CN105178665A - Car storing and fetching warehouse machine system and automatic service method - Google Patents
Car storing and fetching warehouse machine system and automatic service method Download PDFInfo
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- CN105178665A CN105178665A CN201510518729.2A CN201510518729A CN105178665A CN 105178665 A CN105178665 A CN 105178665A CN 201510518729 A CN201510518729 A CN 201510518729A CN 105178665 A CN105178665 A CN 105178665A
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Abstract
The invention relates to a car storing and fetching warehouse machine system and an automatic service method and belongs to the technical field of machinery and electronics. The technical scheme includes that a chain group simple-type chain rope of the patent 2015104970815 is used to replace a steel ring chain rope of the patent CN104444016A, an elevated rectangular hexahedral warehouse machine with proper specification and shape is made according to size range of cars, two rows of parallel chain group simple-type chain rope synchronous transmission devices are arranged in a machine body, multiple cabin load-bearing shafts are serially connected onto chain ropes on two sides equidistantly, and a car cargo bar box capable of rotating around the corresponding load-bearing shaft is suspended in the middle of each load-bearing shaft. The novel chain rope warehouse machine can circularly run forwards and backwards according to instructions of a computer, can be started to run with minimum load or negative load and can drive cargo box groups by means of walking along a shortest running path to enable a cargo bar box of a car to be stored and fetched to run downwards or leftwards and then downwards or rightwards and then downwards to the bottommost end of the warehouse machine for stopping, and then automatic storage and fetching service tasks of the cars are completed by a ground loading and unloading robot device.
Description
Technical field
The present invention relates to car access warehouse machine system and automation services method, belong to machinery and electronic technology field.
Technical background
Along with the develop rapidly of modern science and technology and improving constantly of people's living standard, the walking-replacing tool of a kind of mankind---car enters huge numbers of families, particularly current urban district, cities and towns, little roadside, living area is front and back downstairs, the car parked everywhere, minibus, SUV, minicar etc., script one is clean and tidy, free from worry comfortable environment, make people feel have car mostly to be trouble quickly, car mostly is harmful, affect the sensation of city appearance environment, and this trend is more serious, although in urban construction, consider the problem in garage parking, but compared with the objective factor of Chinese more-person-more-vehicle, which is just an utterly inadequate amount also, particularly at the public area that some masses are many, car access capability and service wretched insufficiency, the problem disorderly stopping leaving about is more and more serious, therefore, anxious to be modified, need more effective solution, seem especially important.
Summary of the invention
In order to resolve the problems referred to above, the invention provides a kind of car access warehouse machine system and automation services method, comprise sprocket wheel and the chain power drive system of the synchronous two pairs of Parallel Symmetrics up and down of the right and left, two row's vertical curves add the access warehouse machine system of the closed loop chain of upper and lower two semicircular camber line and the suspension car case of outside connection thereof, it is characterized in that: what the right and left was synchronous is total to (2K+1) up and down to Parallel Symmetric train group chain rope sheave and chain rope drive dynamical system, 2K arranges vertical curve, add (2K-1) bar two semicircular camber line, article 2, the part chain discaling roll central axis of the horizontal closed loop chain rope of 90 ° of circular arc lines and one, top and chain rope replaceable wear load-bearing axle connect suspension car case access warehouse machine system (K be more than or equal to 2 natural number), a kind of without the outer partial load moment of torsion of chain rope, without polygon effect, without car access warehouse machine system and the automation services method of smooth transmission, particularly:
Car warehouse machine is the steel ring chain rope that is used for by 2015104970815 chain group skeleton symbol chain ropes replacing in CN104444016A patent and former warehouse design structure is inverted 180 °, namely each K of chain rope sheave number of two side roof parts, top, bottom, (K-1), 2 become 2, (K-1), K only, make bottom can have the position of fixedly berthing of K suspension car case, namely 2K bar vertical setting of types hangs the position of fixedly berthing of K suspension car case bottom car case correspondence;
The vertical constrained hanging goods hurdle boxboard is done relatively original position and turns to 90 ° of exchanges, namely constrained changes to outside the boxboard of former front and back by outside former two side box plates.
