CN109322518A - The APP application of robot, intelligent three-dimensional, access method and intelligent three-dimensional garage in length and breadth - Google Patents
The APP application of robot, intelligent three-dimensional, access method and intelligent three-dimensional garage in length and breadth Download PDFInfo
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- CN109322518A CN109322518A CN201710638700.7A CN201710638700A CN109322518A CN 109322518 A CN109322518 A CN 109322518A CN 201710638700 A CN201710638700 A CN 201710638700A CN 109322518 A CN109322518 A CN 109322518A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000007788 liquid Substances 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000010977 unit operation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005538 encapsulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
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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
- E04H6/42—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
Landscapes
- 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
The present invention provides the APP application of a kind of robot, intelligent three-dimensional library, access method and intelligent three-dimensional garage in length and breadth, and robot includes frame body, package board, stringer system, transverse travel system, charging receiving terminal, hydraulic power unit, battery, in length and breadth robot electrical control system in length and breadth.Robot in length and breadth provided by the invention, is provided with stringer system and transverse travel system, and row, stringer system respectively include cross, stringer wheel lifting hydraulic cylinder (8), cross, stringer wheel, be able to carry out vertical and horizontal bidirectional-movement；Hydraulic power unit, row wheel lifting hydraulic cylinder and stringer wheel lifting hydraulic cylinder are provided in robot in length and breadth, can be realized the pick-and-place of pallet；By robot electrical control system in length and breadth, the Intelligent control to robot in length and breadth is realized.
Description
Technical field
The present invention relates to logistic storage fields, and more particularly to a kind of handling device, specifically a kind of robot is especially suitable
For carrying out the access etc. of vehicle, cargo.
Background technique
With the increase of social population, how to improve space utilization rate and have become society research hot spot, solid storing dress
It sets and the invention of the three-dimensional equipment such as stereo garage, improves the utilization rate in space to a certain extent.In order to facilitate cargo or
The access of person's vehicle usually requires intelligent haulage equipment.
Existing intelligence Handling device is usually only unidirectional handling device, has bigger limitation, and carry dress
It sets and existing haulage equipment after storage object perhaps vehicle conveying to destination locations is also needed by means of fork truck or manually will
Storage object or vehicle are transferred on corresponding position from handling device, complicated for operation, time-consuming and laborious.
Summary of the invention
In view of the deficiency of the prior art, the present invention provides a kind of robot, intelligent three-dimensional, access method in length and breadth
And the APP application of intelligent three-dimensional garage, it is a kind of two-way handling device.
The technical solution used of the invention provides a kind of robot (20) in length and breadth for one side comprising frame body (2), envelope
Assembling device, stringer system, transverse travel system, charging receiving terminal (7), hydraulic power unit (3), power supply, in length and breadth robot electrical equipment control
System (6)；
Packaging system is provided with above frame body (2)；
Transverse travel system includes at least two groups row driving device, and two groups of row driving devices are parallel to each other, are symmetrically arranged
In the lateral lower section of frame body (2), stringer system includes at least two groups stringer driving device, and two groups of stringer driving devices are parallel to each other,
It is symmetrically disposed on the longitudinally below of frame body (2), is mutually perpendicular between two groups of row driving devices and two groups of stringer driving devices,
Transverse travel system, stringer system are separately connected hydraulic power unit (3), in length and breadth robot electrical control system (6)；
Every group of row driving device is mainly by row wheel support (12), row turbin generator (11), row wheel brake (10), cross
Row wheel shaft (9), row wheel lifting hydraulic cylinder (8), row wheel (13) are constituted；
Row wheel shaft (9) passes through the both ends of row wheel support (12), and row wheel brake (10) and row turbin generator (11) are set
It is internal to be placed in row wheel support (12), row wheel brake (10) is set on row wheel shaft (9), row turbin generator (11) and row
Wheel shaft (9) is connected；
- at least two row wheels (13) are symmetrically disposed on row wheel shaft (9) both ends；
The first end of-at least two row wheel lifting hydraulic cylinders (8) respectively with row wheel support (12) both ends
Top connection, the second end of at least two row wheel lifting hydraulic cylinders (8) the respectively removably lower section with frame body (2)
Connection；
Every group of stringer driving device is mainly by stringer wheel support (15), stringer turbin generator (14), stringer wheel brake (16), vertical
Row wheel shaft (17), stringer wheel lifting hydraulic cylinder (18), stringer wheel (19) are constituted；
Stringer wheel shaft (17) passes through the both ends of stringer wheel support (15), stringer wheel brake (16) and stringer turbin generator (14)
It is internal to be set to stringer wheel support (15), stringer wheel brake (16) is set on stringer wheel shaft (17), stringer turbin generator (14) with
Stringer wheel shaft (17) is connected；
- at least two stringer wheels (19) are symmetrically disposed on stringer wheel shaft (17) both ends；
The first end of-at least two stringer wheel lifting hydraulic cylinders (18) respectively with stringer wheel support (15) both ends
Top connection, the second end of at least two stringer wheel lifting hydraulic cylinders (18) is respectively removably and under frame body (2)
Side's connection.
