WO2019024441A1 - A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse and an app application of the intelligent three-dimensional garage - Google Patents

A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse and an app application of the intelligent three-dimensional garage Download PDF

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Publication number
WO2019024441A1
WO2019024441A1 PCT/CN2018/071832 CN2018071832W WO2019024441A1 WO 2019024441 A1 WO2019024441 A1 WO 2019024441A1 CN 2018071832 W CN2018071832 W CN 2018071832W WO 2019024441 A1 WO2019024441 A1 WO 2019024441A1
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WO
WIPO (PCT)
Prior art keywords
longitudinal
transverse
pallet
rail
wheel
Prior art date
Application number
PCT/CN2018/071832
Other languages
French (fr)
Inventor
Chuanfeng YIN
Yichen YIN
Yang Xin
Changdong ZHAO
Original Assignee
Yin Chuanfeng
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yin Chuanfeng filed Critical Yin Chuanfeng
Publication of WO2019024441A1 publication Critical patent/WO2019024441A1/en

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks

Definitions

  • the present invention relates to a field of logistics and ware housing, and particularly to a handling device, specifically a robot, which is particularly suitable for accessing vehicles and cargos.
  • the invention of the three-dimensional storage device and the three-dimensional garage and other three-dimensional equipment improve the utilization of space.
  • intelligent handling equipment is usually required.
  • the conventional intelligent handling device which is usually only a unidirectional handling device and has a relatively large limitation, furthermore, after the handling device transports the storage or the vehicle to the destination location, the conventional handling equipment also needs to rely on forklift or manually transferring the storage or the vehicle from the handling device to the corresponding location, the operation is complex, time-consuming and laborious.
  • the present invention provides a longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse, and an APP application of the intelligent three-dimensional garage, which is a bidirectional handling device.
  • An aspect of the present invention provides a longitudinal-transverse robot 20,comprising a frame body 2, apackaging device, a longitudinal system, a transverse system, a charging receiving terminal 7, a hydraulic pumping station 3, a power supply and a longitudinal-transverse robotic electrical control system 6;
  • the packaging device is arranged above the frame body 2;
  • the transverse system comprising at least two groups of transverse driving devices, the two groups of transverse driving devices are parallel to each other and symmetrically arranged under the transverse direction of the frame body 2,
  • the longitudinal system comprising at least two groups of longitudinal driving devices, the two groups of longitudinal driving devices are parallel to each other and symmetrically arranged under the longitudinal direction of the frame body 2, the two groups of transverse driving devices and two groups of longitudinal driving devices are perpendicular to each other, the transverse system and longitudinal system are respectively connected with the hydraulic pumping station 3 and the longitudinal-transverse robotic electrical control system 6;
  • each group of the transverse driving devices comprising a transverse wheel bracket 12, a transverse wheel motor 11, a transverse wheel brake 10, a transverse wheel shaft 9, a transverse wheel lifting hydraulic cylinder 8 and a transverse wheel 13;
  • the transverse wheel shaft 9 passes through the two ends of the transverse wheel bracket 12, the transverse wheel brake 10 and the transverse wheel motor 11 are arranged inside the transverse wheel bracket 12, the transverse wheel brakes 10 is arranged on the transverse wheel shaft 9, and the transverse wheel motor 11 is connected to the transverse wheel shaft 9;
  • transverse wheel 13 are symmetrically arranged on two ends of the transverse wheel shaft 9, and the transverse wheel is configured with the transverse wheel lifting hydraulic cylinder 8;
  • the first end of at least two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly connected to the upper parts of the two ends of the transverse wheel bracket 12, the second end of at least two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly detachably connected to the lower parts of the frame body 2;
  • each group of the longitudinal driving devices comprising a longitudinal wheel bracket 15, a longitudinal wheel motor 14, a longitudinal wheel brake 16, a longitudinal wheel shaft 17, a longitudinal wheel lifting hydraulic cylinder 18 and a longitudinal wheel 19;
  • the longitudinal wheel shaft 17 passes through the two ends of the longitudinal wheel bracket 15, the longitudinal wheel brake 16 and the longitudinal wheel motor 14 are arranged inside the longitudinal wheel bracket 15, the longitudinal wheel brake 16 is arranged on the longitudinal wheel shaft 17, and the longitudinal wheel motor 14 is connected to the longitudinal wheel shaft 17;
  • the first end of at least two of the longitudinal wheel lifting hydraulic cylinders 18 are respectively correspondingly connected to the upper parts of the two ends of the longitudinal wheel bracket 15, the second end of at least two of the longitudinal wheel lifting cylinders 18 are respectively correspondingly detachably connected to the lower parts of the frame body 2.
  • the charge receiving terminal 7 is disposed on the transverse wheel bracket 12 or the longitudinal wheel bracket 15.
  • the frame body 2 is a rectangular frame body
  • Solution 2 the power supply is a storage battery 5;
  • Solution 3 a platform is arranged inside the frame body 2, andthe hydraulic pumping station 3, the power supply and the longitudinal-transverse robotic electrical control system 6 are arranged on the platform of the frame body 2;
  • the packaging device is a packaging board 1, and the packaging board 1 is arranged on the upper surface of the frame body 2;
  • Solution 5 the transverse wheel bracket 12 is rectangular groove structure, and the longitudinal wheel bracket 15 is rectangular groove structure;
  • Solution 6 the transverse wheel lifting hydraulic cylinder 8 and the longitudinal wheel lifting hydraulic cylinder 18 are respectively connected the frame body 2 with bolts.
  • the charging receiving terminal 7 is arranged on the transverse wheel bracket 12 or the longitudinal wheel bracket 15;
  • Solution 8 further comprising a wireless charging equipment 4.
  • the two groups of transverse driving devices are symmetrically arranged below the transverse two sides of the frame body 2
  • the two groups of longitudinal driving devices are symmetrically arranged below the longitudinal two sides of the frame body 2
  • two groups of transverse driving devices and two groups of longitudinal driving devices form a quadrilateral structure.
  • One aspect of the present invention provides an intelligent three-dimensional storehouse, wherein adopting above longitudinal-transverse robot system, the intelligent three-dimensional storehouse further comprising a main frame, a lifter 21, a liftway L3, a first rail L1, a second rail L2, specifically:
  • the main frame is at least two layers of structure, the liftway L3 is arranged outside or inside the main frame, and the lifter 21 is arranged in the liftway L3;
  • the first rail L1 is laid on the bottom board of the storage area of the main frame, the first rail L1 comprises at least two groups of horizontal rails and at least two groups of vertical rails, the horizontal rails are parallel to each other, the vertical rails are parallel to each other, and the horizontal rails and the vertical rails are connected with each other, and cross laid in the same plane, the horizontal rails and the vertical rails are 90 degrees; and
  • the second rail L2 is arranged on the lifter 21, and the second rail L2 comprises at least one group of horizontal rails and at least one group of vertical rails, and the second rail L2 and the first rail L1 are arranged to collinearly connect with each other, and the longitudinal-transverse robot 20continuously runs on the first rail L1 and the second rail L2.
  • said intelligent three-dimensional storehouse further comprises a pallet 22 and a pallet bracket, a first pallet bracket L4 is arranged on the bottom board of the storage area of the main frame, and each group of the first pallet bracket L4 is correspondingly arranged on the external two sides of the partial horizontal rails or the vertical rails, the horizontal rails or the vertical rails belong to the first rail of the main body;
  • -a second pallet bracket L5 is arranged on the lifter 21, the second pallet bracket L5 is correspondingly arranged at four corners of the lifter 21, the distance between each group of the first pallet bracket L4 and the second pallet bracket L5 is not less than the length or the width of the longitudinal-transverse robot 20, the height of the first pallet bracket L4 is greater than the height of the sum of the first railL1 and the longitudinal-transverse robot 20, and the height of the second pallet bracket L5 is greater than the height of the sum of the first rail L1 and the longitudinal-transverse robot 20; and
  • the pallet 22 is detachably arranged above the first pallet bracketL4 and the second pallet bracketL5.
  • said intelligent three-dimensional storehouse further comprises an electrical integrated control system, the electrical integrated control system and the longitudinal-transverse robotic electrical control system 6, which are connected with each other by wireless.
  • said intelligent three-dimensional storehouse further comprises a fire fighting system 23.
  • the intelligent three-dimensional storehouse further comprises an automatic charging device 25 and an automatic charging device travel guide rail26, the automatic charging device travel guide rail26 is arranged on the top board of the storage area of the main frame, and the automatic charging device 25 runs along the automatic charging device travel guide rail 26;
  • Solution02 a solar photovoltaic device is arranged on the top and/or side of the main frame of the intelligent three-dimensional storehouse;
  • Solution03 alongitudinal-transverse robotic charging device24 is arranged on the first railL1.
  • One aspect of the present invention provides an access method of the intelligent three-dimensional storehouse, wherein adopting above intelligent three-dimensional storehouse, parking or storing cargos comprises following steps:
  • Step1 the longitudinal-transverse robotic electrical integrated control system instructs the longitudinal-transverse robot 20 with the pallet 22 at the parking entrance floor to move to the entrance, a vehicle or cargos will be parked or loaded on/in the pallet 22 of the intelligent three-dimensional storehouse;
  • Step2 the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 to intelligently start the corresponding longitudinal wheel lifting hydraulic cylinder 18 or transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22, and to perform carrying the pallet 22 loading the vehicle or cargos according to the instructions of the electrical integrated control system;
  • Step3 the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot to move or carry things to a destination location according to manually set or system choice, if said control system instructs to park to the position which is at the same floor as the entrance in the main frame, then enter Step4, if said control system instructs to park to the position at other floors, then enter Step5;
  • Step4 the longitudinal-transverse robot 20 at the same floor as the entrance runs vertical movement and/or horizontal movement along the first rail L1, transporting the pallet 22 and the vehicle or cargos to the destination location with the first pallet bracketL4;
  • Step5 the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 at the same floor as the entrance running vertical movement and/or horizontal movement to the lifter 21 entrance along the first rail L1, after it enters the inside of the lifter 21 along interconnecting the first rail L1 and the second rail L2, starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 of the longitudinal-transverse robot 20 at the same floor as the entrance to lift the pallet 22 and the vehicle or cargos, after placing the pallet 22 and the vehicle or cargos on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 at the same floor as the entrance exits the lifter 21 and returns the corresponding parking position;
  • the longitudinal-transverse robot 20 of the layer runs along the first rail L1 and the second rail L2 of the layer, after it enters the inside of the lifter 21, intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, remove the pallet 22 and the vehicle from the lifter 21, and runs along the second rail L2 and the first rail L1 of the layer, the vehicle and the pallet 22 are transported to the parking position with the first pallet bracket L4 of the layer;
  • the longitudinal-transverse robot 20 intelligently starting the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22, the pallet 22 and the vehicle or cargos are placed on the corresponding first pallet bracket L4, and controls the longitudinal-transverse robot 20 returning the corresponding parking area.