The corresponding position, Buddhism by access kinds of goods is also done 90 ° and is turned to exchange, by original forward and backward side broadside relocation to position, left and right side long limit in relatively original position.
The ingredient of car access warehouse machine system and functional task: car accesses warehouse machine system by computer controller, car access warehouse machine, ground car access handling robot device, cabinet type machine screen service session device four part composition, the Management Calculation that computer controller is responsible for main plot system controls, car access warehouse machine is responsible for performing computer instruction, the warehouse machine of access car is driven and hangs goods hurdle case group operation, according to the instruction both forward and reverse directions cycle operation of computer, and with minimum load or negative load startup optimization, walk the mode of the shortest operating path, by downward for the goods hurdle case of the car a certain to be accessed of specifying, or it is downward more left, or the lowermost end running down to warehouse machine to the right again berths, wait for that ground car access handling robot device accesses car, ground car access handling robot device travels to and fro between A or B point place, car other for cabinet type for A place dialogue machine screen is responsible for take away, before horizontal linear is transported to and is treated the proud case of storage storehouse machine, car is stored in and hangs in goods hurdle case case by modify-water flat vertical direction stretching, extension car crotch again, be retracted into original position again, or before level run to machine proud case in warehouse to be picked up the car, vertical direction is stretched in container, with four wheels of pallet fork clamping car, lifting is taken out with retraction, change horizontal direction again and transport to cabinet type dialogue machine screen side, B place, friendship allows client validate the car and is driven away by car.
The car case of car access warehouse machine system berths and departs from the procedure in berth: car access warehouse machine drives the suspension car case on domain chain rope yarn to run, by computer instruction with minimum load or even negative load startup optimization, make a certain appointment car goods hurdle case downward in the mode of the shortest operating path, or it is downward more left, or run downwards more to the right, when the lowermost end of warehouse machine, this proud case is scanned, warehouse machine is slowed down by instruction, after brake accurately stops to want lowermost end, the container stabilizer that berths at ground place slowly rises and withstands the container berthed, simultaneously, locking device in case bottom vehicle tyre and container is opened, condition has been prepared for ground handling robot device takes vehicle away, after the ground handling robot device picked up the car takes vehicle away, another ground handling robot device can put into container again by needing vehicle to be deposited, after placing, regaining crotch, the disengaging that slowly declines of the container stabilizer that berths at ground place is berthed container, simultaneously, boxcar locking device also automatic blocking in case bottom vehicle tyre and container, institute's bicycle parking is firmly locked with cargo floor, also open startup optimization again for access warehouse machine while locking and open e-command lock, for warehouse machine can have been prepared condition by startup optimization again.
Car access warehouse machine system and automation services method deposit car service process: client drives car and comes the bicycle parking button that parking garge front door clicks electronic service screen, a little paper slip is provided under electronic service screen, paper slip is specified and has write so-and-so number car access warehouse machine exactly, leading then by road sign arrow, that car is reached so-and-so number car access warehouse machine specifies position, stop, flame-out, pull on rim brake and shut vehicle window, bicycle parking is clicked before coming cabinet type dialogue machine screen communicating device, screen demonstrates immediately the video camera picture of a front of to stop and rear flank, both sides 45° angle, after confirmation, ground car access handling robot device just enter stop depositing bottom dolly, can elastic adjustment target-seeking, and four wheels pitched automatically by lifting fork vehicle frame, after slowly ground is left in lifting, before being forwarded to the container of the vehicle to be put that berths along the track of parallel warehouse machine, adjustment is risen behind position, side direction 90 ° stretching, extension again, by pitch and hold vehicle and be put in railway carriage goods hurdle case, place rear crotch to exit and be retracted into original position, client just sees a picture with case number and vehicle before electronic service screen, after confirmation, information list of picking up the car again is provided under service screen, client just can hold isolated opening.
