CN103771068B - Intelligent obstacle-free and stereoscopic access device with all degrees of freedom - Google Patents
Intelligent obstacle-free and stereoscopic access device with all degrees of freedom Download PDFInfo
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- CN103771068B CN103771068B CN201410050134.4A CN201410050134A CN103771068B CN 103771068 B CN103771068 B CN 103771068B CN 201410050134 A CN201410050134 A CN 201410050134A CN 103771068 B CN103771068 B CN 103771068B
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- horizontal
- positioning lock
- plate
- lock collar
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 6
- 239000010959 steel Substances 0.000 claims abstract description 6
- 239000004020 conductor Substances 0.000 claims description 3
- 238000002156 mixing Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000036339 tooth positioning Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009183 running Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
Technical field
The present invention relates to a kind of three-dimensional device for storing and retrieving, more particularly to one kind are used for sedan car garage and Storage of Goods, low consumption
Can, the efficiently accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom.
Background technology
It is known that at present, existing multi-storied garage and storage facilities mostly are parallel-moving type, lifting type and stack type etc., that is,
Arrangement is specified, once vehicle or goods require into fashionable, because being deposited monomer, therefore below simultaneously in multilamellar parking stall or goods yard
Must wait, and can not be operated simultaneously access discontinuous, inefficiency, maintenance rate is high, also cannot realize meanwhile
Right angle and transverse and longitudinal transposition.
Content of the invention
Present invention is primarily targeted at overcoming above not enough and providing one kind to be used for sedan car garage and Storage of Goods, low consumption
Can, 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 includes:
1.. support body: support body, using the high intensity troughing plate with anticreep plate, welds in troughing plate along its length
It is fixed with tooth bar, the troughing plate with anticreep plate and tooth bar constitute rack rails, rack rails is vertical and horizontal the rail having cross point
Road, mobile platform is by four walking machines foot of being fixed on the rack rails of vertical and horizontal in the space of two adjacent support bodys
Freely walk in interior longitudinal and transverse direction；
2.. mobile platform: it is slide trolley plate that the front of mobile platform is placed with agv；The back side square steel of mobile platform
Be welded into four frames, blending bolt is fixing enough with walking machine, the back side of mobile platform is further fixed on,, four Battery packs,
Charger and controlled in wireless case, controlled in wireless case pass through different conductor respectively with walking machine foot, four Battery packs, charger and shifting
At a jiao of moving platform, fixing signal transceiver connects；
3.. walking machine foot: walking machine includes shell, a motor, longitudinal walking gear, b motor, tooth of laterally walking enough
Wheel, a positioning lock collar, vertical, horizontal roller, open tubular column, longitudinally connected plate and cross connecting plate, there is relative and center in the front of shell
Line is parallel to each other two fixing a motors of position, and it is passed through axle, bolt and bearing and is connected with two longitudinal gears respectively, two
Relatively and the center two fixing b motors of position that are parallel to each other pass through axle and bearing is connected with two transverse gears respectively, shell
Front in the middle of position lock collar with a, a positioning lock collar has nine slotted eyes, a positioning lock collar is under the driving of electronic thrust cylinder
Stretching motion can be done, electronic thrust cylinder is bolted on the lower section that a positions lock collar；The side on shell four side is respectively fixed with
Three a vertical, horizontal rollers totally 12；Two b vertical, horizontal rollers totally 8 are fixed respectively at four angles of the plane at the back side of shell,
The back side centre of shell is fixed with the open tubular column being welded on square plate, and the upper surface of open tubular column is respectively welded and is fixed with phase
Mutually vertical longitudinally connected plate and cross connecting plate, longitudinally connected plate and cross connecting plate pass through four on bolt and mobile platform
Frame 8 connects, and four angles of shell rear surface have motor radiating hole with a motor and b motor corresponding position；Walking machine foot is vertical
Sail to up with horizontal rack rails, the intersection of vertical and horizontal rack rails is fixed with b positioning lock collar, carries nine positioning locks thereon
Post.
The present invention can also adopt following technical measures:
In two described b vertical, horizontal rollers each b vertical, horizontal roller respectively with side three a vertical, horizontal roller in
The corresponding fixation of a vertical, horizontal roller at two ends；
The fixing b of the intersection of described vertical and horizontal rack rails positions the transverse section having nine positioning locks in lock collar
Size and position are corresponding with nine slotted eyes in a positioning lock collar；
Nine slotted eyes that described a positions in lock collar position with b have in lock collar the section profiles of tooth of nine positioning locks all with
Profile of tooth on tooth bar is consistent.
