CN106013887A - Simple multi-layer vehicle storage carrying equipment based on comb-like transfer robot - Google Patents
Simple multi-layer vehicle storage carrying equipment based on comb-like transfer robot Download PDFInfo
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- CN106013887A CN106013887A CN201610420126.3A CN201610420126A CN106013887A CN 106013887 A CN106013887 A CN 106013887A CN 201610420126 A CN201610420126 A CN 201610420126A CN 106013887 A CN106013887 A CN 106013887A
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- transfer robot
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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
- E04H6/185—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 using comb-type transfer means
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Abstract
The invention relates to a set of automobile storage carrying equipment, in particular to a set of simple multi-layer vehicle storage carrying equipment based on a comb-like transfer robot. The simple multi-layer vehicle storage carrying equipment comprises a carrying heightening frame, a multi-layer parking frame and a pallet fork crane or a forklift or an elevator. The carrying heightening frame is at least composed of a heightening framework, a vehicle carrying plate located on the top of the heightening framework, a robot containing framework located below the heightening framework, two centering fixing plates located in the robot containing framework, passive walking wheels installed below the robot containing framework and other parts. Each layer of the multi-layer parking frame is composed of a supporting framework, a stall comb frame, a robot walking plate and other parts, wherein the plate face of the vehicle carrying plate of the carrying heightening frame is as high as the plate face of the robot walking plate of the corresponding layer. The equipment is low in cost and can be flexibly arranged, the comb-like transfer robot originally capable of carrying storage vehicles in single layer on the same floor can carry and store multiple layers of vehicles, and the vehicle storage efficiency is greatly improved.
Description
Technical field
The present invention relates to a set of automobile storage haulage equipment, particularly relate to a set of simple multi-layer vehicle storage haulage equipment based on combed transfer robot, it is adaptable to automobile storage and the technical field of carrying.
Background technology
The patent of Application No. 201510317656.0 proposes a kind of AGV combed transfer robot, and this transfer robot can independently guide, free travel route, save space, Transport Vehicle soon, performance safety, easy maintenance.But can only realize storage and the carrying of monolayer vehicle when this type of combed transfer robot moves on same floor ground, transfer robot can not significantly regulate the height of contained vehicle can to carry out storage and the carrying of Multi-layer vehicles when moving on same floor ground.
Summary of the invention
It is an object of the invention on the basis of combed transfer robot, there is provided a set of easy equipment significantly to regulate the height of contained vehicle so that storage and the carrying of Multi-layer vehicles can be carried out when moving on same floor ground with auxiliary combed transfer robot, and the method using this complete equipment auxiliary transfer robot to carry out multilamellar access vehicle is provided.
A set of simple multi-layer vehicle storage haulage equipment based on combed transfer robot, including carrying heightening frame, multiple layer jiffy stand, band pallet fork crane or fork truck or elevator.
Carrying heightening frame should be at least by increasing framework, being positioned at and increase the vehicle-containing of frame roof, be positioned at and increase robot below framework and accommodate framework, be positioned at robot and accommodate two centering fixed plates of framework, be installed on robot and accommodate the parts such as passive walking wheel below framework and form, and wherein robot accommodates the shape of framework and should ensure that transfer robot can freely sail into wherein.
Multiple layer jiffy stand in addition to one layer every layer should be at least made up of the part such as support frame, parking stall comb frame and robot ambulation plate, one layer should at least have parking stall comb frame, and wherein robot accommodates the shape of framework and should ensure that transfer robot can freely sail into wherein.
The plate face of carrying heightening frame vehicle-containing should be contour with the plate face of the robot ambulation plate of equivalent layer on jiffy stand, and should there be navigator fix labelling in vehicle-containing plate face and robot ambulation plate plate face.
Should there is several maintenance jack on described vehicle-containing, corresponding should install several controllable extensible formula maintenance plug on combed transfer robot additional.
Described increase frame facet and also can set up side support frame, passive walking wheel also can be installed below the support frame of side.