Further, charging receiving terminal (7) is set on row wheel support (12) or stringer wheel support (15).
Further, using one of following scheme or any combination:
Scheme 1: the frame body (2) is rectangle frame body；
Scheme 2: the power supply uses battery (5)；
Scheme 3: the frame body (2) is internally provided with platform, hydraulic power unit (3), power supply, in length and breadth robot electrical equipment control system
System (6) is set on the platform of frame body (2)；
Scheme 4: the packaging system is package board (1), and package board (1) is set to the upper surface of frame body (2).
Scheme 5: row wheel support (12) is cuboid groove-like structure, and stringer wheel support (15) is cuboid groove-like structure；
Scheme 6: between the row wheel lifting hydraulic cylinder (8) and stringer wheel lifting hydraulic cylinder (18) and frame body (2) respectively
It is bolted.
Further, two groups of row driving devices are symmetrically disposed below the both lateral sides of frame body (2), and two groups of stringers are driven
Dynamic device is symmetrically disposed on the lower section of longitudinal two sides of frame body (2), two groups of row driving devices, two groups of stringer driving device shapes
Quadrangularly structure；
It further, further include wireless charging device (4).
Another aspect of the present invention provides a kind of intelligent three-dimensional library, uses a kind of above-mentioned robot in length and breadth, intelligent three-dimensional
Library further includes main body frame, elevator (21), liftway (L3), the first track (L1), the second track (L2), specifically:
Main body frame is at least two layers of structure, and the outside or inside of main body frame is arranged in liftway (L3), is risen
Drop machine (21) setting is in liftway (L3)；
On the bottom plate for the storage area that-the first track (L1) is laid on main body frame, the first track (L1) includes at least two groups
Cross track and at least two groups long rails are parallel to each other between cross track, are parallel to each other between long rails, cross track
It is connected with each other with long rails, intersects and be laid in the same plane, be in 90 degree between cross track and long rails；
It is provided on elevator (21) the second track (L2), the second track (L2) is including at least one set of cross track and extremely
Few one group of long rails, the second track (L2) is set as lying mutually in line with the first track (L1) to be connected, and robot (20) exists in length and breadth
On first track (L1) and the second track (L2) on continuous operation.
Further, the intelligent three-dimensional library further includes pallet (22) and tray supporter, the first tray supporter (L4) setting
In on the bottom plate of the storage area of main body frame, the corresponding setting of every group of first tray supporter (L4) is in the first track of main body (L1)
The both sides external of parts transversely track or long rails；
Not in the cross track and long rails of the first track (L1) of both sides external setting the first tray supporter (L4)
At least one group is lateral, long rails are correspondingly total with the cross track of the second track (L2) of elevator (21) or long rails
Line linking；
It is provided on elevator (21) the second tray supporter (L5), the second tray supporter (L5) is arranged in correspondence in elevator
(21) at four angles, the distance between the inside of every group of first tray supporter (L4) and the second tray supporter (L5) is more than or equal to
The height of the length and width of robot (20) in length and breadth, the first tray supporter (L4) and the second tray supporter (L5) is greater than the first rail
Height the sum of of the road (L1) highly with robot in length and breadth (20)；
The pallet (22) is detachably set to the top of the first tray supporter (L4) and the second tray supporter (L5).
Further, the intelligent three-dimensional library further includes electric appliance complex control system, electric appliance complex control system in length and breadth
Robot electrical control system is wirelessly attached between (6).
Further, the intelligent three-dimensional library further includes fire-fighting system (23).