The present invention has the advantages and positive effects that: be can achieve using full degree of freedom accessible walking machine foot and rack rails
Transport automobile or the accessible rail that becomes of goods move, multi-platform crossings on different level simultaneously, right angle become rail access and run, and access speed is fast,
High working efficiency, energy-conservation, space availability ratio is high, and maintenance cost is low, and intellectualized operation is simple and reliable.
Brief description
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the structural representation sliding supporting plate front；
Fig. 3 is the structural representation sliding the supporting plate back side；
Fig. 4 is the structural representation in walking machine foot front；
Fig. 5 is the structural representation in walking machine instep face；
Fig. 6 is the structural representation of the intersection of vertical and horizontal rack rails；
Fig. 7 is the c c cross section structure diagram of Fig. 6；
Fig. 8 is the d d cross section structure 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 frame, 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 positions lock collar, and 20-1.b positions lock collar,
21.a vertical, horizontal roller, 22. open tubular columns, 23. longitudinally connected plates, 24. cross connecting plates, 25.b vertical, horizontal is rolled
Post, 26. motor radiating holes, 27. cross points, 28. positioning locks.
Specific embodiment
Content of the invention feature and effect for further appreciating that the present invention is hereby illustrated following examples, and coordinates accompanying drawing detailed
Carefully it is described as follows, refer to Fig. 1-Fig. 8.
As shown in Fig. 1, Fig. 4, Fig. 6, Fig. 7, Fig. 8: support body 1 adopts the high intensity troughing plate 3 with anticreep plate 2, in groove
It is welded with tooth bar 4 along its length, the troughing plate 3 with anticreep plate 2 and tooth bar 4 constitute rack rails 5, tooth in shape steel plate 3
Rail 5 is vertical and horizontal the track having cross point 27, and fixing b positioning lock collar 20-1 at cross point 27, in b positioning lock collar 20-1
With nine positioning locks 28, nine apertures that the cross dimension of positioning lock 28 is positioned with a in lock collar 20 with position are relative
Should, in addition, nine slotted eyes that described a positions in lock collar 20 are positioned with b and have the section of nine positioning locks 28 in lock collar 20-1
Profile of tooth is all consistent with the profile of tooth on tooth bar 4；Mobile platform 6 is by four vehicle with walking machines being fixed on the rack rails 5 of vertical and horizontal
Tool foot 10 in the space of two adjacent support bodys 1 longitudinal and transverse, upper and lower to free walking；As shown in Figure 1, Figure 2, Figure 3 shows: mobile
The front of platform 6 is placed with the agv slide trolley plate 7 of prior art；The back side square steel of mobile platform 6 is welded into four frames 8, uses
Bolt 9 is fixing with walking machine foot 10, the back side of mobile platform 6 is further fixed on,, four Battery packs 11, charger 12
Pass through different conductor 13-1 sufficient 10, four Battery packs 11, charging with walking machine respectively with controlled in wireless case 13, controlled in wireless case 13
At device 12 and 6 one jiaos of mobile platform, fixing signal transceiver 14 connects；It is controlled that controlled in wireless case 13 passes through signal transceiver 14
Charger 12 processed is,, four Battery packs 11 charge and adjust the action of walking machine foot 10；As Fig. 4, Fig. 5, Fig. 6 institute
Show: walking machine foot 10 includes shell 15, a motor 16, longitudinal walking gear 17, b motor 18, horizontal walking gear 19, a positioning
Lock collar 20, a vertical, horizontal roller 21, open tubular column 22, longitudinally connected plate 23 and cross connecting plate 24, the front of shell 15 has relatively
And centrage is parallel to each other two fixing a motors 16 of position, it pass through axle, bolt and bearing respectively with two longitudinal walking teeth
Wheel 17 connection, two relatively and center be parallel to each other two fixing b motors 18 of position pass through axle and bearing respectively with two horizontal strokes
Connect to walking gear 19, the front two of shell 15 carries a to the centre of vertical, horizontal walking gear 17,19 and positions lock collar 20, a