  • Picking up the vehicle or taking the cargos comprises following steps:
  • the longitudinal-transverse robotic electrical integrated control system receives the request for picking up by the owner of the vehicle or cargos, the longitudinal-transverse robotic electrical integrated control system to look up parking address;
  • the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 without the pallet 22 running to the parking address according to the electrical integrated control system, the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot starting the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle;
  • S3 the control of the longitudinal-transverse robotic electrical integrated control system for the different destination location comprising:
  • the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 and the vehicle running vertical movement and/or horizontal movement along the first rail L1 of the layer, and carrying the pallet 22 and the vehicle to the exit;
  • the longitudinal-transverse robot 20 of the layer intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 of the layer exits the lifter 21 and returns the corresponding parking position;
  • the longitudinal-transverse robot 20 of the exit floor running along interconnecting the second rail L2 and the first rail L1 of the exit floor is removed from the interior of the lifter 21, and runs vertical movement and/or horizontal movement along the first rail L1 of the exit floor, and transports the pallet 22 and the vehicle to the exit;
  • S5 controls the longitudinal-transverse robot 20 of the exit floor returning to the corresponding parking area.
  • One aspect of the present invention provides an APP application of the intelligent three-dimensional garage, wherein adopting above intelligent three-dimensional storehouse for carrying and access a vehicle, the APP application comprises a client, a garage terminal and a server, wherein comprises following steps:
  • the APP client is downloaded to the terminal by the user, and the vehicle travelling license information is input into the APP as registration information by the user, the mobile phone number and payment tool are acquired as binding information by the APP for payment and picking up, and APP server is loaded intelligent three-dimensional garage database and the number of parking and status real-time information for the user to retrieve and access;
  • the intelligent three-dimensional garage terminal is loaded an entrance information recognition system, the entrance information recognition system is connected to the APP server, and the entrance information recognition system identifies the entrance vehicle to the garage, if it is already registered, the entrance door is controlled to open, and the garage terminal sends instructions to the longitudinal-transverse robotic electrical integrated control system, to control the longitudinal-transverse robot 20 to park the vehicle to the destination location;
  • SS3 Billing after the vehicle parked, the electrical control system sends parking time to a registered cell phone and start time billing, meanwhile sends the registered cell phone the opinion information of whether to charge, when need to charge, the registered cell phone response need to charge opinion, the automatic charging device runs along the automatic charging device travel guide rail to the position of the vehicle need to be charged, and automatically charges the vehicle, the longitudinal-transverse robotic electrical integrated control system sends start charging time to the registered cell phone, and the longitudinal-transverse robotic electrical integrated control system starts time counting, calculating the amount of charge and billing, when charging is completed, the longitudinal-transverse robotic electrical integrated control system sends
  • the intelligent three-dimensional garage terminal responds to the picking up signal of the user, and the longitudinal-transverse robotic electrical integrated control system sends the verification code to the registered cell phone, and a picking up cipher coder accepts the verification code input by the user to judge and send the picking up instructs to the longitudinal-transverse robotic electrical integrated control system
  • the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 to look up the vehicle and transport the vehicle to the exit, controls the exit door open, the user drive the vehicle out and the exit door close.
  • the longitudinal-transverse robot system provided by the present invention are provided with a longitudinal system and a transverse system so as to be able to perform both vertical and horizontal bidirectional movements; the longitudinal-transverse robot is provided with a hydraulic pumping station, a transverse wheel lifting hydraulic cylinder and a longitudinal wheel lifting hydraulic cylinder, which may realize taking and placing of the pallet.
  • the longitudinal-transverse robotic electrical control system To achieve intelligent control of the longitudinal-transverse robot is by the longitudinal-transverse robotic electrical control system.
  • the longitudinal-transverse robot system provided by the present invention further comprises a wireless charging equipment, which can be charged by an advanced wireless charging equipment, and the charging operation is convenient.
  • transverse driving device and the longitudinal driving device of the longitudinal-transverse robot provided by the present invention are connected with the frame body by screw connection or pin connection to realize the detachable connection for convenient follow-up use and maintenance.
  • the present invention provides an intelligent three-dimensional storehouse using longitudinal-transverse robots, which can make full use of the space of the three-dimensional storehouse by enabling the longitudinal-transverse robots to freely run between each floor of the main frame and the lifter.
  • the intelligent three-dimensional storehouse comprises a electrical integrated control system, which can control the intelligent equipment in the intelligent three-dimensional storehouse and realize intelligent management.
  • the intelligent three-dimensional storehouse comprises a fire fighting system, the fire fighting system may cope with unexpected situations such as a fire.
  • the intelligent three-dimensional storehouse comprises an automatic charging device and an automatic charging device travel guide rail, the automatic charging device can run along the automatic charging device travel guide rail, and can automatically charge the related equipment in the intelligent three-dimensional storehouse to save labor cost.
  • Solar photovoltaic devices are arranged on the top and/or the side of the main frame of the intelligent three-dimensional storehouse, which are capable of utilizing clean energy, saving on the one hand and reducing environmental pollution on the other hand.
  • Charging devices of the longitudinal-transverse robots are arranged on the first rail of the intelligent three-dimensional garage so as to charge the longitudinal-transverse robots in time.
  • FIG. 1 is a structural perspective view of an example of the longitudinal-transverse robot of the present invention
  • FIG. 2 is a front view of an example of the longitudinal-transverse robot of the present invention.
  • FIG. 3 is a structural perspective view of an example of the longitudinal-transverse robot without packaging board of the present invention
  • FIG. 4 is a top view of an example of the longitudinal-transverse robot without packaging board of the present invention.
  • FIG. 5 is a structural perspective view of the transverse system and the longitudinal system of an example of the longitudinal-transverse robot of the present invention
  • FIG. 6 is a top view of the transverse system and the longitudinal system of an example of the longitudinal-transverse robot of the present invention.
  • FIG. 7 is a front view of the main frame structure of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 8 is a side view of the main frame structure of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 9 is a schematic view of rail laying of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 10 is a schematic view of pallet bracket laying of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 11 is a schematic view of pallet bracket of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 12 is a schematic view of the fire fighting system of an example of the intelligent three-dimensional storehouse of the present invention.
  • FIG. 13 is a schematic view of vehicle charging device of an example of the intelligent three-dimensional storehouse of the present invention.
  • the longitudinal-transverse robot 20 comprises a frame body 2, a packaging device 1, a longitudinal system, a transverse system, a charging receiving terminal 7, a hydraulic pumping station 3, a storage battery 5 and a longitudinal-transverse robotic electrical control system 6,
  • the frame body 2 is a rectangular frame body, a platform is arranged inside the frame body 2, and the hydraulic pumping station 3, the storage battery 5 and the longitudinal-transverse robotic electrical control system 6 are arranged on the platform of the frame body 2
  • the packaging device 1 is arranged above the frame body 2
  • the transverse system comprises two groups of transverse driving devices, the two groups of transverse driving devices are parallel to each other and symmetrically arranged under the two sides of the frame body 2
  • the longitudinal system comprises two groups of longitudinal driving devices, the two groups of longitudinal driving devices are parallel to each other and symmetrically arranged under the other two sides of the frame body 2
  • the two groups of transverse driving devices and two groups of longitudinal driving devices are perpendicular to each other
  • each group of the transverse driving devices comprises
  • the longitudinal-transverse robot further includes a wireless charging equipment 4.
  • the longitudinal-transverse robot’s the transverse wheel lifting hydraulic cylinder 8 and the longitudinal wheel lifting hydraulic cylinder 18 are respectively connected to the frame body 2 with bolts.
  • an intelligent three-dimensional storehouse using the longitudinal-transverse robots further comprises a main frame, a lifter 21, a liftway L3, a first rail L1, a second rail L2, the main frame is at least two layers of structure, the liftway L3 is arranged outside or inside the main frame, and the lifter 21 is arranged in the liftway L3, the first rail L1 is laid on the bottom board of the storage area of the main frame, the first rail L1 comprises n (n ⁇ 2) groups of horizontal rails and m (m ⁇ 2) groups of vertical rails, the horizontal rails are parallel to each other, the vertical rails are parallel to each other, and the horizontal rails and the vertical rails are connected with each other, and cross laid in the same plane, the horizontal rails and the vertical rails are 90 degrees, and the second rail L2 is arranged on the lifter 21, and the second rail L2 comprises one group of horizontal rails and one group of vertical rails, and the second rail L2 and the first rail L1 are arranged to collinearly
  • the intelligent three-dimensional storehouse further comprises an electrical integrated control system, between the electrical integrated control system and the longitudinal-transverse robotic electrical control system 6 are connected by wireless to transfer information.
  • the intelligent three-dimensional storehouse further comprises a fire fighting system 23.
  • the intelligent three-dimensional storehouse further comprises an automatic charging device 25 and an automatic charging device travel guide rail26, the automatic charging device travel guide rail26 is arranged on the top board of the storage area of the main frame, and the automatic charging device 25 runs along the automatic charging device travel guide rail 26.
  • a solar photovoltaic device is arranged on the top and/or side of the main frame of the intelligent three-dimensional storehouse.