This complete equipment auxiliary transfer robot realizes the method for multilamellar bicycle parking and comprises the following steps:
One transfer robot being loaded with automobile is walked near band pallet fork crane or fork truck, with pallet fork crane or fork truck, its pallet fork is fallen below transfer robot comb but the height of framework of walking higher than transfer robot, transfer robot is advanced to band pallet fork crane until two pallet forks of crane are fully located at the lower section of transfer robot comb, or transfer robot walks to stop behind certain position and its pallet fork is actively inserted to by fork truck the lower section of transfer robot comb again, the transfer robot carrying car is lifted to the height higher than certain carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards.
The walking of another transfer robot is so far carried the robot of heightening frame and is accommodated in framework and use guider alignment location, and then two centering push pedals of transfer robot push to both sides that contact with the centering fixed plate carrying heightening frame and compresses can be with carrying heightening frame synchronizing moving until transfer robot open.
The transfer robot being loaded with carrying heightening frame runs to carry immediately below the transfer robot of car, fall pallet fork with pallet fork crane or fork truck to be positioned on the vehicle-containing of carrying heightening frame by the transfer robot carrying car, stretch out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing at the transfer robot using guider alignment location rear bearing car.
Be loaded with carrying heightening frame transfer robot carry above it carry car transfer robot run to by multiple layer jiffy stand, then adjusting position makes the vehicle-containing carrying heightening frame dock with the robot ambulation plate of multiple layer jiffy stand equivalent layer, maintenance plug is regained and starts to move on robot ambulation plate by the transfer robot carrying car, the transfer robot carrying car moves to the comb frame of parking stall behind relevant position, lifting drives motor to drive lifting frame to decline, and makes automobile be down on the comb frame of parking stall.
Unloaded transfer robot leaves parking stall comb frame and returns to carry on the vehicle-containing of heightening frame, and after using guider alignment location, unloaded transfer robot stretches out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing.
It is loaded with the unloaded transfer robot that the transfer robot of carrying heightening frame carries above it and runs to by band pallet fork crane or fork truck, band pallet fork crane or fork truck lifting pallet fork, carrying out relative movement with transfer robot so that pallet fork is inserted to the lower section of the transfer robot comb of zero load with pallet fork crane or fork truck, unloaded transfer robot lifting is departed from carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards.
The transfer robot being loaded with carrying heightening frame runs to carry the predetermined arrangement position of heightening frame, and transfer robot is inwardly regained centering push pedal and departed from and contacting of carrying heightening frame, and is then departed from carrying heightening frame.
Falling pallet fork with pallet fork crane or fork truck to be put on ground by unloaded transfer robot, transfer robot sails out of band pallet fork crane or fork truck.
This complete equipment auxiliary transfer robot realizes the method that multilamellar picks up the car and comprises the following steps:
Host computer dispatching patcher sends corresponding parking stall and picks up the car order, after transfer robot receives order of picking up the car, the transfer robot of one zero load is walked near band pallet fork crane or fork truck, with pallet fork crane or fork truck, its pallet fork is fallen below transfer robot comb but the height of framework of walking higher than transfer robot, transfer robot is advanced to band pallet fork crane until two pallet forks of crane are fully located at the lower section of transfer robot comb, or transfer robot walks to stop behind certain position and its pallet fork is actively inserted to by fork truck the lower section of transfer robot comb again, unloaded transfer robot is lifted to the height higher than certain carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards.
The walking of another transfer robot is so far carried the robot of heightening frame and is accommodated in framework and use guider alignment location, and then two centering push pedals of transfer robot push to both sides that contact with the centering fixed plate carrying heightening frame and compresses can be with carrying heightening frame synchronizing moving until transfer robot open.
The transfer robot being loaded with carrying heightening frame runs to immediately below the transfer robot of zero load, falling pallet fork with pallet fork crane or fork truck to be positioned on the vehicle-containing of carrying heightening frame by unloaded transfer robot, after using guider alignment location, unloaded transfer robot stretches out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing.