Have nine apertures in positioning lock collar 20, a position the cross dimension of nine apertures in lock collar 20 and position with longitudinal and horizontal
To at the cross point 27 of rack rails, the cross dimensions of the upper nine positioning locks 28 of b positioning lock collar 20-1 are corresponding with position, described
A nine slotted eyes and the b that position in lock collar 20 position have in lock collar 20-1 the section profiles of tooth of nine positioning locks 28 all with tooth bar 4
On profile of tooth consistent, a positioning lock collar 20 can do stretching motion under the driving of electronic thrust cylinder, and it is solid that electronic thrust cylinder passes through bolt
It is scheduled on the lower section that a positions lock collar 20, walking machine foot 10 travels on vertical and horizontal rack rails 5, when walking machine foot 10 traveling
During at the cross point 27 of vertical and horizontal rack rails 5, if there is unsafe condition, such as the longitudinal direction walking on walking machine foot 10
Gear 17 and horizontal walking gear 19 in the process of moving sideslip and sting incessantly tooth bar 4 when, then controlled in wireless case 13 will be from signal
Transceiver 14 is flutterred the information grasped and is passed to the electronic thrust cylinder that a positions under lock collar 20 immediately, now, electronic thrust cylinder action, and
A is positioned lock collar 20 stretch out, nine apertures that a positions in lock collar 20 are buckled in nine positioning locks in b positioning lock collar 20-1 exactly
On post 28 and lock, thus ensure that the safety that walking machine foot 10 is in operation, the side on shell 15 4 side is respectively fixed with
Three a vertical, horizontal rollers 21 totally 12；Two b vertical, horizontal rollers 25 are fixed respectively at four angles of the plane at the back side of shell 15
Totally 8, in two described b vertical, horizontal rollers 25 each b vertical, horizontal roller 25 respectively with side three a vertical, horizontal roller
The corresponding fixation of a vertical, horizontal roller 21 at two ends in 21；When walking machine foot 10 runs in rack rails 5, a vertical, horizontal roller 21
Reduce the friction of walking machine foot 10 and grooved steel plate 3 inwall and anticreep plate 2 inwall, Er Qiebao with b vertical, horizontal roller 25 respectively
Card walking machine foot 10 even runnings, the back side centre of shell 15 is fixed with the open tubular column 22 being welded on square plate, empty
It is respectively welded on stem 22 and be fixed with orthogonal longitudinally connected plate 23 and cross connecting plate 24, longitudinally connected plate 23 and laterally
Connecting plate 24 passes through bolt 9 respectively or welding is connected with four frames 8 at mobile platform 6 back side, four angles at shell 15 back side and a
Motor 16 and b motor 18 corresponding position have motor radiating hole 26, and described walking machine foot 10 loads from rack rails 5 end.
During operation, first, automobile is reached on mobile platform 6, mobile platform 6 by walking machine foot 10 along rack rails 5 to
Front traversing vertically move again, until mobile platform 6 is parked at a certain layer of support body 1, recycle the agv on mobile platform 6 to slide
Row dolly plate 7 blocks wheel and moves again to specify parking stall by automobile, and multiple mobile platforms 6 can work simultaneously, does not interfere with each other.
Its advantage is: can achieve that transport automobile or goods are accessible using full degree of freedom accessible walking machine foot and rack rails
Become rail to move, multi-platform crossings on different level simultaneously, right angle become rail access and run, and access speed is fast, high working efficiency, energy-conservation, space
Utilization rate is high, and maintenance cost is low, and intellectualized operation is simple and reliable.
Embodiment described above is only that the preferred embodiment of the present invention is described, the not model to the present invention
Enclose and be defined, on the premise of without departing from design spirit of the present invention, the technical side to the present invention for the those of ordinary skill in the art
Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.