  • a longitudinal-transverse robotic charging device24 is arranged on the first railL1.
  • the intelligent three-dimensional storehouse includes entrances and exits, the entrance is equipped with information recognition system, the exit is equipped with a picking up button and a cipher coder.
  • each floor of the main frame is provided with a respective the longitudinal-transverse robot 20, the longitudinal-transverse robot 20 runs on a first rail L1 of the layer and a second railL2 of the lifter 21.
  • the longitudinal-transverse robot 20 runs the following procedures:
  • the longitudinal wheel lifting hydraulic cylinder 18 in the longitudinal driving device of the longitudinal-transverse robot 20 shrinks, which drives the longitudinal driving device raising up and away from the rail, and the transverse driving device of the longitudinal-transverse robot 20 plays the role to contact the rail, and runs along the horizontal rails, the upper end of the longitudinal-transverse robot 20 does not exceed the height of the pallet bracket.
  • the longitudinal wheel lifting hydraulic cylinder 18 in the longitudinal driving device of the longitudinal-transverse robot 20 stretches, which drives the longitudinal driving device extending down and contacting the rail, meanwhile, the transverse wheel lifting hydraulic cylinders 8 in the transverse driving device of the longitudinal-transverse robot 20 shrinks, which drives the transverse driving device raising up and away from the rail, and runs along the vertical rails, the upper end of the longitudinal-transverse robot 20 does not exceed the height of the pallet bracket.
  • the longitudinal-transverse robot 20 runs the following procedures:
  • the transverse driving device of the longitudinal-transverse robot 20 contacts the rail, and the longitudinal driving device away from the rail, after receive the instruction of lifting the pallet 22 from the longitudinal-transverse robotic electrical control system 6, the transverse wheel lifting hydraulic cylinders 8 of the longitudinal-transverse robot 20 keep stretches until the upper end of the longitudinal-transverse robot exceeds the height of the pallet bracket, so as to realize lifting the pallet 22.
  • the longitudinal wheel lifting hydraulic cylinder 18 of the longitudinal driving device stretches, which drives the longitudinal driving device extending down to the rail, and then the transverse wheel lifting hydraulic cylinders 8 of the transverse driving device shrinks, which drives the transverse driving device away from the rail, at this time, the upper end of the longitudinal-transverse robot 20 still exceeds the height of the pallet bracket to start the vertical running.
  • the longitudinal driving device of the longitudinal-transverse robot 20 contacts the rail, and the transverse driving device away from the rail, after receive the instruction of lifting the pallet 22 from the longitudinal-transverse robotic electrical control system 6, the longitudinal wheel lifting hydraulic cylinders 18 of the longitudinal-transverse robot 20 keep stretches until the upper end of the longitudinal-transverse robot exceeds the height of the pallet bracket, so as to realize lifting the pallet 22.
  • the transverse wheel lifting hydraulic cylinder 8 of the longitudinal driving device stretches, which drives the transverse driving device extending down to the rail, and then the longitudinal wheel lifting hydraulic cylinders 18 of the longitudinal driving device shrinks, which drives the longitudinal driving device away from the rail, at this time, the upper end of the longitudinal-transverse robot 20 still exceeds the height of the pallet bracket to start the horizontal running.
  • the intelligent three-dimensional storehouse may be used as storage items, and also as park cars, when the intelligent three-dimensional storehouse as an intelligent three-dimensional garage of park cars, the specific use process of park cars as follows:
  • the longitudinal-transverse robotic electrical integrated control system instructs the longitudinal-transverse robot 20 with the pallet 22 at the parking entrance floor to move to the entrance, the owner stops the vehicle on the pallet 22 of the intelligent three-dimensional garage, then the owner go away;
  • the longitudinal-transverse robot 20 intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22, and to perform carrying the pallet 22 and the vehicle according to the instructions of the electrical integrated control system;
  • the longitudinal-transverse robot 20 at the same floor as the entrance runs vertical movement and/or horizontal movement to the lifter 21 entrance along the first rail L1, after it enters the inside of the lifter 21 along interconnecting the first rail L1 and the second rail L2, the longitudinal-transverse robot 20 at the same floor as the entrance intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 at the same floor as the entrance exits the lifter 21 and returns the corresponding parking position;
  • the longitudinal-transverse robot 20 of the layer runs along the first rail L1 and the second rail L2 of the layer, after it enters the inside of the lifter 21, intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, remove the pallet 22 and the vehicle from the lifter 21, and runs along the second rail L2 and the first rail L1 of the layer, the vehicle and the pallet 22 are transported to the parking position with the first pallet bracket L4 of the layer;
  • the longitudinal-transverse robot 20 intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22, the pallet 22 and the vehicle are placed on the corresponding first pallet bracket L4;
  • Picking up the vehicle of the intelligent three-dimensional garage comprises following steps:
  • the longitudinal-transverse robot 20 without the pallet 22 runs to the parking address according to the electrical integrated control system, and intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle;
  • the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 and the vehicle runs vertical movement and/or horizontal movement along the first rail L1 of the layer, and carrying the pallet 22 and the vehicle to the exit;
  • the longitudinal-transverse robot 20 of the parking floor carrying the pallet 22 and the vehicle runs vertical movement and/or horizontal movement along the first rail L1 of the layer to the lifter 21 entrance, after it enters the interior of the lifter 21 along interconnecting the first rail L1 and the second rail L2, the longitudinal-transverse robot 20 of the layer intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 of the layer exits the lifter 21 and returns the corresponding parking position;
  • the longitudinal-transverse robot 20 of the exit floor running along interconnecting the second rail L2 and the first rail L1 of the exit floor is removed from the interior of the lifter 21, and runs vertical movement and/or horizontal movement along the first rail L1 of the exit floor, and transports the pallet 22 and the vehicle to the exit;
  • the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 returns to the corresponding area with the pallet bracket, and starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22 on the corresponding pallet bracket;
  • the intelligent three-dimensional garage can be used in combination with the APP, the user may download a dedicated APP and register with the vehicle travelling license information, when registering, APP also needs to bind the mobile phone number and the payment tool for payment and picking up, and the user can find intelligent three-dimensional garage and know the number of parking by the APP. Specific use of the process as follows:
  • the entrance information recognition system will identify whether the registered vehicles, if it is already registered vehicles, the entrance door opens, the longitudinal-transverse robot 20 will park the vehicle to the destination location according to the instructions of the electrical integrated control system, after the vehicle parked, the electrical control system will send parking time to a registered cell phone and start time billing, meanwhile will send the registered cell phone the opinion information of whether to charge, when need to charge, the registered cell phone response need to charge opinion, the automatic charging device runs along the automatic charging device travel guide rail to the position of the vehicle need to be charged, and automatically charges the vehicle, the electrical integrated control system will send start charging time to the registered cell phone, and the electrical integrated control system will start time counting, calculate the amount of charge and billing, when charging is completed, the electrical integrated control system will send charging time, charging amount, billing and billing information to the registered cell phone.
  • the electrical integrated control system sends a verification code to the registered cell phone, after the user inputs the verification code to the cipher coder beside the exit button on the exit door, the longitudinal-transverse robot 20 will look up the vehicle and transport the vehicle to the exit, the exit door opens, the user will drive out, then the exit door will be closed, the intelligent three-dimensional garage will send charging time, charging amount, billing and billing information to the registered cell phone.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)

Abstract

A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage adopting the longitudinal-transverse robot system, an access method of the intelligent three-dimensional storehouse and an APP application of the intelligent three-dimensional garage are disclosed. A longitudinal-transverse robot comprises a frame body(2), a packaging board(1), a longitudinal system, a transverse system, a charging receiving terminal(7), a hydraulic pumping station(3), a storage battery and a longitudinal-transverse robotic electrical control system(6). The longitudinal-transverse robot is equipped with a longitudinal system and a transverse system, wherein the transverse and the longitudinal system respectively comprising own transverse and longitudinal wheel lifting hydraulic cylinders, and transverse and longitudinal wheels, which may perform vertical and horizontal bidirectional movements and realize taking and placing of the pallet.

Description

A LONGITUDINAL-TRANSVERSE ROBOT SYSTEM, AN INTELLIGENT THREE-DIMENSIONAL STOREHOUSE OR GARAGE, AN ACCESS METHOD OF THE INTELLIGENT THREE-DIMENSIONAL STOREHOUSE AND AN APP APPLICATION OF THE INTELLIGENT THREE-DIMENSIONAL GARAGE FIELD OF THE INVENTION
The present invention relates to a field of logistics and ware housing, and particularly to a handling device, specifically a robot, which is particularly suitable for accessing vehicles and cargos.
BACKGROUND OF THE INVENTION
With the increase of the social population, how to improve the space utilization rate has become the social research hotspot, the invention of the three-dimensional storage device and the three-dimensional garage and other three-dimensional equipment, to a certain extent, improve the utilization of space. In order to facilitate access of the cargos or vehicles, intelligent handling equipment is usually required.
The conventional intelligent handling device, which is usually only a unidirectional handling device and has a relatively large limitation, furthermore, after the handling device transports the storage or the vehicle to the destination location, the conventional handling equipment also needs to rely on forklift or manually transferring the storage or the vehicle from the handling device to the corresponding location, the operation is complex, time-consuming and laborious.
DESCRIPTION OF THE INVENTION
To overcome the deficiencies of the prior art, the present invention provides a longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse, and an APP application of the intelligent three-dimensional garage, which is a bidirectional handling device.