It is loaded with the unloaded transfer robot that the transfer robot of carrying heightening frame carries above it and runs to by multiple layer jiffy stand, then adjusting position makes the vehicle-containing carrying heightening frame dock with the robot ambulation plate of multiple layer jiffy stand equivalent layer, maintenance plug is regained and starts to move on robot ambulation plate by unloaded transfer robot, unloaded transfer robot moves to the comb frame of parking stall behind relevant position, lifting drives motor to drive lifting frame to rise, and makes automobile depart from parking stall comb frame.
The transfer robot of load car leaves parking stall comb frame and returns to carry on the vehicle-containing of heightening frame, uses the transfer robot of guider alignment location rear bearing car to stretch out in the maintenance jack on the maintenance plug corresponding vehicle-containing of insertion.
Be loaded with carrying heightening frame transfer robot carry above it carry car transfer robot run to by band pallet fork crane or fork truck, band pallet fork crane or fork truck lifting pallet fork, carrying out relative movement with transfer robot so that pallet fork is inserted to carry the lower section of the transfer robot comb of car with pallet fork crane or fork truck, the transfer robot lifting carrying car is departed from carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards.
The transfer robot being loaded with carrying heightening frame runs to carry the predetermined arrangement position of heightening frame, and transfer robot is inwardly regained centering push pedal and departed from and contacting of carrying heightening frame, and is then departed from carrying heightening frame.
Fall pallet fork with pallet fork crane or fork truck to be put on ground by the transfer robot carrying car, the transfer robot carrying car runs to gateway hoistable platform, lifting drives motor to drive lifting frame to decline, and by the comb frame of automobile parking to gateway, transfer robot leaves.
Transfer robot is carried on the method step of carrying heightening frame by elevator from ground: first elevator makes its hoistable platform run to contour with multi-storied garage layer ground, then the transfer robot being positioned at this layer sails hoistable platform into, then hoistable platform rises to contour with the vehicle-containing of certain carrying heightening frame, next another transfer robot is with this carrying heightening frame together close to hoistable platform and make carrying heightening frame vehicle-containing dock with hoistable platform, and the transfer robot being positioned at after having docked on hoistable platform reaches carries heightening frame vehicle-containing.
Transfer robot sails the method step of elevator hoistable platform from carrying heightening frame into: first elevator makes its hoistable platform run to contour with the vehicle-containing of certain the carrying heightening frame being loaded with transfer robot, then another transfer robot is with this carrying heightening frame together close to hoistable platform and make carrying heightening frame vehicle-containing dock with hoistable platform, is positioned at the transfer robot carried on heightening frame vehicle-containing and sails hoistable platform into after having docked.
The present invention compared with prior art, uses the equipment of relative inexpensiveness that combed transfer robot can be assisted to realize storage and the carrying of Multi-layer vehicles on same floor ground so that the stopped quantity in identical floor space significantly improves.For horizontal mobile or AisleStack multi-storied garage, multiple layer jiffy stand can the most in position disperse to put multiple layer jiffy stand more flexibly, builds parking tier without carrying out flood.Certain equipment of the present invention also can be used in combination with horizontal mobile or AisleStack multi-storied garage increases the number of plies of can stopping at lower cost.The frame structure of multiple layer jiffy stand is more stable, it is not necessary to beat the deepest fixing swell fixture earthward.
Accompanying drawing explanation
Fig. 1 is two layers and three layers carrying heightening frame front view.
Fig. 2 is two layers and three layers carrying heightening frame top view.
Fig. 3 is two layers and three layers carrying heightening frame shaft side figure.
Fig. 4 is two layers and three layer multi-layer jiffy stand front views.
Fig. 5 is two layers and three layer multi-layer jiffy stand axonometric drawings.
Fig. 6 is to carry location diagram when heightening frame is synchronized with the movement with transfer robot.
Location diagram both when Fig. 7 is below pallet fork insertion transfer robot comb.
Fig. 8 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 1 of multilamellar bicycle parking.
Fig. 9 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 2 of multilamellar bicycle parking.
Figure 10 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 3 of multilamellar bicycle parking.
Figure 11 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 4 of multilamellar bicycle parking.
Figure 12 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 5 of multilamellar bicycle parking.
Figure 13 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 6 of multilamellar bicycle parking.