Car access warehouse machine system and automation services method get car service process: client way step coming in parking garge gate picking up the car payment screen before, the bicycle parking information list of gained during bicycle parking is placed on assigned address and carries out electron scanning, vehicle when service screen just shows former bicycle parking and the trade mark, the pictorial informations such as bicycle parking case number (CN), after confirmation, demonstrate bicycle parking total time again, the payment amount of money, after confirmation, insert bank card, input password, confirm payment, pay the fees successfully, a little paper slip of payment is provided under electronic service screen, by paper slip information, the other end of former bicycle parking car access warehouse machine is come under the leading of road sign arrow of picking up the car, the scanner that the little paper slip of payment is placed on electronic service cabinet is scanned, wait, the vehicle of taking-up is just put into position of picking up the car by ground car access handling robot device, open a sluice gate bar, client checks vehicles after errorless can't harm, door opening drives to leave.
The ground handling robot device of car access warehouse machine system and automation services method and car access the configuration of warehouse machine system: two cars access warehouse machine and combine, share the ground transport track of an access vehicle, share an A point bicycle parking lane place and B point to pick up the car lane place, two car access warehouse machines configure two ground handling robot devices, A holds a bicycle parking, B holds one to pick up the car, they replace cooperation and carry out, ground handling robot device self is with camera, scanning radar device, can be homing vector, and under the coordinative command of the dynamo-electric brain in warehouse, accurate running, orderly cooperation, for client carries out the full-range service work of access vehicle.
Accompanying drawing illustrates:
Fig. 1 is the side-looking work plane schematic diagram (economize slightly drawing is smooth-going concisely sees figure to facilitate) that face eliminates that major part hangs car goods hurdle case.
Fig. 2 is: the position relationship schematic diagrames such as suspension type car container side constraint groove, load axle, chain rope.
Fig. 3 is ground loading mechanization people device and container position schematic top plan view.
Include in above-mentioned 3 figure: suspension type car container 1, car case load-bearing axle 2, chain rope sheave 3, chain rope 4, vertical constraint slide rail 5, frame 6, Horizontal load-bearing track 7, car accessing operation cabinet screen 8, ground handling robot device 9, can elastic lifting fork vehicle frame 10, working level track 11, robot wheel 12, hangs container restraint slot 13, container bearing 14, container BOGEY WHEEL 15, sprocket roller arrangement 16, container information detector 17, berth container stabilizer 18, boxcar locking device 19.
Further illustrate car access warehouse machine system and automation services method by the following examples.
Embodiment one: city car access warehouse machine system and automation services method.
See Fig. 1, Fig. 2, Fig. 3.
Fig. 1 is the machine driving schematic diagram of warehouse captain's edge direction, for keeping drawing clear, concisely, conveniently read to see that figure anticipates, eliminate more than lowest limit position height in figure to differ, unordered most of suspension type car container 1 at random, before and after in warehouse machine, respectively there are one group and the identical synchronization mechanism transmission system of Fig. 1 in both sides, chain rope 4 is a closed loop power transmission device, led by the transmission of many chain rope sheaves 3, many groups vertical constraint slide rail 5 and container restraint slot 13 constitute a set of steady power drive system, the science of its principle, reliability is announced accreditation by CN104444016A, here just omit and no longer heavily chatted.
Single several suspension type car containers 1 drawn from Fig. 1 lowest limit position: if the power system operational of computer instruction warehouse machine, suspension type car container 1 is allowed to run arbitrarily along closed loop line both forward and reverse directions, make the suspension type car container 1 of a certain position higher on it run to lowermost end pause and moor steady, these are all not accommodating doubtful things, conversely, in work, if allow chain rope 4 top hang with client a certain suspension type car container 1 of specifying of product of purchasing commodities, with minimum load or negative load startup optimization, the mode walking the shortest operating path drives goods hurdle case 4, by downward for the suspension type car container 1 of car to be accessed, or it is downward more left, or the lowermost end running down to warehouse machine to the right again berths, underloading chain rope 6 transmission system is all not accommodating completes this task doubtfully.
