CN103771068A

CN103771068A - Intelligent obstacle-free and stereoscopic access device with all degrees of freedom

Info

Publication number: CN103771068A
Application number: CN201410050134.4A
Authority: CN
Inventors: 王瑞良
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-02-13
Filing date: 2014-02-13
Publication date: 2014-05-07
Anticipated expiration: 2034-02-13
Also published as: CN103771068B

Abstract

The invention relates to an intelligent obstacle-free and stereoscopic access device with all degrees of freedom. In the access device, frame bodies comprise crossed vertical and horizontal cogged rails; a positioning lock disc B with nine lock columns is fixed at each intersection; each cogged rail comprises an anti-falling plate, a groove shaped steel plate and a rack; walking mechanical feet are fixed at the four corners of each movable platform; two groups of corresponding vertical and horizontal gears and motors are respectively mounted on the front side of each walking mechanical foot; a telescopic positioning lock disc A is arranged in the middle of each walking mechanical foot; nine slotted holes are formed in each telescopic positioning lock disc A; if the walking mechanical feet derail at the intersections of the cogged rails, the positioning lock discs A stretch out; the slotted holes of the positioning lock discs A are buckled to the positioning lock columns of the positioning lock discs B and firmly lock the positioning lock discs B; vertical and horizontal rollers are mounted on the side edge of each walking mechanical foot, so as to reduce the friction between each walking mechanical foot and the cogged rails; a hollow column is fixed on the back face of each walking mechanical foot; a vertical connection plate and a horizontal connection plate are welded to the hollow column; the vertical connection plate and the horizontal connection plate are connected with each walking mechanical foot; obstacle-free track transferring movement of automobiles (goods) is achieved through the walking mechanical feet and the cogged rails; multiple movable platforms simultaneously operate on the vertical and horizontal cogged rails. The access device has the advantages as follows: efficiency is high, space utilization rate is high, energy is saved, operation is simple and reliable and maintenance cost is low.

Description

The accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom

Technical field

The present invention relates to a kind of three-dimensional device for storing and retrieving, particularly relate to one for sedan car garage and Storage of Goods, low power consuming, the efficiently accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom.

Background technology

As everyone knows, at present, existing multi-storied garage and storage facilities mostly are parallel-moving type, lifting type and stack type etc., and multilayer parking stall or goods yard are specified and arranged, require to enter once vehicle or goods simultaneously, because depositing by monomer, therefore essential wait is below that access is discontinuous and can not carry out work simultaneously, inefficiency, maintenance rate is high, meanwhile, also cannot realize right angle and transverse and longitudinal transposition.

Summary of the invention

Main purpose of the present invention is to overcome above deficiency and provides a kind of for sedan car garage and Storage of Goods, low power consuming, the efficiently accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom.

The technical solution adopted for the present invention to solve the technical problems is: it comprises:

1.. support body: support body adopts the high strength troughing plate with anticreep plate, in troughing plate, be welded with along its length tooth bar, troughing plate and tooth bar with anticreep plate form rack rails, rack rails is vertical and horizontal the track that has point of crossing, and mobile platform is freely walked by four the walking machines foots longitudinal and transverse direction in the space of two adjacent support bodys being fixed on the rack rails of vertical and horizontal;

2.. mobile platform: it is slide trolley plate that the front of mobile platform is placed with AGV; The back side of mobile platform is welded into four frames with square steel, and fixing with bolt and walking machine foot, the back side of mobile platform is also fixed with I, II, III, IV four Battery packs, charger and controlled in wireless case, controlled in wireless case by different conductor respectively the signal transceiver fixing with one jiao of place of walking machine foot, four Battery packs, charger and mobile platform be connected;

