking bar device 29, suspension rod 46 formations such as (bar suspend).Guide post 45 passes through bellmouth orifice 31, cable wire 22 is connected with lifting buffer unit 26, the two triangle leading truck 67 of taper pass through triangle leading truck groove 25, and suspension rod 46 (bar suspends) is suspended at the center of the two triangle leading truck of taper, and are positioned at the last plane of traversing dolly left-right longeron.Last parking stall framework 42 inserts the first half in the traversing dolly framework 58.Put parking stall framework 42 and traversing dolly framework 58 outsides in the carrier framework 23.The locking bar of locking bar device 29 pins suspension rod 46 (bar suspends).
Described traversing dolly, last parking stall platen are overlooked with the carrier framework and are combined referring to Fig. 6-4: by bellmouth orifice 31, guide post 45, suspension rod 46 (bar suspends), the two triangle leading truck 67 of taper, triangle leading truck formations such as groove 25.Bellmouth orifice 31 is inserted in guide post 45 peripheries, the suspension rod 46 (bar suspends) in the traversing dolly framework left-right longeron outside is suspended among the two triangle leading truck 67 of taper on plane on the traversing dolly framework left-right longeron, the triangle leading truck of carrying frame left-right longeron both sides entangles the two triangle leading truck 67 of taper with groove 25, and parking stall platen framework 42 and traversing dolly framework 58 outsides are entangled in carrier framework 23 inboards.
Described traversing dolly, go up parking stall platen, carrier framework left-right longeron and face in conjunction with referring to Fig. 6-5: by the left-right longeron (shaped steel) of carrier framework 23, traversing dolly framework 58 left-right longerons, go up parking stall platen framework 42 left-right longerons, the two triangle leading truck 67 of taper, suspension rod 46 formations such as (bar suspend).Go up the angle combination outward by interior right angle of carrier framework 23 left-right longerons (shaped steel) and traversing dolly framework 58 left-right longerons, carrier framework 23 left-right longerons (shaped steel) are inboard to be made up with last parking stall platen 42 left-right longerons, the two triangle leading truck 67 of taper are installed on plane on traversing dolly framework 58 left-right longerons, and suspension rod 46 (bar suspends) is suspended at plane on traversing dolly 58 left-right longerons.
Described steel frame construction is referring to Fig. 7-1,7-2,7-3: by suspension column 68, parking space platen (conjuncted with transverse-moving mechanism) 69, column 70, entablature (containing track) 71, carrier 72, traversing dolly 73, go up parking stall platen 74, control line cable 21, cable wire 22, the total car 75 of walking, rigid frame top 76, the casing 77 of getting in stocks, the casing 78 of unloading goods, formations such as track 79 down.Suspension column 68 is fixed by bolts to and mixes in the earth, parking space platen (conjuncted with transverse-moving mechanism) 69 is arranged on the lower railway 79, all around column 70 is connected by entablature (containing track) 71, left and right pillar 70 is connected by longeron 80 (referring to Fig. 7-3), carrier 72 is suspended on the total car of walking 75 framework bottoms by cable wire 22, last parking stall platen 74 is suspended in traversing dolly 73 framework inside, traversing dolly 73 is arranged on entablature 71 tracks by transverse-moving mechanism, control line cable 21 wherein an end connect with carrier 72 on, the other end is centered around on the elevating mechanism insulation control line reel 18, one of four cable wires 22 is connected on the lifting buffer unit connecting rod of carrier 72 inside, the other end is centered around on the cable wire rotating cylinder of elevating mechanism, total car 75 of walking is arranged on top layer entablature 71 tracks, rigid frame top 76 is installed on column 70 tops, casing 77 base of frame of getting in stocks are suspended at the inside of traversing dolly framework 73, and the casing 78 of unloading goods (with the transverse-moving mechanism disjunctor) is arranged in down on the track 79.