Further, using one of following scheme or any combination:
Scheme 01: the intelligent three-dimensional library further includes automatic charge device (25) and automatic charge device operation guide rail
(26), in the top plate for the storage area that automatic charge device operation guide rail (26) is set to main body frame, automatic charge device
(25) it is run along automatic charge device operation guide rail (26)；
Scheme 02: the top and/or side of the main body frame in the intelligent three-dimensional library are provided with photovoltaic device；
Scheme 03: robot charging device (24) in length and breadth are provided on first track (L1).
Further, robot electrical control system (6) runs following procedure in length and breadth:
After the transverse movement mode of robot electrical control system (6) is triggered in length and breadth, the stringer of robot (20) in length and breadth
Stringer wheel lifting hydraulic cylinder (18) in driving device is shunk, and drives stringer driving device to be raised above and leave track, in length and breadth
The row driving device of robot (20) is in contact with track, and transversely track is run
After the longitudinal movement mode of robot electrical control system (6) is triggered in length and breadth, the stringer of robot (20) in length and breadth
Stringer wheel lifting hydraulic cylinder (18) stretching, extension in driving device drives stringer driving device to extend downwardly simultaneously contact track, meanwhile,
The row wheel lifting hydraulic cylinder (8) in the row driving device of robot (20) is shunk in length and breadth, drives row driving device upward
Track is risen and leaves, track is run along longitudinal direction.
Another aspect of the present invention provides a kind of logistics access method in intelligent three-dimensional library, uses a kind of above-mentioned Intelligent standing
Body library, bicycle parking or stock object include the following steps:
Step1: layer where robot electric appliance complex control system instruction bicycle parking entrance is vertical with pallet (22) in length and breadth
Cross-machine people (20) is moved to inlet, and the pallet (22) that vehicle is parked in intelligent three-dimensional garage by car owner receives vehicle or cargo；
Step2: robot electric appliance complex control system controls the corresponding stringer of robot (20) intelligent starting in length and breadth in length and breadth
Lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) are taken turns to lift pallet (22), and according to electric appliance complex control system
Transfer the pallet (22) for carrying out carrying loading vehicles or cargo；
Step3: the robot electric appliance complex control system destination locations control free according to artificial setting or system in length and breadth
System in length and breadth carried by robot, if vehicle is parked in and main body frame entrance by robot electric appliance complex control system instruction in length and breadth
Position maintain an equal level one layer, then enter Step4, if in length and breadth robot electric appliance complex control system instruction by vehicle parking in other layers
Then enter Step5；
Step4: the robot in length and breadth (20) of layer carries out longitudinal movement and/or cross along the first track (L1) where bicycle parking entrance
To movement, by pallet (22) and vehicle or goods handling to the destination locations for having the first tray supporter (L4)；
Step5: robot in length and breadth (20) edge of layer where robot electric appliance complex control system control bicycle parking entrance in length and breadth
First track (L1) carries out longitudinal movement and/or transverse movement to elevator (21) inlet, along the first track being mutually linked
(L1) and after the second track (L2) enters elevator (21) inside, the robot in length and breadth (20) of layer is vertical where starting bicycle parking entrance
Row wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) are to lift pallet (22) and vehicle or cargo, by pallet (22)
And after vehicle is placed on internal the second tray supporter (L5) of elevator (21), the robot in length and breadth of layer where bicycle parking entrance
(20) elevator (21) are exited, corresponding stand is returned；
When elevator (21) reaches the number of plies where target parking position, the robot in length and breadth (20) of this layer along this layer the
One track (L1) and the second track (L2) operation, into after elevator (21) inside, the corresponding stringer wheel of intelligent starting goes up and down liquid
It presses (18) cylinder or row wheel lifting hydraulic cylinder (8) to lift pallet (22) and vehicle, pallet (22) and vehicle is removed into elevator
(21), it and along first track (L1) of the second track (L2) and this layer runs, vehicle and pallet (22) is transported to the layer
The parking position with the first tray supporter (L4)；
After pallet (22) and vehicles drive to the destination locations with tray supporter, robot (20) is intelligently opened in length and breadth for control
Dynamic stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) with placement tray (22), by pallet (22) and vehicle or
Cargo is placed on corresponding first tray supporter (L4), and robot (20) returns to corresponding parking area in length and breadth for control.