Figure 14 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 7 of multilamellar bicycle parking.
Figure 15 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 8 of multilamellar bicycle parking.
Figure 16 is that we invent described equipment and combine transfer robot and realize the carrying schematic diagram 9 of multilamellar bicycle parking.
Figure 17 is that we invent described equipment and combine transfer robot and realize the carrying of multilamellar bicycle parking and illustrate Figure 10.
Figure 18 is that we invent described equipment and combine transfer robot and realize the carrying of multilamellar bicycle parking and illustrate Figure 11.
In Fig. 1 ~ 7: 101. increase framework；102. robots accommodate framework；103. side support frames；104. centering fixed plates；105. passive walking wheels；106. vehicle-containing；201. maintenance jacks；401. support frame；402. parking stall comb framves；403. robot ambulation plates；601. comb；602. centering push pedals；701. pallet fork.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is done explaination further, but the scope of protection of present invention is not limited in embodiment the scope of statement.
As shown in Figure 1, 2, 3, carrying heightening frame is by increasing framework 101, being positioned at and increase robot below framework 101 and accommodate framework 102, be positioned at and increase the side support frame 103 of framework 101 side, be positioned at robot and accommodate two centering fixed plates 104 of framework 102, be installed on robot and accommodate the passive walking wheel 105 below framework 102 and side support frame 103, be positioned at and increase the part such as vehicle-containing 106 at framework 101 top and form.As in figure 2 it is shown, should there be several maintenance jack 201 on vehicle-containing 106, corresponding several controllable extensible formula maintenance plug should be installed on combed transfer robot additional.
As shown in Figure 4,5, multiple layer jiffy stand in addition to one layer every layer be all made up of the part such as support frame 401, parking stall comb frame 402 and robot ambulation plate 403, wherein robot ambulation plate 403 is positioned at below parking stall comb frame 402.
Equipment of the present invention combines transfer robot and realizes the process of multilamellar bicycle parking and comprise the following steps:
As shown in Figure 8, the one transfer robot C1 being loaded with automobile walks near fork truck, its pallet fork 701 is fallen below transfer robot comb 601 but the height of framework of walking higher than transfer robot by fork truck, transfer robot C1 walks to stop behind certain position and by two fork trucks, its pallet fork is inserted to the front comb of transfer robot and the lower section of rear comb respectively more as shown in Figure 9, and the transfer robot C1 carrying car is lifted to the height higher than carrying heightening frame by forklift lifting pallet fork 701 the most as shown in Figure 10.In Fig. 7, pallet fork 701 has just been inserted to below transfer robot comb 601, and the position relationship of pallet fork 701 and comb 601 is as shown in Figure 7.
As shown in FIG. 8 and 9, another transfer robot C2 runs to carry in the robot of heightening frame accommodates framework 102 and uses guider alignment location, and two centering push pedals 602 of transfer robot are pushed open to both sides and contacted with the centering fixed plate 104 carrying heightening frame and compress until transfer robot C2 can be with carrying heightening frame synchronizing moving the most as shown in Figure 6.
As shown in Figure 10, the transfer robot C2 being loaded with carrying heightening frame runs to carry immediately below the transfer robot C1 of car, fork truck is fallen pallet fork 701 and is positioned on the vehicle-containing 106 of carrying heightening frame by the transfer robot C1 carrying car, stretches out in the maintenance jack 201 that maintenance plug inserts on corresponding vehicle-containing at the transfer robot C1 using guider alignment location rear bearing car.
As shown in figure 11, be loaded with carrying heightening frame transfer robot C2 carry above it carry car transfer robot C1 run to by multiple layer jiffy stand.The most as shown in figure 12, transfer robot C2 adjusts position and the vehicle-containing 106 carrying heightening frame is docked with the robot ambulation plate 403 of multiple layer jiffy stand equivalent layer, and the plate face of carrying heightening frame vehicle-containing 106 should be contour with the plate face of corresponding multiple layer jiffy stand robot ambulation plate 403.Maintenance plug is regained and starts to move on robot ambulation plate 403 by the transfer robot C1 carrying car as shown in figure 13, carry the conveying robot C1 people of car as shown in figure 14 and move to parking stall comb frame 402 behind relevant position, lifting drives motor to drive lifting frame to decline, and makes automobile be down on parking stall comb frame 402.