An aspect of the present invention provides a longitudinal-transverse robot  20,comprising a frame body 2, apackaging device, a longitudinal system, a transverse system, a charging receiving terminal 7, a hydraulic pumping station 3, a power supply and a longitudinal-transverse robotic electrical control system 6;
the packaging device is arranged above the frame body 2;
the transverse system comprising at least two groups of transverse driving devices, the two groups of transverse driving devices are parallel to each other and symmetrically arranged under the transverse direction of the frame body 2, the longitudinal system comprising at least two groups of longitudinal driving devices, the two groups of longitudinal driving devices are parallel to each other and symmetrically arranged under the longitudinal direction of the frame body 2, the two groups of transverse driving devices and two groups of longitudinal driving devices are perpendicular to each other, the transverse system and longitudinal system are respectively connected with the hydraulic pumping station 3 and the longitudinal-transverse robotic electrical control system 6;
each group of the transverse driving devices comprising a transverse wheel bracket 12, a transverse wheel motor 11, a transverse wheel brake 10, a transverse wheel shaft 9, a transverse wheel lifting hydraulic cylinder 8 and a transverse wheel 13;
-the transverse wheel shaft 9 passes through the two ends of the transverse wheel bracket 12, the transverse wheel brake 10 and the transverse wheel motor 11 are arranged inside the transverse wheel bracket 12, the transverse wheel brakes 10 is arranged on the transverse wheel shaft 9, and the transverse wheel motor 11 is connected to the transverse wheel shaft 9;
-at least two transverse wheels 13 are symmetrically arranged on two ends of the transverse wheel shaft 9, and the transverse wheel is configured with the transverse wheel lifting hydraulic cylinder 8;
-the first end of at least two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly connected to the upper parts of the two ends of the transverse wheel bracket 12, the second end of at least two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly detachably connected to the lower parts of the frame body 2;
each group of the longitudinal driving devices comprising a longitudinal wheel bracket 15, a longitudinal wheel motor 14, a longitudinal wheel brake 16, a longitudinal wheel shaft 17, a longitudinal wheel lifting hydraulic cylinder 18 and a longitudinal wheel 19;
-the longitudinal wheel shaft 17 passes through the two ends of the longitudinal wheel bracket 15, the longitudinal wheel brake 16 and the longitudinal wheel motor 14 are arranged inside the longitudinal wheel bracket 15, the longitudinal wheel brake 16 is arranged on the longitudinal wheel shaft 17, and the longitudinal wheel motor 14 is connected to the longitudinal wheel shaft 17;
-at least two longitudinal wheels 19 are symmetrically arranged on the two ends of the longitudinal wheel shaft 17, and the longitudinal wheel is configured with the longitudinal wheel lifting hydraulic cylinder 18; and
-the first end of at least two of the longitudinal wheel lifting hydraulic cylinders 18 are respectively correspondingly connected to the upper parts of the two ends of the longitudinal wheel bracket 15, the second end of at least two of the longitudinal wheel lifting cylinders 18 are respectively correspondingly detachably connected to the lower parts of the frame body 2.
Further, the charge receiving terminal 7 is disposed on the transverse wheel bracket 12 or the longitudinal wheel bracket 15.
Further, adopting one or any combination of the following solutions:
Solution 1: the frame body 2 is a rectangular frame body;
Solution 2: the power supply is a storage battery 5;
Solution 3: a platform is arranged inside the frame body 2, andthe hydraulic pumping station 3, the power supply and the longitudinal-transverse robotic electrical control system 6 are arranged on the platform of the frame body 2;
Solution 4: the packaging device is a packaging board 1, and the packaging board 1 is arranged on the upper surface of the frame body 2;
Solution 5: the transverse wheel bracket 12 is rectangular groove structure, and the longitudinal wheel bracket 15 is rectangular groove structure;
Solution 6: the transverse wheel lifting hydraulic cylinder 8 and the longitudinal wheel lifting hydraulic cylinder 18 are respectively connected the frame body 2 with bolts.
Solution 7: the charging receiving terminal 7 is arranged on the transverse wheel bracket 12 or the longitudinal wheel bracket 15;
Solution 8: further comprising a wireless charging equipment 4.
Further, the two groups of transverse driving devices are symmetrically arranged below the transverse two sides of the frame body 2, the two groups of longitudinal driving devices are symmetrically arranged below the longitudinal  two sides of the frame body 2, and two groups of transverse driving devices and two groups of longitudinal driving devices form a quadrilateral structure.
One aspect of the present invention provides an intelligent three-dimensional storehouse, wherein adopting above longitudinal-transverse robot system, the intelligent three-dimensional storehouse further comprising a main frame, a lifter 21, a liftway L3, a first rail L1, a second rail L2, specifically:
-the main frame is at least two layers of structure, the liftway L3 is arranged outside or inside the main frame, and the lifter 21 is arranged in the liftway L3;
-the first rail L1 is laid on the bottom board of the storage area of the main frame, the first rail L1 comprises at least two groups of horizontal rails and at least two groups of vertical rails, the horizontal rails are parallel to each other, the vertical rails are parallel to each other, and the horizontal rails and the vertical rails are connected with each other, and cross laid in the same plane, the horizontal rails and the vertical rails are 90 degrees; and
-the second rail L2 is arranged on the lifter 21, and the second rail L2 comprises at least one group of horizontal rails and at least one group of vertical rails, and the second rail L2 and the first rail L1 are arranged to collinearly connect with each other, and the longitudinal-transverse robot 20continuously runs on the first rail L1 and the second rail L2.
Further, said intelligent three-dimensional storehouse further comprises a pallet 22 and a pallet bracket, a first pallet bracket L4 is arranged on the bottom board of the storage area of the main frame, and each group of the first pallet bracket L4 is correspondingly arranged on the external two sides of the partial horizontal rails or the vertical rails, the horizontal rails or the vertical rails belong to the first rail of the main body;
-at least one group horizontal rail and vertical rail of the first rail L1, which do not include the external two sides of the horizontal rails or the vertical rails that the first pallet bracket L4 arranged on, are correspondingly collinearly connect with the horizontal rails or vertical rails of the second rail L2 of the lifter 21;
-a second pallet bracket L5 is arranged on the lifter 21, the second pallet bracket L5 is correspondingly arranged at four corners of the lifter 21, the distance between each group of the first pallet bracket L4 and the second pallet bracket L5 is not less than the length or the width of the longitudinal-transverse robot 20, the height of the first pallet bracket L4 is greater than the height of the sum of the first railL1 and the longitudinal-transverse robot 20, and the height of  the second pallet bracket L5 is greater than the height of the sum of the first rail L1 and the longitudinal-transverse robot 20; and
-the pallet 22 is detachably arranged above the first pallet bracketL4 and the second pallet bracketL5.
Further, said intelligent three-dimensional storehouse further comprises an electrical integrated control system, the electrical integrated control system and the longitudinal-transverse robotic electrical control system 6, which are connected with each other by wireless.
Further, said intelligent three-dimensional storehouse further comprises a fire fighting system 23.
Further, adopting one or any combination of the following solutions:
Solution01: the intelligent three-dimensional storehouse further comprises an automatic charging device 25 and an automatic charging device travel guide rail26, the automatic charging device travel guide rail26 is arranged on the top board of the storage area of the main frame, and the automatic charging device 25 runs along the automatic charging device travel guide rail 26;
Solution02: a solar photovoltaic device is arranged on the top and/or side of the main frame of the intelligent three-dimensional storehouse;
Solution03: alongitudinal-transverse robotic charging device24 is arranged on the first railL1.
One aspect of the present invention provides an access method of the intelligent three-dimensional storehouse, wherein adopting above intelligent three-dimensional storehouse, parking or storing cargos comprises following steps:
Step1: the longitudinal-transverse robotic electrical integrated control system instructs the longitudinal-transverse robot 20 with the pallet 22 at the parking entrance floor to move to the entrance, a vehicle or cargos will be parked or loaded on/in the pallet 22 of the intelligent three-dimensional storehouse;
Step2: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 to intelligently start the corresponding longitudinal wheel lifting hydraulic cylinder 18 or transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22, and to perform carrying the pallet 22 loading the vehicle or cargos according to the instructions of the electrical integrated control system;
Step3: the longitudinal-transverse robotic electrical integrated control system  controls the longitudinal-transverse robot to move or carry things to a destination location according to manually set or system choice, if said control system instructs to park to the position which is at the same floor as the entrance in the main frame, then enter Step4, if said control system instructs to park to the position at other floors, then enter Step5;
Step4: the longitudinal-transverse robot 20 at the same floor as the entrance runs vertical movement and/or horizontal movement along the first rail L1, transporting the pallet 22 and the vehicle or cargos to the destination location with the first pallet bracketL4;
Step5: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 at the same floor as the entrance running vertical movement and/or horizontal movement to the lifter 21 entrance along the first rail L1, after it enters the inside of the lifter 21 along interconnecting the first rail L1 and the second rail L2, starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 of the longitudinal-transverse robot 20 at the same floor as the entrance to lift the pallet 22 and the vehicle or cargos, after placing the pallet 22 and the vehicle or cargos on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 at the same floor as the entrance exits the lifter 21 and returns the corresponding parking position;
when the lifter 21 reaches the floors where the destination location is, the longitudinal-transverse robot 20 of the layer runs along the first rail L1 and the second rail L2 of the layer, after it enters the inside of the lifter 21, intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, remove the pallet 22 and the vehicle from the lifter 21, and runs along the second rail L2 and the first rail L1 of the layer, the vehicle and the pallet 22 are transported to the parking position with the first pallet bracket L4 of the layer;
after the pallet 22 and the vehicle are transported to the parking position with the pallet bracket, controls the longitudinal-transverse robot 20 intelligently starting the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22, the pallet 22 and the vehicle or cargos are placed on the corresponding first pallet bracket L4, and controls the longitudinal-transverse robot 20 returning the corresponding parking area.