Now describe layout, operation, purposes and correlation (referring to Fig. 7-1, the 7-2) walking mechanism of each mechanism: total car of walking walks on the track of top layer entablature, and the span of any columns can both can stop in every row appointed positions from the left end right-hand member of walking.Elevating mechanism: be installed on the rear cross beam of the total frame of walking, cable wire drops to ground from top layer.Carrying mechanism: the carrier framework is connected with the cable wire of elevating mechanism, the last parking stall platen of two to seven layers of every row of carrying and the function of the casing of getting in stocks.Transverse-moving mechanism: traversing dolly is arranged on the entablature track, and the column position that can left or move right.Must reserve a row room, traversing dolly of all the other two to seven layers of every array apparatus for one to seven layer.Storing mechanism: go up parking stall platen, the casing of getting in stocks, parking space platen, the casing of unloading goods.Last parking stall platen with get in stocks that casing is single to be suspended in every traversing little frame.Parking space platen, unload goods casing and transverse-moving mechanism are conjuncted, are arranged on each column position of lower railway.
The flow process of one one-hoisting dual-purpose multi-position conveying robot access dolly and goods now is described.Total car walking in a horizontal state of walking arrives the column in corresponding access parking stall or goods yard, and corresponding traversing dolly is stopped at original position, and all the other traversing dollies are removed these row (when operation, walking is carried out simultaneously with traversing) referring to Fig. 7-1.Flow process one: go up parking stall platen 74 and all be suspended in the traversing dolly 73, No. 11～No. 71 left the room move row, rest on original position No. 41, elevating mechanism is started working, and the carrier 72 that is suspended at the cable wire bottom is done descending motion.After guide post 45 guiding on the bellmouth orifice 31 of carrier 72 and the last parking stall platen, move downward, after the triangle leading truck is with groove 25 and the two short-range accurate location of a triangle leading truck of taper, put parking stall platen 74 frameworks and traversing dolly 73 frameworks in the carrier 72 framework bottoms.At this moment, suspension rod (bar suspends) 46 cooperated with suspension rod slotted eye 29, sends signal after the lower position switch work on the locking rope device, and descending motion suspends.At this moment, the tractive magnet 32 in the locking bar device promotes locking bar 37 under the situation of energising, and locking bar 37 pins suspension rod 46 (bar suspends), when locking bar 37 front sides arrive appointed positions, and inductive switch 40 work.The collaborative upward parking stall platen short distance lifter motion of carrier simultaneously, when being promoted to 25cm, the spiral encoder sends signal according to the height that this layer sets in advance, and rising stops.The traversing dolly of below is removed these row left No. 41, and when moving on to the sky row on the left side, the position-sensing switch that is installed on the rear cross beam back sends signal, and this moment, elevating mechanism descended once more in ground.Lower position switch action on the locking rope device simultaneously, descending motion finishes.After dolly sails the parking stall platen into, by pressing the return button, the carrier 72 collaborative parking stall platens of going up begin ascending motion, when arriving this layer specified altitude assignment, suspend by the automatic program control of spiral encoder, this moment, 41 traversing dolly was retracted these row, after the position-sensing switch work at rear cross beam back, elevating mechanism is descending motion once more, under the effect by suspension rod (bar suspends) 46 and the two triangle leading truck of taper, suspension rod (bar suspends) 46 is suspended at the center of the two triangle leading truck of taper, and is positioned at the last plane of traversing dolly left-right longeron, goes up the parking stall platen simultaneously and is suspended in the traversing frame down.This moment is anti-send the lower position switch of rope device to work once more after, tractive magnet in the locking bar device 29 is under the situation of outage, drive the locking bar contractile motion, separated with suspension rod (bar suspends) 46 with hour locking lever 37, after the separation, the inductive switch 40 of locking bar front end sends signal, and at this moment carrier begins to promote return.