Claims (4)
1. the accessible three-dimensional device for storing and retrieving of a kind of intelligent full degree of freedom, it includes support body, mobile platform and track, and its feature exists
In: it includes:
1.. support body (1): support body (1) is using the high intensity troughing plate (3) with anticreep plate (2), edge in troughing plate (3)
Length direction is welded with tooth bar (4), and the troughing plate (3) with anticreep plate (2) and tooth bar (4) constitute rack rails (5), rack rails
(5) it is vertical and horizontal the track having cross point (27), mobile platform (6) is by being fixed on the rack rails (5) of vertical and horizontal
On four walking machines foot (10) freely walk in longitudinal and transverse direction in the space of two adjacent support bodys (1)；
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)
It is welded into four frames (8) with square steel, blending bolt (9) is fixing with walking machine foot (10), and the back side of mobile platform (6) is further fixed on
,, four Battery packs (11), charger (12) and controlled in wireless case (13), controlled in wireless case (13) passes through different conductor
(13-1) respectively with walking machine foot (10), four Battery packs (11), one jiao of charger (12) and mobile platform (6) at fixation
Signal transceiver (14) connects；
3.. walking machine foot (10): walking machine foot (10) includes shell (15), a motor (16), longitudinal walking gear (17), b
Motor (18), horizontal walking gear (19), a positioning lock collar (20), a vertical, horizontal roller (21), open tubular column (22), longitudinally connected
Plate (23) and cross connecting plate (24), the front of shell (15) has relatively and centrage is parallel to each other two fixing a electricity of position
Machine (16), it is passed through axle, bolt and bearing and is connected with two longitudinal gears (17) respectively, two with respect to and center be parallel to each other position
Put fixing two b motor (18) to be connected with two transverse gears (19) respectively, in the front of shell (15) by axle and bearing
Between with a positioning lock collar (20), a positioning lock collar (20) has nine slotted eyes, a positions the drive in electronic thrust cylinder for the lock collar (20)
Stretching motion can be done, electronic thrust cylinder is bolted on below a positioning lock collar (20) under dynamic；The side on shell (15) four side
It is respectively fixed with three a vertical, horizontal roller (21) totally 12；The plane at the back side of shell (15) fixes two at four angles respectively
B vertical, horizontal roller (25) totally 8, the back side centre of shell (15) is fixed with the open tubular column (22) being welded on square plate,
The upper surface of open tubular column (22) is respectively welded and is fixed with orthogonal longitudinally connected plate (23) and cross connecting plate (24), longitudinally
Connecting plate (23) and cross connecting plate (24) are connected with four frames (8) on mobile platform (6) by bolt, shell (15) back side
Four angles and a motor (16) and b motor (18) corresponding position have motor radiating hole (26)；Walking machine foot (10) is in longitudinal direction
The upper traveling with horizontal rack rails (5), cross point (27) place of vertical and horizontal rack rails (5) is fixed with b positioning lock collar (20-1), thereon
With nine positioning lock (28).
2. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1 it is characterised in that: described two
In individual b vertical, horizontal roller (25) each b vertical, horizontal roller (25) respectively with two ends in a vertical, horizontal roller (21) of side three
The corresponding fixation of a vertical, horizontal roller (21).
3. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1 it is characterised in that: described is vertical
Positioning to the fixing b in cross point (27) place with horizontal rack rails has the cross dimensions of nine positioning lock (28) in lock collar (20-1)
Nine slotted eyes positioning with a with position in lock collar (20) are corresponding.
4. the accessible three-dimensional device for storing and retrieving of intelligent full degree of freedom according to claim 1 it is characterised in that: described a
Nine slotted eyes in positioning lock collar (20) and b position has nine section profiles of tooth positioning lock (28) all and tooth in lock collar (20-1)
Profile of tooth on bar (4) is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410050134.4A CN103771068B (en) | 2014-02-13 | 2014-02-13 | Intelligent obstacle-free and stereoscopic access device with all degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410050134.4A CN103771068B (en) | 2014-02-13 | 2014-02-13 | Intelligent obstacle-free and stereoscopic access device with all degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103771068A CN103771068A (en) | 2014-05-07 |
| CN103771068B true CN103771068B (en) | 2017-01-25 |
Family
ID=50563928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410050134.4A Expired - Fee Related CN103771068B (en) | 2014-02-13 | 2014-02-13 | Intelligent obstacle-free and stereoscopic access device with all degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103771068B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590594B (en) * | 2022-03-14 | 2024-03-15 | 成都中光电科技有限公司 | Edge-blocking rod device beneficial to glass conveying stability |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3621974A1 (en) * | 1986-07-01 | 1988-01-28 | Paul Josef Schnelle | Mechanical garage facility, in particular for installing in a gap site |
| JP2737423B2 (en) * | 1991-03-06 | 1998-04-08 | 株式会社ダイフク | Automatic warehouse |
| JP2003095407A (en) * | 2001-09-25 | 2003-04-03 | Kiyoto Dezuki | Method for conveying article in and out using truck on table |
| CN102561769B (en) * | 2012-03-14 | 2014-08-20 | 浙江凯达奔克起重设备有限公司 | Exchange transmission device of three-dimensional garage |
| CN102839841A (en) * | 2012-09-22 | 2012-12-26 | 张维阳 | Huarong Road type three-dimensional garage |
| CN203714556U (en) * | 2014-02-13 | 2014-07-16 | 王瑞良 | Intelligent full degree of freedom barrier-free three-dimensional storing and fetching device |
-
2014
- 2014-02-13 CN CN201410050134.4A patent/CN103771068B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103771068A (en) | 2014-05-07 |
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Granted publication date: 20170125 |