Picking up the vehicle or taking the cargos comprises following steps:
S1: the longitudinal-transverse robotic electrical integrated control system receives the request for picking up by the owner of the vehicle or cargos, the longitudinal-transverse robotic electrical integrated control system to look up parking address;
S2: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 without the pallet 22 running to the parking address according to the electrical integrated control system, the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot starting the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle;
S3: the control of the longitudinal-transverse robotic electrical integrated control system for the different destination location comprising:
-if the vehicle is parked at the same floor as the exit in the main frame, controls the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 and the vehicle running vertical movement and/or horizontal movement along the first rail L1 of the layer, and carrying the pallet 22 and the vehicle to the exit;
-if the vehicle is parked at other floors, controls the longitudinal-transverse robot 20 of the parking floor carrying the pallet 22 and the vehicle running vertical movement and/or horizontal movement along the first railL1 of the layer to the lifter 21 entrance, after it enters the interior of the lifter 21 along interconnecting the first rail L1 and the second rail L2, the longitudinal-transverse robot 20 of the layer intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside the lifter 21, the longitudinal-transverse robot 20 of the layer exits the lifter 21 and returns the corresponding parking position;
-when the lifter 21 reaches the exit floor, the longitudinal-transverse robot 20 of the exit floor running along interconnecting the second rail L2 and the first rail L1 of the exit floor is removed from the interior of the lifter 21, and runs vertical movement and/or horizontal movement along the first rail L1 of the exit floor, and transports the pallet 22 and the vehicle to the exit;
S4: after the vehicle or the cargos is picked up or unloaded, controls the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 return to  the corresponding area with the pallet bracket, and starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8to place the pallet 22 on the corresponding pallet bracket;
S5: controls the longitudinal-transverse robot 20 of the exit floor returning to the corresponding parking area.
One aspect of the present invention provides an APP application of the intelligent three-dimensional garage, wherein adopting above intelligent three-dimensional storehouse for carrying and access a vehicle, the APP application comprises a client, a garage terminal and a server, wherein comprises following steps:
SS1 Registration: the APP client is downloaded to the terminal by the user, and the vehicle travelling license information is input into the APP as registration information by the user, the mobile phone number and payment tool are acquired as binding information by the APP for payment and picking up, and APP server is loaded intelligent three-dimensional garage database and the number of parking and status real-time information for the user to retrieve and access;
SS2 Parking: the intelligent three-dimensional garage terminal is loaded an entrance information recognition system, the entrance information recognition system is connected to the APP server, and the entrance information recognition system identifies the entrance vehicle to the garage, if it is already registered, the entrance door is controlled to open, and the garage terminal sends instructions to the longitudinal-transverse robotic electrical integrated control system, to control the longitudinal-transverse robot 20 to park the vehicle to the destination location; SS3 Billing: after the vehicle parked, the electrical control system sends parking time to a registered cell phone and start time billing, meanwhile sends the registered cell phone the opinion information of whether to charge, when need to charge, the registered cell phone response need to charge opinion, the automatic charging device runs along the automatic charging device travel guide rail to the position of the vehicle need to be charged, and automatically charges the vehicle, the longitudinal-transverse robotic electrical integrated control system sends start charging time to the registered cell phone, and the longitudinal-transverse robotic electrical integrated control system starts time counting, calculating the amount of charge and billing, when charging is completed, the longitudinal-transverse robotic electrical integrated control system sends charging time, charging amount, billing and billing information to the registered cell phone;
SS4 Picking up: when picking up the vehicle, the intelligent three-dimensional  garage terminal responds to the picking up signal of the user, and the longitudinal-transverse robotic electrical integrated control system sends the verification code to the registered cell phone, and a picking up cipher coder accepts the verification code input by the user to judge and send the picking up instructs to the longitudinal-transverse robotic electrical integrated control system, the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot 20 to look up the vehicle and transport the vehicle to the exit, controls the exit door open, the user drive the vehicle out and the exit door close.
The advantageous effects of the present invention, as follows:
a) The longitudinal-transverse robot system provided by the present invention are provided with a longitudinal system and a transverse system so as to be able to perform both vertical and horizontal bidirectional movements; the longitudinal-transverse robot is provided with a hydraulic pumping station, a transverse wheel lifting hydraulic cylinder and a longitudinal wheel lifting hydraulic cylinder, which may realize taking and placing of the pallet. To achieve intelligent control of the longitudinal-transverse robot is by the longitudinal-transverse robotic electrical control system.
b) The longitudinal-transverse robot system provided by the present invention further comprises a wireless charging equipment, which can be charged by an advanced wireless charging equipment, and the charging operation is convenient.
c) The transverse driving device and the longitudinal driving device of the longitudinal-transverse robot provided by the present invention are connected with the frame body by screw connection or pin connection to realize the detachable connection for convenient follow-up use and maintenance.
d) The present invention provides an intelligent three-dimensional storehouse using longitudinal-transverse robots, which can make full use of the space of the three-dimensional storehouse by enabling the longitudinal-transverse robots to freely run between each floor of the main frame and the lifter.
e) The intelligent three-dimensional storehouse comprises a electrical integrated control system, which can control the intelligent equipment in the intelligent three-dimensional storehouse and realize intelligent management.
f) The intelligent three-dimensional storehouse comprises a fire fighting system, the fire fighting system may cope with unexpected situations such as a fire.
g) The intelligent three-dimensional storehouse comprises an automatic charging  device and an automatic charging device travel guide rail, the automatic charging device can run along the automatic charging device travel guide rail, and can automatically charge the related equipment in the intelligent three-dimensional storehouse to save labor cost.
h) Solar photovoltaic devices are arranged on the top and/or the side of the main frame of the intelligent three-dimensional storehouse, which are capable of utilizing clean energy, saving on the one hand and reducing environmental pollution on the other hand.
i) Charging devices of the longitudinal-transverse robots are arranged on the first rail of the intelligent three-dimensional garage so as to charge the longitudinal-transverse robots in time.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a structural perspective view of an example of the longitudinal-transverse robot of the present invention;
FIG. 2 is a front view of an example of the longitudinal-transverse robot of the present invention;
FIG. 3 is a structural perspective view of an example of the longitudinal-transverse robot without packaging board of the present invention;
FIG. 4 is a top view of an example of the longitudinal-transverse robot without packaging board of the present invention;
FIG. 5 is a structural perspective view of the transverse system and the longitudinal system of an example of the longitudinal-transverse robot of the present invention;
FIG. 6 is a top view of the transverse system and the longitudinal system of an example of the longitudinal-transverse robot of the present invention;
FIG. 7 is a front view of the main frame structure of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 8 is a side view of the main frame structure of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 9 is a schematic view of rail laying of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 10 is a schematic view of pallet bracket laying of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 11 is a schematic view of pallet bracket of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 12 is a schematic view of the fire fighting system of an example of the intelligent three-dimensional storehouse of the present invention;
FIG. 13 is a schematic view of vehicle charging device of an example of the intelligent three-dimensional storehouse of the present invention;
wherein: 1-packing board; 2-frame body; 3-hydraulic pumping station; 4-wireless charging equipment; 5-storage battery; 6-longitudinal-transverse robotic electrical control system; 7-charging receiving terminal; 8-transverse wheel lifting hydraulic cylinder; 9-transverse wheel shaft; 10-transverse wheel brake; 11-transverse wheel motor; 12-transverse wheel bracket; 13-transverse wheel; 14-longitudinal wheel motor; 15-longitudinal wheel bracket; 16-longitudinal wheel brake; 17-longitudinalwheel shaft; 18-longitudinal wheel lifting hydraulic cylinder; 19-longitudinal wheel; 20-longitudinal-transverse robot; 21-lifter; 22-pallet; 23-fire fighting system; 24-longitudinal-transverse robotic charging device; 25-automatic charging device; 26-automatic charging device travel guide rail; L1-first rail; L2-second rail; L3-liftway; L4-first pallet bracket; L5-second pallet bracket.
DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS
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The present invention will be further described with reference to the drawings and specific example.
As shown in Fig 1 to 6, a longitudinal-transverse robot, the longitudinal-transverse robot 20 comprises a frame body 2, a packaging device 1, a longitudinal system, a transverse system, a charging receiving terminal 7, a hydraulic pumping station 3, a storage battery 5 and a longitudinal-transverse robotic electrical control system 6, the frame body 2 is a rectangular frame body, a platform is arranged inside the frame body 2, and the hydraulic pumping station 3, the storage battery 5 and the longitudinal-transverse robotic electrical control system 6 are arranged on the platform of the frame body 2, the packaging device 1 is arranged above the frame body 2, the transverse system comprises two groups of transverse driving devices, the two groups of transverse driving devices are parallel to each other and symmetrically arranged under the two sides of the frame body 2, the longitudinal system comprises two groups of longitudinal  driving devices, the two groups of longitudinal driving devices are parallel to each other and symmetrically arranged under the other two sides of the frame body 2, the two groups of transverse driving devices and two groups of longitudinal driving devices are perpendicular to each other, each group of the transverse driving devices comprises a transverse wheel bracket 12, a transverse wheel motor 11, a transverse wheel brake 10, a transverse wheel shaft 9, a transverse wheel lifting hydraulic cylinder 8 and a transverse wheel 13, the transverse wheel bracket 12 is rectangular groove structure, the transverse wheel shaft 9 passes through the two ends of the transverse wheel bracket 12, the transverse wheel brake 10 and the transverse wheel motor 11 are arranged inside the transverse wheel bracket 12, the transverse wheel brakes 10 is arranged on the transverse wheel shaft 9, and the transverse wheel motor 11 is connected to the transverse wheel shaft 9, the transverse wheels 13 are symmetrically arranged on two ends of the transverse wheel shaft 9, one end of two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly connected to the upper parts of the two ends of the transverse wheel bracket 12, the other end of two transverse wheel lifting hydraulic cylinders 8 are respectively correspondingly detachably connected to the lower parts of the frame body 2, each group of the longitudinal driving devices comprises a longitudinal wheel bracket 15, a longitudinal wheel motor 14, a longitudinal wheel brake 16, a longitudinal wheel shaft 17, a longitudinal wheel lifting hydraulic cylinder 18 and a longitudinal wheel 19, the longitudinal wheel bracket 15 is rectangular groove structure, the longitudinal wheel shaft 17 passes through the two ends of the longitudinal wheel bracket 15, the longitudinal wheel brake 16 and the longitudinal wheel motor 14 are arranged inside the longitudinal wheel bracket 15, the longitudinal wheel brake 16 is arranged on the longitudinal wheel shaft 17, and the longitudinal wheel motor 14 is connected to the longitudinal wheel shaft 17, longitudinal wheels 19 are symmetrically arranged on the two ends of the longitudinal wheel shaft 17, one end of the two longitudinal wheel lifting hydraulic cylinders 18 are respectively correspondingly connected to the upper parts of the two ends of the longitudinal wheel bracket 15, the other end of the two longitudinal wheel lifting cylinders 18 are respectively correspondingly detachably connected to the lower parts of the frame body 2, the charge receiving terminal 7 is disposed on the transverse wheel bracket 12 or the longitudinal wheel bracket 15.