It picks up the car or picking object includes the following steps:
S1: robot electric appliance complex control system receives the pick-up demand that car owner or the owner of cargo propose in length and breadth, in length and breadth robot
Address is parked in the lookup of electric appliance complex control system；
S2: the control of robot electric appliance complex control system is without the robot in length and breadth (20) of pallet (22) according to electric appliance in length and breadth
Complex control system is run to address is parked, and robot intelligent starting is vertical in length and breadth for the control of robot electric appliance complex control system in length and breadth
Row wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) hold up pallet (22) and vehicle；
S3: robot electric appliance complex control system is located at the control of different location to destination in length and breadth are as follows:
- Ruo Che is parked in one layer that main body frame bicycle parking outlet port maintains an equal level, then layer where controlling bicycle parking outlet is in length and breadth
Robot (20) carries pallet (22) and vehicle and carries out longitudinal movement and/or transverse movement along first track (L1) of this layer, will
Pallet (22) and vehicles drive are to outlet；
- Ruo Che is parked in other layers, then the robot in length and breadth (20) of layer carries pallet (22) and vehicle where controlling parking,
Longitudinal movement and/or transverse movement are carried out to elevator (21) inlet, along what is be mutually linked along first track (L1) of this layer
After first track (L1) and the second track (L2) enter elevator (21) inside, (20) intelligent starting of robot in length and breadth of this layer is vertical
Row wheel lifting liquid (18) cylinder pressure or row wheel lifting hydraulic cylinder (8) are to lift pallet (22) and vehicle, by pallet (22) and vehicle
After being placed on internal the second tray supporter (L5) of elevator (21), the robot in length and breadth (20) of this layer exits elevator
(21), corresponding stand is returned；Elevator (21) reach bicycle parking outlet where layer when, bicycle parking outlet where layer in length and breadth
Robot (20) is along the first track (L1) of the second track (L2) for being mutually linked and bicycle parking outlet place layer from elevator (21)
Inside removes, and carries out longitudinal movement and/or transverse movement along the first track (L1) that bicycle parking exports place layer, by pallet (22)
And vehicles drive to outlet；
S4: after vehicle or cargo are removed or unload, the robot in length and breadth (20) of layer carries support where control bicycle parking outlet
Disk (22) returns to the region for having tray supporter accordingly, and starts stringer wheel lifting hydraulic cylinder (18) or row wheel raise-lower hydraulic
Pallet (22) is placed on corresponding tray supporter by cylinder (8).
S5: the robot in length and breadth (20) of layer returns to corresponding parking area where control bicycle parking outlet.
The APP application of another very a kind of intelligent three-dimensional garage of invention of the present invention, uses a kind of above-mentioned intelligent three-dimensional library,
For delivering and accessing vehicle, it includes client, garage end, server end that APP, which is applied, comprising following steps:
SS1 registration: APP user terminal downloads to terminal by user, and it is defeated as registration information by user that vehicle driving demonstrate,proves information
Entering into APP, phone number and the means of payment are obtained as binding information by APP, to pay and to pick up the car, APP server
The quantity for being mounted with intelligent three-dimensional garage database and parking and state real time information is held to transfer and access for user；
SS2 parking: intelligent three-dimensional garage end is mounted with inlet information identification system, the connection of inlet information identification system
APP server end, inlet information identification system identifies the entrance vehicle for coming garage, if it is registered
Vehicle, then entrance door is opened by control, and garage end sends instructions to robot electric appliance complex control system in length and breadth, controls crossbar switch
Device people (20) is by vehicle parking to destination locations；
SS3 charging: electric appliance complex control system can send down time to registration mobile phone and start timing after vehicle stops
Charging, while the argument information whether to charge can be sent to registration mobile phone, register what handset replies needed to charge when needing to charge
After opinion, automatic charge device can run guide rail along automatic charge device and run to the position for the vehicle for needing to charge, and
It automatically is Vehicular charging, robot electric appliance complex control system can send the time started to charge to registration mobile phone in length and breadth, in length and breadth
Robot electric appliance complex control system starts timing metering and billing, robot electric appliance complex control system meeting in length and breadth when charging complete
The timing metering and billing and collection of charges information of charging are sent to registration mobile phone；
SS3 picks up the car: when pick-up, intelligent three-dimensional garage end responds the pick-up signal of user, in length and breadth the comprehensive control of robot electric appliance
System processed sends identifying code to registration mobile phone, and the identifying code that pick-up scrambler receives user's input judges and sends pick-up life
Robot electric appliance complex control system in length and breadth is enabled, robot electric appliance complex control system then controls robot (20) in length and breadth in length and breadth
It looks for vehicle and is opened vehicle outlet door at vehicles drive to vehicle outlet, is controlled, vehicle is driven out to by user, and vehicle outlet door is closed.