3.. walking machine foot: walking machine foot comprises shell, A motor, longitudinally walking gear, B motor, laterally walking gear, A locates lock collar, vertical, laterally roller, hollow pillar, longitudinally connecting panel and cross connecting plate, the front of shell has relatively and line of centers is parallel to each other two fixing A motors of position, it passes through axle, bolt is connected with two longitudinal gears respectively with bearing, two relatively and center two the fixing B motors of position that are parallel to each other be connected with two transverse gears respectively with bearing by axle, in the middle of the front of shell, locate lock collar with A, in the lock collar of A location, have nine slotted eyes, A location lock collar can be done fore and aft motion under the driving of electronic thrust cylinder, electronic thrust cylinder is bolted on the below of A location lock collar, the side on shell four limits is fixed with respectively totally 12 of three longitudinal and transverse direction rollers of A, totally 8 of two B vertical, horizontal rollers are fixed respectively at four angles of plane place at the back side of shell, the centre, the back side of shell is fixed with the hollow pillar being welded on square plate, the upper surface of hollow pillar is welded with respectively orthogonal longitudinal connecting panel and cross connecting plate, longitudinally connecting panel is connected with four frames 8 on mobile platform by bolt with cross connecting plate, and four angles at the shell back side and A motor and B motor corresponding position have motor radiating hole, walking machine foot travels on vertical and horizontal rack rails, and the point of crossing place of vertical and horizontal rack rails is fixed with B location lock collar, on it, locates locks with nine.

The present invention can also adopt following technical measures:

In two described B vertical, horizontal rollers, each B vertical, horizontal roller is corresponding fixing with the A vertical, horizontal roller at two ends in the A vertical, horizontal roller of three of sides respectively;

The fixing B in point of crossing place of described vertical and horizontal rack rails locates has the cross dimensions of nine location locks corresponding with nine slotted eyes in the lock collar of A location with position in lock collar;

Nine slotted eyes in the lock collar of described A location with in the lock collar of B location, have nine section profiles of tooth of locating locks all with tooth bar on profile of tooth consistent.

Advantage and good effect that the present invention has are: adopt the accessible walking machine of full degree of freedom foot and rack rails to realize to transport automobile or the accessible change rail of goods moves, multi-platform while grade separation, right angle become rail access operation, access speed is fast, work efficiency is high, energy-conservation, space availability ratio is high, and maintenance cost is low, and intellectualized operation is simple and reliable.

Accompanying drawing explanation

Fig. 1 is integral structure schematic diagram of the present invention;

Fig. 2 is the structural representation that slides supporting plate front;

Fig. 3 is the structural representation that slides the supporting plate back side;

Fig. 4 is the positive structural representation of walking machine foot;

Fig. 5 is the structural representation of walking machine instep face;

Fig. 6 is the structural representation of the intersection of vertical and horizontal rack rails;

Fig. 7 is C-C sectional structure schematic diagram of Fig. 6;

Fig. 8 is D-D sectional structure schematic diagram of Fig. 6.

In Fig. 1-Fig. 8: 1. support body, 2. anticreep plate, 3. troughing plate, 4. tooth bar,

5. rack rails, 6. mobile platform, 7. slide trolley plate, 8. four frames, 9. bolt,

10. walking machine foot, 11. batteries, 12. chargers, 13. controlled in wireless casees,

13-1 wire, 14. signal transceivers, 15. shells, 16.A motor, 17. longitudinal walking gears,

18.B motor, 19. horizontal walking gears, 20.A locates lock collar, and 20-1.B locates lock collar,

21.A vertical, horizontal roller, 22. hollow pillars, 23. longitudinal connecting panels, 24. cross connecting plates, 25.B vertical, horizontal roller, 26. motor radiating holes, 27. point of crossings, 28. location locks.

The specific embodiment

For further understanding hereby following examples for example of summary of the invention Characteristic of the present invention, and coordinate accompanying drawing to be described in detail as follows, refer to Fig. 1-Fig. 8.