In a preferred example, the longitudinal-transverse robot further includes a  wireless charging equipment 4.
In a preferred example, the longitudinal-transverse robot’s the transverse wheel lifting hydraulic cylinder 8 and the longitudinal wheel lifting hydraulic cylinder 18 are respectively connected to the frame body 2 with bolts.
As shown in Fig 7 to 13, an intelligent three-dimensional storehouse using the longitudinal-transverse robots further comprises a main frame, a lifter 21, a liftway L3, a first rail L1, a second rail L2, the main frame is at least two layers of structure, the liftway L3 is arranged outside or inside the main frame, and the lifter 21 is arranged in the liftway L3, the first rail L1 is laid on the bottom board of the storage area of the main frame, the first rail L1 comprises n (n≥2) groups of horizontal rails and m (m≥2) groups of vertical rails, the horizontal rails are parallel to each other, the vertical rails are parallel to each other, and the horizontal rails and the vertical rails are connected with each other, and cross laid in the same plane, the horizontal rails and the vertical rails are 90 degrees, and the second rail L2 is arranged on the lifter 21, and the second rail L2 comprises one group of horizontal rails and one group of vertical rails, and the second rail L2 and the first rail L1 are arranged to collinearly connect with each other, and the longitudinal-transverse robot 20 continuously runs on the first rail L1 and the second rail L2, said intelligent three-dimensional storehouse further comprises a pallet 22 and several groups pallet brackets, a first pallet bracket L4 is arranged on the bottom board of the storage area of the main frame, and each group of the first pallet bracket L4 is correspondingly arranged on the external two sides of the most (n-2) groups of horizontal rails or the most (m-2) groups of vertical rails of the main first rail, the rest of without arranged the first pallet bracket L4on the external two sides of the horizontal rails and the vertical rails of the first rail L1, its inside and rails itself are not provided with the pallet bracket, at least one group rails of horizontal rail and vertical rail of the first rail L1, which do not include the external two sides of the horizontal rails or the vertical rails that the first pallet bracket L4 arranged on, are correspondingly collinearly connect with the horizontal rails or vertical rails of the second rail L2 of the lifter 21, a second pallet bracket L5 is arranged on the lifter 21, the second pallet bracket L5 is correspondingly arranged at four corners of the lifter 21, the distance between each group of the first pallet bracket L4 and the second pallet bracket L5 is not less than the length or the width of the longitudinal-transverse robot 20, the height of the first pallet bracket L4 is greater than the height of the sum of the first rail  L1 and the longitudinal-transverse robot 20, and the height of the second pallet bracket L5 is greater than the height of the sum of the first rail L1 and the longitudinal-transverse robot 20, and the pallet 22 is detachably arranged above the first pallet bracketL4 and the second pallet bracket L5.
In a preferred example, the intelligent three-dimensional storehouse further comprises an electrical integrated control system, between the electrical integrated control system and the longitudinal-transverse robotic electrical control system 6 are connected by wireless to transfer information.
In a preferred example, the intelligent three-dimensional storehouse further comprises a fire fighting system 23.
In a preferred example, the intelligent three-dimensional storehouse further comprises an automatic charging device 25 and an automatic charging device travel guide rail26, the automatic charging device travel guide rail26 is arranged on the top board of the storage area of the main frame, and the automatic charging device 25 runs along the automatic charging device travel guide rail 26.
In a preferred example, a solar photovoltaic device is arranged on the top and/or side of the main frame of the intelligent three-dimensional storehouse.
In a preferred example, a longitudinal-transverse robotic charging device24 is arranged on the first railL1.
In a preferred example, the intelligent three-dimensional storehouse includes entrances and exits, the entrance is equipped with information recognition system, the exit is equipped with a picking up button and a cipher coder.
In a preferred example, each floor of the main frame is provided with a respective the longitudinal-transverse robot 20, the longitudinal-transverse robot 20 runs on a first rail L1 of the layer and a second railL2 of the lifter 21.
In a preferred example, when not lifting the pallet 22, the longitudinal-transverse robot 20 runs the following procedures:
When the instruction of the horizontal movement from the longitudinal-transverse robotic electrical control system 6 is triggered, the longitudinal wheel lifting hydraulic cylinder 18 in the longitudinal driving device of the longitudinal-transverse robot 20 shrinks, which drives the longitudinal driving device raising up and away from the rail, and the transverse driving device of the longitudinal-transverse robot 20 plays the role to contact the rail, and runs along the horizontal rails, the upper end of the longitudinal-transverse robot 20 does not exceed the height of the pallet bracket.
When the instruction of the vertical movement of the longitudinal-transverse robotic electrical control system 6 is triggered, the longitudinal wheel lifting hydraulic cylinder 18 in the longitudinal driving device of the longitudinal-transverse robot 20 stretches, which drives the longitudinal driving device extending down and contacting the rail, meanwhile, the transverse wheel lifting hydraulic cylinders 8 in the transverse driving device of the longitudinal-transverse robot 20 shrinks, which drives the transverse driving device raising up and away from the rail, and runs along the vertical rails, the upper end of the longitudinal-transverse robot 20 does not exceed the height of the pallet bracket.
when lifting the pallet 22, the longitudinal-transverse robot 20 runs the following procedures:
When the longitudinal-transverse robot 20 performing horizontal movement, the transverse driving device of the longitudinal-transverse robot 20 contacts the rail, and the longitudinal driving device away from the rail, after receive the instruction of lifting the pallet 22 from the longitudinal-transverse robotic electrical control system 6, the transverse wheel lifting hydraulic cylinders 8 of the longitudinal-transverse robot 20 keep stretches until the upper end of the longitudinal-transverse robot exceeds the height of the pallet bracket, so as to realize lifting the pallet 22. When the longitudinal-transverse robot 20 lifts the pallet 22 and needs to be switched to the vertical movement during running, the longitudinal wheel lifting hydraulic cylinder 18 of the longitudinal driving device stretches, which drives the longitudinal driving device extending down to the rail, and then the transverse wheel lifting hydraulic cylinders 8 of the transverse driving device shrinks, which drives the transverse driving device away from the rail, at this time, the upper end of the longitudinal-transverse robot 20 still exceeds the height of the pallet bracket to start the vertical running.
When the longitudinal-transverse robot 20 performing vertical movement, the longitudinal driving device of the longitudinal-transverse robot 20 contacts the rail, and the transverse driving device away from the rail, after receive the instruction of lifting the pallet 22 from the longitudinal-transverse robotic electrical control system 6, the longitudinal wheel lifting hydraulic cylinders 18 of the longitudinal-transverse robot 20 keep stretches until the upper end of the longitudinal-transverse robot exceeds the height of the pallet bracket, so as to realize lifting the pallet 22. When the longitudinal-transverse robot 20 lifts the  pallet 22 and needs to be switched to the horizontal movement during running, the transverse wheel lifting hydraulic cylinder 8 of the longitudinal driving device stretches, which drives the transverse driving device extending down to the rail, and then the longitudinal wheel lifting hydraulic cylinders 18 of the longitudinal driving device shrinks, which drives the longitudinal driving device away from the rail, at this time, the upper end of the longitudinal-transverse robot 20 still exceeds the height of the pallet bracket to start the horizontal running.
The intelligent three-dimensional storehouse may be used as storage items, and also as park cars, when the intelligent three-dimensional storehouse as an intelligent three-dimensional garage of park cars, the specific use process of park cars as follows:
a) when there is a demand for parking, the longitudinal-transverse robotic electrical integrated control system instructs the longitudinal-transverse robot 20 with the pallet 22 at the parking entrance floor to move to the entrance, the owner stops the vehicle on the pallet 22 of the intelligent three-dimensional garage, then the owner go away;
b) the longitudinal-transverse robot 20 intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22, and to perform carrying the pallet 22 and the vehicle according to the instructions of the electrical integrated control system;
c) if the electrical integrated control system instructs to park to the position which is at the same floor as the entrance in the main frame, then the longitudinal-transverse robot 20 at the same floor as the entrance runs vertical movement and/or horizontal movement along the first rail L1, transporting the pallet 22 and the vehicle to the destination location with the first pallet bracket L4,
d) if the electrical integrated control system instructs to park to the position at other floors, then the longitudinal-transverse robot 20 at the same floor as the entrance runs vertical movement and/or horizontal movement to the lifter 21 entrance along the first rail L1, after it enters the inside of the lifter 21 along interconnecting the first rail L1 and the second rail L2, the longitudinal-transverse robot 20 at the same floor as the entrance intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside the lifter 21, the  longitudinal-transverse robot 20 at the same floor as the entrance exits the lifter 21 and returns the corresponding parking position;
e) when the lifter 21 reaches the floors where the destination location is, the longitudinal-transverse robot 20 of the layer runs along the first rail L1 and the second rail L2 of the layer, after it enters the inside of the lifter 21, intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, remove the pallet 22 and the vehicle from the lifter 21, and runs along the second rail L2 and the first rail L1 of the layer, the vehicle and the pallet 22 are transported to the parking position with the first pallet bracket L4 of the layer;
f) after the pallet 22 and the vehicle are transported to the parking position with the pallet bracket, the longitudinal-transverse robot 20 intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22, the pallet 22 and the vehicle are placed on the corresponding first pallet bracket L4;
g) the longitudinal-transverse robot 20 returns the corresponding parking area. Picking up the vehicle of the intelligent three-dimensional garage comprises following steps:
a) the owner of the vehicle at the exit requests picking up;
b) the longitudinal-transverse robot 20 without the pallet 22 runs to the parking address according to the electrical integrated control system, and intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle;
c) if the vehicle is parked at the same floor as the exit in the main frame, the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 and the vehicle runs vertical movement and/or horizontal movement along the first rail L1 of the layer, and carrying the pallet 22 and the vehicle to the exit;
d) if the vehicle is parked at other floors, the longitudinal-transverse robot 20 of the parking floor carrying the pallet 22 and the vehicle runs vertical movement and/or horizontal movement along the first rail L1 of the layer to the lifter 21 entrance, after it enters the interior of the lifter 21 along interconnecting the first rail L1 and the second rail L2, the longitudinal-transverse robot 20 of the layer intelligently starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to lift the pallet 22 and the vehicle, after placing the pallet 22 and the vehicle on the second pallet bracket L5 inside  the lifter 21, the longitudinal-transverse robot 20 of the layer exits the lifter 21 and returns the corresponding parking position;
e) when the lifter 21 reaches the exit floor, the longitudinal-transverse robot 20 of the exit floor running along interconnecting the second rail L2 and the first rail L1 of the exit floor is removed from the interior of the lifter 21, and runs vertical movement and/or horizontal movement along the first rail L1 of the exit floor, and transports the pallet 22 and the vehicle to the exit;
f) users pick up the vehicle;
g) the longitudinal-transverse robot 20 of the exit floor carrying the pallet 22 returns to the corresponding area with the pallet bracket, and starts the longitudinal wheel lifting hydraulic cylinder 18 or the transverse wheel lifting hydraulic cylinder 8 to place the pallet 22 on the corresponding pallet bracket;
h) the longitudinal-transverse robot 20 of the exit floor returns to the corresponding parking area.