Flow process two: a column position is all moved to the left side in No. 14～No. 74 positions of traversing dolly, is stopped at original position No. 44.Elevating mechanism is started working, and the carrier 72 that is suspended at the cable wire bottom is done descending motion.After guide post 54 guiding on the bellmouth orifice 31 of carrier 72 and the casing of getting in stocks, move downward, simultaneously the triangle leading truck with groove 25 and the short-range accurate location of single triangle leading truck of taper after, carrier puts container body 74 framework uppers in the 72 framework bottoms.At this moment, suspension rod 56 has cooperated with suspension rod slotted eye 29, sends signal after the lower position switch work on the locking rope device, and descending motion suspends.At this moment, the tractive magnet 32 in the locking bar device promotes locking bar 37 under the situation of energising, and locking bar 37 pins suspension rod 56, when locking bar 37 front sides arrive appointed positions, and inductive switch 40 work.The collaborative casing short distance lifter motion of getting in stocks of carrier simultaneously, when being promoted to 40cm, the spiral encoder sends signal according to the height that this layer sets in advance, and rising stops.The traversing dolly of below is removed these row, and when traversing dolly moved to three column positions, the position-sensing switch that is installed on the rear cross beam sent signal, and descending motion is to ground once more for lift at this moment, and the lower position switch work on the locking rope device descends and finishes.When goods is packed the container body into, after pressing the return button, the carrier 72 collaborative casing 74 beginning ascending motions of getting in stocks, when arriving the specified altitude assignment of this layer, the automatic control of spiral encoder stops, this moment, 44 traversing dolly was retracted these row, after the position-sensing switch work of rear cross beam, lift is descending motion once more, bar 57 is suspended in the traversing little frame with the upper and lower container body of the guide effect of the two triangle leading truck of taper bottom by suspending, the bar 57 that suspends is suspended at the center of the two triangle leading truck of taper, and is positioned at the last plane of traversing dolly left-right longeron.After the lower position switch of locking rope device was worked once more at this moment, the tractive magnet in the locking bar device 29 drove the locking bar contractile motion under the situation of outage, separated with suspension rod 56 with hour locking lever 37, after the separation, the inductive switch 40 of locking bar front end sends signal, and at this moment carrier begins to promote return.
Other picks up the car, gets goods and bicycle parking, storage goods flow process is consistent.
Annotate: motor function: the walking and the traversing of each traversing dolly of the total car of (1) walking are carried out simultaneously, and walking has frequency conversion function with motor, lifting electricity consumption facility.(2) depositing, withdrawing the vehicle time is controlled in the industry standard fully.(3) electric by PLC control, by the height of each action of each layer of the unified control of spiral encoder, can be by the fast access of single realization to vehicle and goods.(4) Public Parking reason special messenger operates, in that fixedly parking lot reason magnetic card, password or fingerprint are operated automatically.