as shown in Fig. 1, Fig. 7, Fig. 8:support body 1 adopts the high strength troughing plate 3 with anticreep plate 2, is welded with along its length tooth bar 4 in troughing plate 3, forms rack rails 5 with troughing plate 3 and the tooth bar 4 of anticreep plate 2, as shown in Fig. 6:rack rails 5 is vertical and horizontal the track that has point of crossing 27, the fixing B location lock collar 20-1 of point of crossing 27 places, in the lock collar 20-1 of B location, locate locks 28 with nine, the cross dimension of location lock 28 is corresponding with nine apertures in the lock collar 20 of A location with position, in addition, nine slotted eyes in the lock collar 20 of described A location with on the lock collar 20-1 of B location, have nine section profiles of tooth of locating locks 28 all with tooth bar 4 on profile of tooth consistent, four walking machines foots 10 on the rack rails 5 of vertical and horizontal are longitudinal and transverse in the space of two adjacent support bodys 1 by being fixed on for mobile platform 6, upper and lower is to free walking, as shown in Fig. 2, Fig. 3:the front of mobile platform 6 is placed with the AGV slide trolley plate 7 of prior art, the back side of mobile platform 6 is welded into four frames 8 with square steel, fixing with walking machine foot 10 with bolt 9, the back side of mobile platform 6 be also fixed with I, II, III, IV four Battery packs 11, charger 12 and controlled in wireless case 13, controlled in wireless case 13 by different conductor 13-1 respectively the signal transceiver 14 fixing with walking machine foot 10, four Battery packs 11, charger 12 and 6 one jiaos of places of mobile platform be connected, controlled in wireless case 13 can be controlled charger 12 by signal transceiver 14 and charges and regulate walking machine 10 action enough for I, II, III, IV four Battery packs 11, as shown in Fig. 4, Fig. 5: walking machine foot 10 comprises shell 15, A motor 16, longitudinally walking gear 17, B motor 18, laterally walking gear 19, A locates lock collar 20, vertical, laterally roller 21, hollow pillar 22, longitudinally connecting panel 23 and cross connecting plate 24, the front of shell 15 has relatively and line of centers is parallel to each other two fixing A motors 15 of position, it passes through axle, bolt is connected with two longitudinal gears 17 respectively with bearing, two relatively and center two the fixing B motors 18 of position that are parallel to each other be connected with two transverse gears 19 respectively with bearing by axle, two pairs, the front of shell 15 is vertical, laterally

walking gear

17, 19 centre is with determining A position lock collar 20, in the lock collar 20 of A location, have nine apertures, the cross dimension of nine apertures in the lock collar 20 of A location is corresponding with cross dimension and the position of the upper nine location locks 28 of point of crossing 27 B of place location lock collar 20-1 of vertical and horizontal rack rails with position, nine slotted eyes in the lock collar 20 of described A location with on the lock collar 20-1 of B location, have nine section profiles of tooth of locating locks 28 all with tooth bar 4 on profile of tooth consistent, A location lock collar 20 can be done fore and aft motion under the driving of electronic thrust cylinder cylinder, electronic thrust cylinder is bolted on the below of A location lock collar 20, walking machine foot 10 travels on vertical and horizontal rack rails 5, in the time that walking machine foot 10 drives to point of crossing 27 place of vertical and horizontal rack rails 5, if there is dangerous situation, as the longitudinal walking gear 17 on walking machine foot 10 and horizontal walking gear 19 sideslip and while stinging incessantly tooth bar 4 in the process of moving, controlled in wireless case 12 is passed to the electronic thrust cylinder the lock collar 20 of A location immediately by flutter the information of grasping from signal transceiver 14, now, electronic thrust cylinder action, and being located to lock collar 20, stretches out A, nine apertures in the lock collar 20 of A location are buckled in also locking on nine location locks 28 in the lock collar 20-1 of B location exactly, thereby walking machine foot 10 safety that are in operation are guaranteed, it is vertical that the side on shell 15 4 limits is fixed with respectively three A, totally 12 of transverse direction rollers 21, totally 8 of two B vertical, horizontal rollers 25 are fixed respectively at four angles of plane place at the back side of shell 15, and in two described B vertical, horizontal rollers 25, each B vertical, horizontal roller 25 is corresponding fixing with the A vertical, horizontal roller 21 at two ends in the A vertical, horizontal roller 21 of three of sides respectively, when walking machine foot 10 moves in rack rails 5, A is vertical, transverse direction roller 21 and B are vertical, laterally roller 25 reduces respectively the friction of walking machine foot 10 and grooved steel plate 3 inwalls and anticreep plate 2 inwalls, and assurance walking machine foot 10 smooth runnings, the centre, the back side of shell 15 is fixed with the hollow pillar 22 being welded on square plate, on hollow pillar 22, be welded with respectively orthogonal longitudinal connecting panel 23 and cross connecting plate 24, longitudinally connecting panel 23 is connected with four frames 8 at mobile platform 6 back sides by bolt 9 or welding respectively with cross connecting plate 24, four angles at shell 15 back sides and A motor 16 and B motor 18 corresponding positions have motor radiating hole 26, described walking machine foot 10 packs into from rack rails 5 ends.