The intelligent three-dimensional garage can be used in combination with the APP, the user may download a dedicated APP and register with the vehicle travelling license information, when registering, APP also needs to bind the mobile phone number and the payment tool for payment and picking up, and the user can find intelligent three-dimensional garage and know the number of parking by the APP. Specific use of the process as follows:
a) when parking, the registered car comes to the entrance of the garage, the entrance information recognition system will identify whether the registered vehicles, if it is already registered vehicles, the entrance door opens, the longitudinal-transverse robot 20 will park the vehicle to the destination location according to the instructions of the electrical integrated control system, after the vehicle parked, the electrical control system will send parking time to a registered cell phone and start time billing, meanwhile will send the registered cell phone the opinion information of whether to charge, when need to charge, the registered cell phone response need to charge opinion, the automatic charging device runs along the automatic charging device travel guide rail to the position of the vehicle need to be charged, and automatically charges the vehicle, the electrical integrated control system will send start charging time to the registered cell phone, and the electrical integrated control system will start time counting, calculate the amount of charge and billing, when charging is completed, the electrical integrated control system will send charging time, charging amount, billing and billing  information to the registered cell phone.
b) when picking up the vehicle, the user arrives at the exit and presses the pick-up button on the exit door, the electrical integrated control system sends a verification code to the registered cell phone, after the user inputs the verification code to the cipher coder beside the exit button on the exit door, the longitudinal-transverse robot 20 will look up the vehicle and transport the vehicle to the exit, the exit door opens, the user will drive out, then the exit door will be closed, the intelligent three-dimensional garage will send charging time, charging amount, billing and billing information to the registered cell phone.
The above specific embodiments are merely used to describe the present invention, wherein the structure, connection manner and manufacturing process, etc. of the components may be changed. Any equivalent transformation and improvement based on the technical solutions of the present invention should not be excluded outside the scope of the invention.

Claims (10)

  1. A longitudinal-transverse robot system, comprising:
    A longitudinal-transverse robot (20) comprising a frame body (2) , a packaging device, a longitudinal system, a transverse system, a charging receiving terminal (7) , a hydraulic pumping station (3) , a power supply and a longitudinal-transverse robotic electrical control system (6) ;
    The packaging device is arranged above the frame body (2) ;
    the transverse system comprising at least two groups of transverse driving devices, the two groups of transverse driving devices are parallel to each other and symmetrically arranged under the transverse direction of the frame body (2) , the longitudinal system comprising at least two groups of longitudinal driving devices, the two groups of longitudinal driving devices are parallel to each other and symmetrically arranged under the longitudinal direction of the frame body (2) , the two groups of transverse driving devices and two groups of longitudinal driving devices are perpendicular to each other, the transverse system and longitudinal system are respectively connected with the hydraulic pumping station (3) and the longitudinal-transverse robotic electrical control system (6) ;
    each group of the transverse driving devices comprising a transverse wheel bracket (12) , a transverse wheel motor (11) , a transverse wheel brake (10) , a transverse wheel shaft (9) , a transverse wheel lifting hydraulic cylinder (8) and a transverse wheel (13) ;
    -the transverse wheel shaft (9) passes through the two ends of the transverse wheel bracket (12) , the transverse wheel brake (10) and the transverse wheel motor (11) are arranged inside the transverse wheel bracket (12) , the transverse wheel brakes (10) is arranged on the transverse wheel shaft (9) , and the transverse wheel motor (11) is connected to the transverse wheel shaft (9) ;
    -at least two transverse wheels (13) are symmetrically arranged on two ends of the transverse wheel shaft (9) , and the transverse wheel is configured with the transverse wheel lifting hydraulic cylinder (8) ;
    -the first end of at least two transverse wheel lifting hydraulic cylinders (8)are respectively correspondingly connected to the upper parts of the two ends of the transverse wheel bracket (12) , the second end of at least two  transverse wheel lifting hydraulic cylinders (8) are respectively correspondingly detachably connected to the lower parts of the frame body (2) ;
    each group of the longitudinal driving devices comprising a longitudinal wheel bracket (15) , a longitudinal wheel motor (14) , a longitudinal wheel brake (16) , a longitudinal wheel shaft (17) , a longitudinal wheel lifting hydraulic cylinder (18) and a longitudinal wheel (19) ;
    -the longitudinal wheel shaft (17) passes through the two ends of the longitudinal wheel bracket (15) , the longitudinal wheel brake (16) and the longitudinal wheel motor (14) are arranged inside the longitudinal wheel bracket (15) , the longitudinal wheel brake (16) is arranged on the longitudinal wheel shaft (17) , and the longitudinal wheel motor (14) is connected to the longitudinal wheel shaft (17) ;
    -at least two longitudinal wheels (19) are symmetrically arranged on the two ends of the longitudinal wheel shaft (17) , and the longitudinal wheel is configured with the longitudinal wheel lifting hydraulic cylinder (18) ; and
    -the first end of at least two of the longitudinal wheel lifting hydraulic cylinders (18) are respectively correspondingly connected to the upper parts of the two ends of the longitudinal wheel bracket (15) , the second end of at least two of the longitudinal wheel lifting cylinders (18) are respectively correspondingly detachably connected to the lower parts of the frame body (2) .
  2. The longitudinal-transverse robot system of claim 1, wherein adopting one or any combination of the following solutions:
    Solution1: the frame body (2) is a rectangular frame body;
    Solution 2: the power supply is a storage battery (5) ;
    Solution 3: a platform is arranged inside the frame body (2) , and the hydraulic pumping station (3) , the power supply and the longitudinal-transverse robotic electrical control system (6) are arranged on the platform of the frame body (2) ;
    Solution4: the packaging device is a packaging board (1) , and the packaging board (1) is arranged on the upper surface of the frame body (2) ;
    Solution 5: the transverse wheel bracket (12) is rectangular groove structure, and the longitudinal wheel bracket (15) is rectangular groove structure;
    Solution 6: the transverse wheel lifting hydraulic cylinder (8) and the longitudinal wheel lifting hydraulic cylinder (18) are respectively connected to the frame body (2) with bolts;
    Solution 7: the charging receiving terminal (7) is arranged on the transverse wheel bracket (12) or the longitudinal wheel bracket (15) ;
    Solution 8: further comprising a wireless charging equipment (4) .
  3. The longitudinal-transverse robot system of claim 1 or 2, wherein the two groups of transverse driving devices are symmetrically arranged below the transverse two sides of the frame body (2) , the two groups of longitudinal driving devices are symmetrically arranged below the longitudinal two sides of the frame body (2) , and two groups of transverse driving devices and two groups of longitudinal driving devices form a quadrilateral structure.
  4. An intelligent three-dimensional storehouse, wherein adopting any one of the longitudinal-transverse robot system of claim 1 to 3, the intelligent three-dimensional storehouse further comprising a main frame, a lifter (21) , a liftway (L3) , a first rail (L1) , a second rail (L2) , specifically:
    -the main frame is at least two layers of structure, the liftway (L3) is arranged outside or inside the main frame, and the lifter (21) is arranged in the liftway (L3) ;
    -the first rail (L1) is laid on the bottom board of the storage area of the main frame, the first rail (L1) comprises at least two groups of horizontal rails and at least two groups of vertical rails, the horizontal rails are parallel to each other, the vertical rails are parallel to each other, and the horizontal rails and the vertical rails are connected with each other, and cross laid in the same plane, the horizontal rails and the vertical rails are 90 degrees; and
    -the second rail (L2) is arranged on the lifter (21) , and the second rail (L2) comprises at least one group of horizontal rails and at least one group of vertical rails, and the second rail (L2) and the first rail (L1) are arranged to collinearly connect with each other, and the longitudinal-transverse robot (20) continuously runs on the first rail (L1) and the second rail (L2) .
  5. The intelligent three-dimensional storehouse of claim 5, wherein further comprising a pallet (22) and a pallet bracket, a first pallet bracket (L4) is  arranged on the bottom board of the storage area of the main frame, and each group of the first pallet bracket (L4) is correspondingly arranged on the external two sides of the partial horizontal rails or the vertical rails, the horizontal rails or the vertical rails belong to the first rail of the main body;
    -at least one group horizontal rail and vertical rail of the first rail (L1) , which do not include the external two sides of the horizontal rails or the vertical rails that the first pallet bracket (L4) arranged on, are correspondingly collinearly connect with the horizontal rails or vertical rails of the second rail (L2) of the lifter (21) ;
    -a second pallet bracket (L5) is arranged on the lifter (21) , the second pallet bracket (L5) is correspondingly arranged at four corners of the lifter (21) , the distance between each group of the first pallet bracket (L4) and the second pallet bracket (L5) is not less than the length or the width of the longitudinal-transverse robot (20) , the height of the first pallet bracket (L4) is greater than the height of the sum of the first rail (L1) and the longitudinal-transverse robot (20) , and the height of he second pallet bracket (L5) is greater than the height of the sum of the first rail (L1) and the longitudinal-transverse robot (20) ; and
    -the pallet (22) is detachably arranged above the first pallet bracket (L4) and the second pallet bracket (L5) .