Fig. 2 is that car hangs the position relationship schematic diagrames such as goods hurdle case side constraint groove, load axle, chain rope, can find out in figure that suspension type car container 1 to be tightened up with two, left and right chain rope 4 through sprocket roller arrangement 16 center mutually by cab load-bearing axle 2, cab load-bearing axle 2 termination to be connected, there are two groups of vertical parallel vertical constraint slide rails 5 to be meshed with container restraint slot 13 near suspension type car container 1 two side ends, can not collide and disturb when suspension type car container about 1 is run.
Fig. 3 ground loading mechanization people device 9 and container position top view, as can be seen from Figure: ground loading mechanization people device 9 mechanical part mainly by trundle 12 work car and can organize the parts that do work that move by elastic lifting fork vehicle frame 10 liang, can can reach forward in suspension type car container 1 along the vertical direction of trolley travelling horizontal rail 11 by elastic lifting fork vehicle frame 10, may compress into backward and overlap mutually with dolly, again backward, can make to reach in the suspension type car container 1 of another warehouse machine by elastic lifting fork vehicle frame 10, trundle 12 can positive and negative both direction rotate, make ground loading mechanization people device 9 reciprocal on A and between B point flexibly, A point district car to be deposited can be made to be transported to A, between B, left and right is flexible again leaves in suspension type car container 1 by car, or after the car in suspension type car container 1 is taken out retraction, transport B point district to, car is returned in client's hand.
Embodiment two: the raw material of production plant of enterprise or finished product access warehouse machine system and automation services method.
See Fig. 1, Fig. 2, Fig. 3.
Because of the packaging of raw materials in enterprise's plant produced, and the finished product packing specification of plant produced and the weight of car and volume fixed characteristic are almost identical, so, city car accesses warehouse machine system and automation services method is applicable to enterprise's factories completely and finished product accesses warehouse machine system and automation services method, just slightly the scale of construction of suspension type car container 1 is done suitably to change, city car access warehouse machine system and automation services method and thinking can be applied mechanically completely carry out, here just omit, describe no longer one by one.
Claims (6)
1. car access warehouse machine system and automation services method, comprise sprocket wheel and the chain power drive system of the synchronous two pairs of Parallel Symmetrics up and down of the right and left, two row's vertical curves add the access warehouse machine system of the closed loop chain of upper and lower two semicircular camber line and the suspension car case of outside connection thereof, it is characterized in that: what the right and left was synchronous is total to (2K+1) up and down to Parallel Symmetric train group chain rope sheave and chain rope drive dynamical system, 2K arranges vertical curve, add (2K-1) bar two semicircular camber line, article 2, the part chain discaling roll central axis of the horizontal closed loop chain rope of 90 ° of circular arc lines and one, top and chain rope replaceable wear load-bearing axle connect suspension car case access warehouse machine system (K be more than or equal to 2 natural number), a kind of without the outer partial load moment of torsion of chain rope, without polygon effect, without car access warehouse machine system and the automation services method of smooth transmission, particularly:
Car warehouse machine is the steel ring chain rope that is used for by 2015104970815 chain group skeleton symbol chain ropes replacing in CN104444016A patent and former warehouse design structure is inverted 180 °, namely top, top, bottom three row chain rope sheave numbers by K, (K-1), 2 become 2, (K-1), K only, make bottom can have the position of fixedly berthing of K suspension car case, make 2K bar vertical setting of types hang the position of fixedly berthing of corresponding K the suspension car case of car case.
The vertical constrained hanging goods hurdle boxboard is done relatively original position and turns to 90 ° of exchanges, namely constrained changes to outside the boxboard of former front and back by outside former two side box plates.
The corresponding position, Buddhism by access kinds of goods is also done 90 ° and is turned to exchange, by original forward and backward side broadside relocation to position, left and right side long limit in relatively original position.