As shown in figure 14, unloaded transfer robot C1 leaves parking stall comb frame 402 and returns to carry on the vehicle-containing 106 of heightening frame, and after using guider alignment location, unloaded transfer robot C1 stretches out in the maintenance jack 201 that maintenance plug inserts on corresponding vehicle-containing.
As shown in figure 15, it is loaded with the unloaded transfer robot C1 that the transfer robot C2 of carrying heightening frame carries above it and runs to by fork truck, fork truck lifting pallet fork 701.As shown in figure 16, fork truck and transfer robot C2 carry out relative movement so that pallet fork 701 is inserted to the front comb of transfer robot C1 and the lower section of rear comb of zero load, and the most unloaded transfer robot C1 lifting is departed from carrying heightening frame by forklift lifting pallet fork 701.
As shown in FIG. 17 and 18, the transfer robot C2 being loaded with carrying heightening frame runs to carry the predetermined position of laying of heightening frame, and transfer robot C2 inwardly regains centering push pedal 602 and departs from and contacting of carrying heightening frame, and is then departed from carrying heightening frame.
As shown in figure 18, fork truck is fallen pallet fork 701 and is put on ground by unloaded transfer robot C1, and transfer robot C1 sails out of fork truck.
Equipment of the present invention combines transfer robot, and to realize the process that multilamellar picks up the car substantially opposite with bicycle parking process, the most no longer describes in detail at this.
Claims (8)
- The most a set of simple multi-layer vehicle storage haulage equipment based on combed transfer robot, it is characterised in that:Complete equipment includes carrying heightening frame, multiple layer jiffy stand, band pallet fork crane or fork truck or elevator；Carrying heightening frame should be at least by increasing framework, being positioned at and increase the vehicle-containing of frame roof, be positioned at and increase robot below framework and accommodate framework, be positioned at robot and accommodate two centering fixed plates of framework, be installed on robot and accommodate the parts such as passive walking wheel below framework and form, and wherein robot accommodates the shape of framework and should ensure that transfer robot can freely sail into wherein；Multiple layer jiffy stand in addition to one layer every layer should be at least made up of the part such as support frame, parking stall comb frame and robot ambulation plate, one layer should at least have parking stall comb frame, and wherein robot ambulation plate should be positioned at below therewith with the parking stall comb frame of layer.
- Multi-layer vehicles the most according to claim 1 storage haulage equipment, it is characterized in that, the plate face of carrying heightening frame vehicle-containing should be contour with the plate face of the robot ambulation plate of equivalent layer on jiffy stand, and should there be navigator fix labelling in vehicle-containing plate face and robot ambulation plate plate face.
- Multi-layer vehicles the most according to claim 1 storage haulage equipment, it is characterised in that should have several maintenance jack on described vehicle-containing, corresponding should install several controllable extensible formula maintenance plug additional on combed transfer robot.
- Multi-layer vehicles the most according to claim 1 storage haulage equipment, it is characterised in that described increase frame facet and also can set up side support frame, also can install passive walking wheel below the support frame of side.