  6. The intelligent three-dimensional storehouse of claim 4, wherein further comprising an electrical integrated control system, the electrical integrated control system and the longitudinal-transverse robotic electrical control system (6) are connected with each other by wireless.
  7. The intelligent three-dimensional storehouse of claim 4, wherein adopting one or any combination of the following solutions:
    Solution01: the intelligent three-dimensional storehouse further comprises an automatic charging device (25) and an automatic charging device travel guide rail (26) , the automatic charging device travel guide rail (26) is arranged on the top board of the storage area of the main frame, and the automatic charging device (25) runs along the automatic charging device travel guide rail (26) ;
    Solution02: a solar photovoltaic device is arranged on the top and/or side  of the main frame of the intelligent three-dimensional storehouse;
    Solution03: A longitudinal-transverse robotic charging device24) is arranged on the first rail (L1) .
    Solution04: the intelligent three-dimensional storehouse further comprises a fire fighting system (23) .
  8. The intelligent three-dimensional storehouse of claim 4 or 5, wherein the longitudinal-transverse robotic electrical control system (6) runs the following procedures:
    after the horizontal movement of the longitudinal-transverse robotic electrical control system (6) is triggered, the longitudinal wheel lifting hydraulic cylinder (18) in the longitudinal driving device of the longitudinal-transverse robot (20) shrinks, which drives the longitudinal driving device raising up and away from the rail, and the transverse driving device of the longitudinal-transverse robot (20) contacts to the rail, and runs along the horizontal rails;
    after the vertical movement of the longitudinal-transverse robotic electrical control system (6) is triggered, the longitudinal wheel lifting hydraulic cylinder (18) in the longitudinal driving device of the longitudinal-transverse robot (20) stretches, which drives the longitudinal driving device extending down and contacting the rail, meanwhile the transverse wheel lifting hydraulic cylinders (8) in the transverse driving device of the longitudinal-transverse robot (20) shrinks, which drives the transverse driving device raising up and away from the rail, and runs along the vertical rails.
  9. An access method of the intelligent three-dimensional storehouse, wherein adopting the intelligent three-dimensional storehouse of claim 5 or9,
    parking or storing cargos comprises following steps:
    Step1: the longitudinal-transverse robotic electrical integrated control system instructs the longitudinal-transverse robot (20) with the pallet (22) at the parking entrance floor to move to the entrance, a vehicle or cargos will be parked or loaded on/in the pallet (22) of the intelligent three-dimensional storehouse;
    Step2: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot (20) to intelligently start the  corresponding longitudinal wheel lifting hydraulic cylinder (18) or transverse wheel lifting hydraulic cylinder (8) to lift the pallet (22) , and to perform carrying the pallet (22) loading the vehicle or cargos according to the instructions of the electrical integrated control system;
    Step3: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot to move or carry things to a destination location according to manually set or system choice, if said control system instructs to park to the position which is at the same floor as the entrance in the main frame, then enter Step4, if said control system instructs to park to the position at other floors, then enter Step5;
    Step4: the longitudinal-transverse robot (20) at the same floor as the entrance runs vertical movement and/or horizontal movement along the first rail (L1) , transporting the pallet (22) and the vehicle or cargos to the destination location with the first pallet bracket (L4) ;
    Step5: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot (20) at the same floor as the entrance running vertical movement and/or horizontal movement to the lifter (21) entrance along the first rail (L1) , after it enters the inside of the lifter (21) along interconnecting the first rail (L1) and the second rail (L2) , starts the longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) of the longitudinal-transverse robot (20) at the same floor as the entrance to lift the pallet (22) and the vehicle or cargos, after placing the pallet (22) and the vehicle or cargos on the second pallet bracket (L5) inside the lifter (21) , the longitudinal-transverse robot (20) at the same floor as the entrance exits the lifter (21) and returns the corresponding parking position;
    when the lifter (21) reaches the floors where the destination location is, the longitudinal-transverse robot (20) of the layer runs along the first rail (L1) and the second rail (L2) of the layer, after it enters the inside of the lifter (21) , intelligently starts the corresponding longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) to lift the pallet (22) and the vehicle, remove the pallet (22) and the vehicle from the lifter (21) , and runs along the second rail (L2) and the first rail (L1) of the layer, the vehicle and the pallet (22) are transported to the parking position with the first pallet bracket (L4) of the layer;
    after the pallet (22) and the vehicle are transported to the parking position with the pallet bracket, controls the longitudinal-transverse robot (20) intelligently starting the longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) to place the pallet (22) , the pallet (22) and the vehicle or cargos are placed on the corresponding first pallet bracket (L4) , and controls the longitudinal-transverse robot (20) returning the corresponding parking area; picking up the vehicle or taking the cargos comprises following steps:
    S1: the longitudinal-transverse robotic electrical integrated control system receives the request for picking up by the owner of the vehicle or cargos, the longitudinal-transverse robotic electrical integrated control system to look up parking address;
    S2: the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot (20) without the pallet (22) running to the parking address according to the electrical integrated control system, the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot starting the longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) to lift the pallet (22) and the vehicle;
    S3: the control of the longitudinal-transverse robotic electrical integrated control system for the different destination location comprising:
    -if the vehicle is parked at the same floor as the exit in the main frame, controls the longitudinal-transverse robot (20) of the exit floor carrying the pallet (22) and the vehicle running vertical movement and/or horizontal movement along the first rail (L1) of the layer, and carrying the pallet (22) and the vehicle to the exit;
    -if the vehicle is parked at other floors, controls the longitudinal-transverse robot (20) of the parking floor carrying the pallet (22) and the vehicle running vertical movement and/or horizontal movement along the first rail (L1) of the layer to the lifter (21) entrance, after it enters the interior of the lifter (21) along interconnecting the first rail (L1) and the second rail (L2) , the longitudinal-transverse robot (20) of the layer intelligently starts the longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) to lift the pallet (22) and the vehicle, after placing the pallet (22) and the vehicle on the second pallet bracket (L5) inside the lifter  (21) , the longitudinal-transverse robot (20) of the layer exits the lifter (21) and returns the corresponding parking position;
    -when the lifter (21) reaches the exit floor, the longitudinal-transverse robot (20) of the exit floor running along interconnecting the second rail (L2) and the first rail (L1) of the exit floor is removed from the interior of the lifter (21) , and runs vertical movement and/or horizontal movement along the first rail (L1) of the exit floor, and transports the pallet (22) and the vehicle to the exit;
    S4: after the vehicle or the cargos is picked up or unloaded, controls the longitudinal-transverse robot (20) of the exit floor carrying the pallet (22) back to the corresponding area with the pallet bracket, and starts the longitudinal wheel lifting hydraulic cylinder (18) or the transverse wheel lifting hydraulic cylinder (8) to place the pallet (22) on the corresponding pallet bracket;
    S5: controls the longitudinal-transverse robot (20) of the exit floor returning to the corresponding parking area.
  10. An APP application of the intelligent three-dimensional garage, wherein adopting the intelligent three-dimensional storehouse of claim 5 or 9, for carrying and access a vehicle, the APP application comprises a client, a garage terminal and a server, wherein comprises following steps:
    SS1 Registration: the APP client is downloaded to the terminal by the user, and the vehicle travelling license information is input into the APP as registration information by the user, the mobile phone number and payment tool are acquired as binding information by the APP for payment and picking up, and APP server is loaded intelligent three-dimensional garage database and the number of parking and status real-time information for the user to retrieve and access;
    SS2 Parking: the intelligent three-dimensional garage terminal is loaded an entrance information recognition system, the entrance information recognition system is connected to the APP server, and the entrance information recognition system identifies the entrance vehicle to the garage, if it is already registered, the entrance door is controlled to open, and the garage terminal sends instructions to the longitudinal-transverse robotic electrical integrated control system, to control the longitudinal-transverse robot (20) to park the vehicle to the destination location;
    SS3 Billing: after the vehicle parked, the electrical control system sends  parking time to a registered cell phone and start time billing, meanwhile sends the registered cell phone the opinion information of whether to charge, when need to charge, the registered cell phone response need to charge opinion, the automatic charging device runs along the automatic charging device travel guide rail to the position of the vehicle need to be charged, and automatically charges the vehicle, the longitudinal-transverse robotic electrical integrated control system sends start charging time to the registered cell phone, and the longitudinal-transverse robotic electrical integrated control system starts time counting, calculating the amount of charge and billing, when charging is completed, the longitudinal-transverse robotic electrical integrated control system sends charging time, charging amount, billing and billing information to the registered cell phone;
    SS4 Picking up: when picking up the vehicle, the intelligent three-dimensional garage terminal responds to the picking up signal of the user, and the longitudinal-transverse robotic electrical integrated control system sends the verification code to the registered cell phone, and a picking up cipher coder accepts the verification code input by the user to judge and send the picking up instructs to the longitudinal-transverse robotic electrical integrated control system, the longitudinal-transverse robotic electrical integrated control system controls the longitudinal-transverse robot (20) to look up the vehicle and transport the vehicle to the exit, controls the exit door open, the user drive the vehicle out and the exit door close.
PCT/CN2018/071832 2017-07-31 2018-01-09 A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse and an app application of the intelligent three-dimensional garage WO2019024441A1 (en)

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CN115341793A (en) * 2022-06-01 2022-11-15 宁波市维航智能科技有限公司 Variable wheel base carrier
CN117314126A (en) * 2023-11-28 2023-12-29 中国恩菲工程技术有限公司 Control method, device, equipment and medium for copper smelting intelligent slag slow cooling field
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