2. car according to claim 1 accesses ingredient and the functional task of warehouse machine system, it is characterized in that: car access warehouse machine system is by computer controller, car access warehouse machine, ground car access handling robot device, cabinet type machine screen service session device four part composition, the Management Calculation that computer controller is responsible for main plot system controls, car access warehouse machine is responsible for performing computer instruction, the warehouse machine of access car is driven and hangs goods hurdle case group operation, according to the instruction both forward and reverse directions cycle operation of computer, and with minimum load or negative load startup optimization, walk the mode of the shortest operating path, by downward for the goods hurdle case of the car a certain to be accessed of specifying, or it is downward more left, or the lowermost end running down to warehouse machine to the right again berths, wait for that ground car access handling robot device accesses car, ground car access handling robot device travels to and fro between A or B point place, car other for cabinet type for A place dialogue machine screen is responsible for take away, before horizontal linear is transported to and is treated the proud case of storage storehouse machine, car is stored in and hangs in goods hurdle case case by modify-water flat vertical direction stretching, extension car crotch again, be retracted into original position again, or before level run to machine proud case in warehouse to be picked up the car, vertical direction is stretched in container, with four wheels of pallet fork clamping car, lifting is taken out with retraction, change horizontal direction again and transport to cabinet type dialogue machine screen side, B place, friendship allows client validate the car and is driven away by car.
3. the car case of car access warehouse machine system berths and departs from the procedure in berth according to claim 1, it is characterized in that: car access warehouse machine drives the suspension car case on domain chain rope yarn to run, by computer instruction with minimum load or even negative load startup optimization, make a certain appointment car goods hurdle case downward in the mode of the shortest operating path, or it is downward more left, or run downwards more to the right, when the lowermost end of warehouse machine, this proud case is scanned, warehouse machine is slowed down by instruction, after brake accurately stops to want lowermost end, the container stabilizer that berths at ground place slowly rises and withstands the container berthed, simultaneously, locking device in case bottom vehicle tyre and container is opened, condition has been prepared for ground handling robot device takes vehicle away, after the ground handling robot device picked up the car takes vehicle away, another ground handling robot device can put into container again by needing vehicle to be deposited, after placing, regaining crotch, the disengaging that slowly declines of the container stabilizer that berths at ground place is berthed container, simultaneously, boxcar locking device also automatic blocking in case bottom vehicle tyre and container, institute's bicycle parking is firmly locked with cargo floor, also open startup optimization again for access warehouse machine while locking and open e-command lock, for warehouse machine can have been prepared condition by startup optimization again.
4. according to claim 1 car access warehouse machine system and automation services method deposit car service process, it is characterized in that: client drives car and comes the bicycle parking button that parking garge front door clicks electronic service screen, a little paper slip is provided under electronic service screen, paper slip is specified and has write so-and-so number car access warehouse machine exactly, leading then by road sign arrow, that car is reached so-and-so number car access warehouse machine specifies position, stop, flame-out, pull on rim brake and shut vehicle window, bicycle parking is clicked before coming cabinet type dialogue machine screen communicating device, screen demonstrates immediately the video camera picture of a front of to stop and rear flank, both sides 45° angle, after confirmation, ground car access handling robot device just enter stop depositing bottom dolly, can elastic adjustment target-seeking, and four wheels pitched automatically by lifting fork vehicle frame, after slowly ground is left in lifting, before being forwarded to the container of the vehicle to be put that berths along the track of parallel warehouse machine, adjustment is risen behind position, side direction 90 ° stretching, extension again, by pitch and hold vehicle and be put in railway carriage goods hurdle case, place rear crotch to exit and be retracted into original position, client just sees a picture with case number and vehicle before electronic service screen, after confirmation, information list of picking up the car again is provided under service screen, client just can hold isolated opening.