- 5. store haulage equipment according to the Multi-layer vehicles described in claim 1-4, it is characterised in that this complete equipment auxiliary transfer robot realizes the method for multilamellar bicycle parking and comprises the following steps:One transfer robot being loaded with automobile is walked near band pallet fork crane or fork truck, with pallet fork crane or fork truck, its pallet fork is fallen below transfer robot comb but the height of framework of walking higher than transfer robot, transfer robot is advanced to band pallet fork crane until two pallet forks of crane are fully located at the lower section of transfer robot comb, or transfer robot walks to stop behind certain position and its pallet fork is actively inserted to by fork truck the lower section of transfer robot comb again, the transfer robot carrying car is lifted to the height higher than certain carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards；The walking of another transfer robot is so far carried the robot of heightening frame and is accommodated in framework and use guider alignment location, and then two centering push pedals of transfer robot push to both sides that contact with the centering fixed plate carrying heightening frame and compresses can be with carrying heightening frame synchronizing moving until transfer robot open；The transfer robot being loaded with carrying heightening frame runs to carry immediately below the transfer robot of car, fall pallet fork with pallet fork crane or fork truck to be positioned on the vehicle-containing of carrying heightening frame by the transfer robot carrying car, stretch out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing at the transfer robot using guider alignment location rear bearing car；Be loaded with carrying heightening frame transfer robot carry above it carry car transfer robot run to by multiple layer jiffy stand, then adjusting position makes the vehicle-containing carrying heightening frame dock with the robot ambulation plate of multiple layer jiffy stand equivalent layer, maintenance plug is regained and starts to move on robot ambulation plate by the transfer robot carrying car, the transfer robot carrying car moves to the comb frame of parking stall behind relevant position, lifting drives motor to drive lifting frame to decline, and makes automobile be down on the comb frame of parking stall；Unloaded transfer robot leaves parking stall comb frame and returns to carry on the vehicle-containing of heightening frame, and after using guider alignment location, unloaded transfer robot stretches out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing；It is loaded with the unloaded transfer robot that the transfer robot of carrying heightening frame carries above it and runs to by band pallet fork crane or fork truck, band pallet fork crane or fork truck lifting pallet fork, carrying out relative movement with transfer robot so that pallet fork is inserted to the lower section of the transfer robot comb of zero load with pallet fork crane or fork truck, unloaded transfer robot lifting is departed from carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards；The transfer robot being loaded with carrying heightening frame runs to carry the predetermined arrangement position of heightening frame, and transfer robot is inwardly regained centering push pedal and departed from and contacting of carrying heightening frame, and is then departed from carrying heightening frame；Falling pallet fork with pallet fork crane or fork truck to be put on ground by unloaded transfer robot, transfer robot sails out of band pallet fork crane or fork truck.
- 6. store haulage equipment according to the Multi-layer vehicles described in claim 1-4, it is characterised in that this complete equipment auxiliary transfer robot realizes the method that multilamellar picks up the car and comprises the following steps:Host computer dispatching patcher sends corresponding parking stall and picks up the car order, after transfer robot receives order of picking up the car, the transfer robot of one zero load is walked near band pallet fork crane or fork truck, with pallet fork crane or fork truck, its pallet fork is fallen below transfer robot comb but the height of framework of walking higher than transfer robot, transfer robot is advanced to band pallet fork crane until two pallet forks of crane are fully located at the lower section of transfer robot comb, or transfer robot walks to stop behind certain position and its pallet fork is actively inserted to by fork truck the lower section of transfer robot comb again, unloaded transfer robot is lifted to the height higher than certain carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards；The walking of another transfer robot is so far carried the robot of heightening frame and is accommodated in framework and use guider alignment location, and then two centering push pedals of transfer robot push to both sides that contact with the centering fixed plate carrying heightening frame and compresses can be with carrying heightening frame synchronizing moving until transfer robot open；The transfer robot being loaded with carrying heightening frame runs to immediately below the transfer robot of zero load, falling pallet fork with pallet fork crane or fork truck to be positioned on the vehicle-containing of carrying heightening frame by unloaded transfer robot, after using guider alignment location, unloaded transfer robot stretches out in the maintenance jack that maintenance plug inserts on corresponding vehicle-containing；It is loaded with the unloaded transfer robot that the transfer robot of carrying heightening frame carries above it and runs to by multiple layer jiffy stand, then adjusting position makes the vehicle-containing carrying heightening frame dock with the robot ambulation plate of multiple layer jiffy stand equivalent layer, maintenance plug is regained and starts to move on robot ambulation plate by unloaded transfer robot, unloaded transfer robot moves to the comb frame of parking stall behind relevant position, lifting drives motor to drive lifting frame to rise, and makes automobile depart from parking stall comb frame；The transfer robot of load car leaves parking stall comb frame and returns to carry on the vehicle-containing of heightening frame, uses the transfer robot of guider alignment location rear bearing car to stretch out in the maintenance jack on the maintenance plug corresponding vehicle-containing of insertion；Be loaded with carrying heightening frame transfer robot carry above it carry car transfer robot run to by band pallet fork crane or fork truck, band pallet fork crane or fork truck lifting pallet fork, carrying out relative movement with transfer robot so that pallet fork is inserted to carry the lower section of the transfer robot comb of car with pallet fork crane or fork truck, the transfer robot lifting carrying car is departed from carrying heightening frame by band pallet fork crane or forklift lifting pallet fork afterwards；The transfer robot being loaded with carrying heightening frame runs to carry the predetermined arrangement position of heightening frame, and transfer robot is inwardly regained centering push pedal and departed from and contacting of carrying heightening frame, and is then departed from carrying heightening frame；Fall pallet fork with pallet fork crane or fork truck to be put on ground by the transfer robot carrying car, the transfer robot carrying car runs to gateway hoistable platform, lifting drives motor to drive lifting frame to decline, and by the comb frame of automobile parking to gateway, transfer robot leaves.