When operation, first, automobile is reached on mobile platform 6, mobile platform 6 vertically moves along rack rails 5 is traversing forward by walking machine foot 10 again, until mobile platform 6 is parked in to certain one deck place of support body 1, AGV slide trolley plate 7 on recycling mobile platform 6 blocks wheel automobile is again moved to and specifies parking stall, and multiple mobile platforms 6 can be worked simultaneously, do not interfere with each other.

Its advantage is: adopt the accessible walking machine of full degree of freedom foot and rack rails to realize to transport automobile or the accessible change rail of goods moves, multi-platform while grade separation, right angle become rail access operation, access speed is fast, work efficiency is high, energy-conservation, space availability ratio is high, and maintenance cost is low, and intellectualized operation is simple and reliable.

Above-described embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that those of ordinary skills make technical scheme of the present invention, all should fall in the definite protection domain of the claims in the present invention book.

Claims

1. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom, it comprises support body, mobile platform and track, it is characterized in that: it comprises:

1.. support body (1): support body (1) adopts the high strength troughing plate (3) with anticreep plate (2), in troughing plate (3), be welded with along its length tooth bar (4), troughing plate (3) and tooth bar (4) with anticreep plate (2) form rack rails (5), rack rails (5) is vertical and horizontal the track that has point of crossing (27), mobile platform (6) is indulged the space of adjacent two support bodys (1) in by four the walking machines foots (10) that are fixed on the rack rails (5) of vertical and horizontal, transverse direction is freely walked,

2.. mobile platform (6): it is slide trolley plate 7 that the front of mobile platform (6) is placed with AGV; The back side of mobile platform (6) is welded into four frames (8) with square steel, and fixing with bolt (9) and walking machine foot (10), the back side of mobile platform (6) is also fixed with I, II, III, IV four Battery packs (11), charger (12) and controlled in wireless case (13), controlled in wireless case (13) by different conductor (13-1) respectively the signal transceiver (14) fixing with one jiao of place of walking machine foot (10), four Battery packs (11), charger (12) and mobile platform (6) be connected;

3.. walking machine foot (10): walking machine foot (10) comprises shell (15), A motor (16), longitudinally walking gear (17), B motor (18), laterally walking gear (19), A location lock collar (20), vertical, laterally roller (21), hollow pillar (22), longitudinally connecting panel (23) and cross connecting plate (24), the front of shell (15) has relatively and line of centers is parallel to each other fixing two A motors (16) in position, it passes through axle, bolt is connected with two longitudinal gears (17) respectively with bearing, two relatively and center fixing two the B motors (18) in position that are parallel to each other be connected with two transverse gears (19) respectively with bearing by axle, in the middle of the front of shell (15), locate lock collar (20) with A, in A location lock collar (20), have nine slotted eyes, A location lock collar (20) can be done fore and aft motion under the driving of electronic thrust cylinder, electronic thrust cylinder is bolted on A location lock collar (20) below, the side on shell (15) four limits is fixed with respectively totally 12 of three longitudinal and transverse direction rollers of A (21), it is vertical that two B are fixed respectively at four angles of plane place at the back side of shell (15), laterally totally 8 of rollers (25), the centre, the back side of shell (15) is fixed with the hollow pillar (22) being welded on square plate, the upper surface of hollow pillar (22) is welded with respectively orthogonal longitudinal connecting panel (23) and cross connecting plate (24), longitudinally connecting panel (23) is connected with four frames (8) on mobile platform (6) by bolt with cross connecting plate (24), four angles at shell (15) back side and A motor (16) and B motor (18) corresponding position have motor radiating hole (26), walking machine foot (10) travels on vertical and horizontal rack rails (5), the point of crossing (27) of vertical and horizontal rack rails (5) locates to be fixed with B location lock collar (20-1), on it, locates locks (28) with nine.

2. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1, is characterized in that: in described two B vertical, horizontal rollers (25), each B vertical, horizontal roller (25) is corresponding fixing with the A vertical, horizontal roller (21) at two ends in three the A vertical, horizontal rollers in side (21) respectively.

3. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1, is characterized in that: the point of crossing (27) of described vertical and horizontal rack rails locates to have in fixing B location lock collar (20-1) cross dimensions of nine location locks (28) corresponding with nine slotted eyes in A location lock collar (20) with position.

4. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1, is characterized in that: nine slotted eyes in described A location lock collar (20) with in B location lock collar (20-1), have nine section profiles of tooth of locating locks (28) all with tooth bar (4) on profile of tooth consistent.