5. according to claim 1 car access warehouse machine system and automation services method get car service process, it is characterized in that: before client way step comes in parking garge gate payment screen of picking up the car, the bicycle parking information list of gained during bicycle parking is placed on assigned address and carries out electron scanning, vehicle when service screen just shows former bicycle parking and the trade mark, the pictorial informations such as bicycle parking case number (CN), after confirmation, demonstrate bicycle parking total time again, the payment amount of money, after confirmation, insert bank card, input password, confirm payment, pay the fees successfully, a little paper slip of payment is provided under electronic service screen, by paper slip information, the other end of former bicycle parking car access warehouse machine is come under the leading of road sign arrow of picking up the car, the scanner that the little paper slip of payment is placed on electronic service cabinet is scanned, wait, the vehicle of taking-up is just put into position of picking up the car by ground car access handling robot device, open a sluice gate bar, client checks vehicles after errorless can't harm, door opening drives to leave.
6. the ground handling robot device of car access warehouse machine system and automation services method and car access the configuration of warehouse machine system according to claim 1, it is characterized in that: two car access warehouse machine combinations, share the ground transport track of an access vehicle, share an A point bicycle parking lane place and B point to pick up the car lane place, two car access warehouse machines configure two ground handling robot devices, A holds a bicycle parking, B holds one to pick up the car, they replace cooperation and carry out, ground handling robot device self is with camera, scanning radar device, can be homing vector, and under the coordinative command of the dynamo-electric brain in warehouse, accurate running, orderly cooperation, for client carries out the full-range service work of access vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518729.2A CN105178665B (en) | 2015-08-21 | 2015-08-21 | Car accesses warehouse machine system and automation services method |
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| CN201510518729.2A CN105178665B (en) | 2015-08-21 | 2015-08-21 | Car accesses warehouse machine system and automation services method |
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| CN105178665A true CN105178665A (en) | 2015-12-23 |
| CN105178665B CN105178665B (en) | 2017-09-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472794A (en) * | 2017-07-26 | 2017-12-15 | 李先登 | The automation services method of cotton mill kinds of goods warehouse machine |
| CN107558775A (en) * | 2017-07-18 | 2018-01-09 | 武汉智象机器人有限公司 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
| CN108298475A (en) * | 2018-02-10 | 2018-07-20 | 刘剑 | The pallet fork control device of fork truck |
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| JPH06323022A (en) * | 1993-05-12 | 1994-11-22 | Shin Meiwa Ind Co Ltd | Vertical circulation type multistoried parking device |
| CN203361715U (en) * | 2013-03-09 | 2013-12-25 | 北京航天汇信科技有限公司 | Suspension type transmission mechanism full-enclosed type vertical circulating garage |
| CN104444016A (en) * | 2014-10-15 | 2015-03-25 | 李丹 | Suspension rotation type overhead stereoscopic warehouse system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0296060A (en) * | 1988-09-30 | 1990-04-06 | Nippon Cable Co Ltd | Narrow road width vertical circulation system parking device |
| JPH06323022A (en) * | 1993-05-12 | 1994-11-22 | Shin Meiwa Ind Co Ltd | Vertical circulation type multistoried parking device |
| CN203361715U (en) * | 2013-03-09 | 2013-12-25 | 北京航天汇信科技有限公司 | Suspension type transmission mechanism full-enclosed type vertical circulating garage |
| CN104444016A (en) * | 2014-10-15 | 2015-03-25 | 李丹 | Suspension rotation type overhead stereoscopic warehouse system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107558775A (en) * | 2017-07-18 | 2018-01-09 | 武汉智象机器人有限公司 | The vehicle identification system and storage method based on fixed radar for intelligent garage |
| CN107472794A (en) * | 2017-07-26 | 2017-12-15 | 李先登 | The automation services method of cotton mill kinds of goods warehouse machine |
| CN108298475A (en) * | 2018-02-10 | 2018-07-20 | 刘剑 | The pallet fork control device of fork truck |
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| Publication number | Publication date |
|---|---|
| CN105178665B (en) | 2017-09-08 |
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