- 7. store haulage equipment according to the Multi-layer vehicles described in claim 1-4, it is characterized in that, transfer robot is carried on the method step of carrying heightening frame by elevator from ground: first elevator makes its hoistable platform run to contour with multi-storied garage layer ground, then the transfer robot being positioned at this layer sails hoistable platform into, then hoistable platform rises to contour with the vehicle-containing of certain carrying heightening frame, next another transfer robot with this carrying heightening frame together close to hoistable platform and make carrying heightening frame vehicle-containing dock with hoistable platform, the transfer robot being positioned on hoistable platform after having docked reaches carrying heightening frame vehicle-containing.
- 8. store haulage equipment according to the Multi-layer vehicles described in claim 1-4, it is characterized in that, transfer robot sails the method step of elevator hoistable platform from carrying heightening frame into: first elevator makes its hoistable platform run to contour with the vehicle-containing of certain the carrying heightening frame being loaded with transfer robot, then another transfer robot is with this carrying heightening frame together close to hoistable platform and make carrying heightening frame vehicle-containing dock with hoistable platform, is positioned at the transfer robot carried on heightening frame vehicle-containing and sails hoistable platform into after having docked.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610420126.3A CN106013887A (en) | 2016-06-15 | 2016-06-15 | Simple multi-layer vehicle storage carrying equipment based on comb-like transfer robot |
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| CN201610420126.3A CN106013887A (en) | 2016-06-15 | 2016-06-15 | Simple multi-layer vehicle storage carrying equipment based on comb-like transfer robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191044A (en) * | 2017-07-26 | 2017-09-22 | 合肥巨步机械科技有限公司 | A kind of lugs based on electromagnetic adsorption |
| CN107227876A (en) * | 2017-07-26 | 2017-10-03 | 合肥巨步机械科技有限公司 | A kind of control system of the lugs based on electromagnetic adsorption |
| CN107313634A (en) * | 2017-08-17 | 2017-11-03 | 刘影 | A kind of vehicle access method of multi-storied garage |
| CN107824464A (en) * | 2017-11-10 | 2018-03-23 | 西南交通大学 | A kind of goods sorting mechanism |
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2016
- 2016-06-15 CN CN201610420126.3A patent/CN106013887A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191044A (en) * | 2017-07-26 | 2017-09-22 | 合肥巨步机械科技有限公司 | A kind of lugs based on electromagnetic adsorption |
| CN107227876A (en) * | 2017-07-26 | 2017-10-03 | 合肥巨步机械科技有限公司 | A kind of control system of the lugs based on electromagnetic adsorption |
| CN107313634A (en) * | 2017-08-17 | 2017-11-03 | 刘影 | A kind of vehicle access method of multi-storied garage |
| CN107824464A (en) * | 2017-11-10 | 2018-03-23 | 西南交通大学 | A kind of goods sorting mechanism |
| CN107824464B (en) * | 2017-11-10 | 2023-09-15 | 西南交通大学 | Goods sorting mechanism |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20161012 |