Claims (2)
1, an a kind of one-hoisting dual-purpose multi-position conveying robot is characterized in that it comprises carrying mechanism,
Described carrying mechanism is suspended at the total frame of walking mechanism bottom, mainly by carrier framework (23), rearview mirror groove (24), taper triangle leading truck groove (25), lifting buffer unit (26), only shake bar hole (27), suspension rod slotted eye (28), locking bar device (29), horn base (30), bellmouth orifice formations such as (31), carrier framework (23) is linked to each other with four cable wires (22) by lifting buffer unit (26), the rearview mirror groove provides the space for the dolly rearview mirror, the taper triangle leading truck two triangle leading truck (67) of groove (25) and taper, the mating reaction of single triangle leading truck of taper (58) short distance guiding, lifting buffer unit (26) is connected with cable wire (22), only shake bar hole (27) with only shake bar (9) and combine with anti-rock, suspension rod slotted eye (28) and suspension rod (56), suspension rod (46) (bar suspends) mating reaction, locking bar (37) in the locking bar device (29) pins or separation suspension rod (56), suspension rod (46) (bar suspends), establish bellmouth orifice (31) on the horn base (30), bellmouth orifice (31) and guide post (45) and guide post (54) rise are from mating reaction;
2, one one-hoisting dual-purpose multi-position conveying robot also comprises: insulation control line reel (18), control line cable (21), the anti-wire jumper of control line reel rolls bridge (19), it is characterized in that in whole carrier decline process, the control line cable (21) that insulation control line reel (18) upward twines can be accompanied and be descended, revolve about insulation control line reel (18) divides and make and one, the control line that left-handed reel partly twines (21) is done identical rising or descending motion, the anti-wire jumper of control line reel rolls bridge (19) and is close to insulation control line reel (18) side, in case control line cable (21) job-hopping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102129280A CN101480796B (en) | 2008-09-06 | 2008-09-06 | One-hoisting dual-purpose multi-position conveying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102129280A CN101480796B (en) | 2008-09-06 | 2008-09-06 | One-hoisting dual-purpose multi-position conveying robot |
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| Publication Number | Publication Date |
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| CN101480796A true CN101480796A (en) | 2009-07-15 |
| CN101480796B CN101480796B (en) | 2010-06-02 |
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| CN2008102129280A Expired - Fee Related CN101480796B (en) | 2008-09-06 | 2008-09-06 | One-hoisting dual-purpose multi-position conveying robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105593141A (en) * | 2013-09-30 | 2016-05-18 | 村田机械株式会社 | Storage warehouse |
| CN106065720A (en) * | 2016-01-29 | 2016-11-02 | 傅婉娜 | One is cut sweep outfit charger and fills the multi-storied garage of two electric automobiles |
| CN106241154A (en) * | 2012-12-10 | 2016-12-21 | 杰克布海特兰德物流有限公司 | Stocking system |
| CN106285114A (en) * | 2016-01-29 | 2017-01-04 | 傅婉娜 | Steel cable promotes the multi-storied garage of a chassis |
| CN107630892A (en) * | 2017-10-30 | 2018-01-26 | 杭州极木科技有限公司 | A kind of composite machine lock construction |
| CN110980086A (en) * | 2019-12-17 | 2020-04-10 | 广州华恒物流有限公司 | RGV lifting system |
| CN111470235A (en) * | 2020-04-24 | 2020-07-31 | 深圳市鲸仓科技有限公司 | Material box transfer method, three-dimensional storage system and warehouse-in and warehouse-out system thereof |
-
2008
- 2008-09-06 CN CN2008102129280A patent/CN101480796B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106241154A (en) * | 2012-12-10 | 2016-12-21 | 杰克布海特兰德物流有限公司 | Stocking system |
| CN106241154B (en) * | 2012-12-10 | 2018-08-10 | 杰克布海特兰德物流有限公司 | Stocking system |
| CN105593141A (en) * | 2013-09-30 | 2016-05-18 | 村田机械株式会社 | Storage warehouse |
| US9991144B2 (en) | 2013-09-30 | 2018-06-05 | Murata Machinery, Ltd. | Storage warehouse |
| CN106065720A (en) * | 2016-01-29 | 2016-11-02 | 傅婉娜 | One is cut sweep outfit charger and fills the multi-storied garage of two electric automobiles |
| CN106285114A (en) * | 2016-01-29 | 2017-01-04 | 傅婉娜 | Steel cable promotes the multi-storied garage of a chassis |
| CN107630892A (en) * | 2017-10-30 | 2018-01-26 | 杭州极木科技有限公司 | A kind of composite machine lock construction |
| CN110980086A (en) * | 2019-12-17 | 2020-04-10 | 广州华恒物流有限公司 | RGV lifting system |
| CN111470235A (en) * | 2020-04-24 | 2020-07-31 | 深圳市鲸仓科技有限公司 | Material box transfer method, three-dimensional storage system and warehouse-in and warehouse-out system thereof |
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|---|---|
| CN101480796B (en) | 2010-06-02 |
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