Beneficial effects of the present invention:
A) robot in length and breadth provided by the invention, is provided with stringer system and transverse travel system, thus be able to carry out it is longitudinal and
Lateral bidirectional-movement；Hydraulic power unit, row wheel lifting hydraulic cylinder and stringer wheel lifting hydraulic cylinder, energy are provided in robot in length and breadth
Enough realize the pick-and-place of pallet；By robot electrical control system in length and breadth, the Intelligent control to robot in length and breadth is realized.
B) robot in length and breadth provided by the invention further includes wireless charging device, can utilize advanced wireless charging device
It charges, charging operations are convenient.
C) pass through spiral shell between the row driving device and stringer driving device and frame body of robot in length and breadth provided by the invention
Line connection or pin connection, realization are detachably connected, and are facilitated and subsequent used and overhaul.
D) the intelligent three-dimensional library provided by the invention with robot in length and breadth, the intelligent three-dimensional library is by can be realized in length and breadth
Robot realizes free-running operation between each layer and elevator of main body frame, can make full use of the space of stereo garage.
It e) include electric appliance complex control system in intelligent three-dimensional library, smart machine progress that can be aerial to intelligent physical strength is comprehensive
Control is closed, realizes intelligent management.
F) include fire-fighting system in intelligent three-dimensional library, cope with the emergency situations such as fire.
It g) include that automatic charge device and automatic charge device run guide rail in intelligent three-dimensional library, automatic charge device can
It is run along automatic charge device running track, automatic charging can be carried out for the relevant device in intelligent three-dimensional library, save people
Work cost.
H) top and/or side of the main body frame in intelligent three-dimensional library are provided with photovoltaic device, can utilize clean
On the one hand net energy source saves correlation, on the other hand can reduce environmental pollution.
I) it is provided with the charging unit of robot in length and breadth on the first track of intelligent three-dimensional garage, can be realized to crossbar switch
The timely charging of device people.
Detailed description of the invention
Fig. 1 is the structural perspective of one embodiment of robot in length and breadth of the invention；
Fig. 2 is the structural front view of one embodiment of robot in length and breadth of the invention；
Fig. 3 is the structural perspective concealed after encapsulation version of one embodiment of robot in length and breadth of the invention；
Fig. 4 is the structure top view concealed after encapsulation version of one embodiment of robot in length and breadth of the invention；
Fig. 5 is the stringer system of one embodiment of robot in length and breadth of the invention and the structural perspective of transverse travel system；
Fig. 6 is the stringer system of one embodiment of robot in length and breadth of the invention and the structure top view of transverse travel system；
Fig. 7 is the main view of the main frame structure of the one embodiment in intelligent three-dimensional library of the invention；
Fig. 8 is the side view of the main frame structure of the one embodiment in intelligent three-dimensional library of the invention；
Fig. 9 is the track laying schematic diagram of the one embodiment in intelligent three-dimensional library of the invention；
Figure 10 is that the tray supporter of the one embodiment in intelligent three-dimensional library of the invention is laid with schematic diagram；
Figure 11 is the tray supporter schematic diagram of the one embodiment in intelligent three-dimensional library of the invention；
Figure 12 is the fire-fighting system schematic diagram of the one embodiment in intelligent three-dimensional library of the invention；
Figure 13 is the vehicle charge device schematic diagram of the one embodiment in intelligent three-dimensional library of the invention；
Wherein: 1- package board；2- frame body；3- hydraulic power unit；4- wireless charging device；5- battery；6- robot in length and breadth
Electrical control system；7- charging receiving terminal；8- row wheel lifting hydraulic cylinder；9- row wheel shaft；10- row wheel brake；11- is horizontal
Row turbin generator；12- row wheel support；13- row wheel；14- stringer turbin generator；15- stringer wheel support 16- stringer wheel brake；17-
Stringer wheel shaft；18- stringer wheel lifting hydraulic cylinder；19- stringer wheel；20- robot in length and breadth；21- elevator；22- pallet；23- disappears
Anti- system；24- robot charging device in length and breadth；25- automatic charge device；26- automatic charge device runs guide rail；L1- first
Track；The second track of L2-；L3- liftway；The first tray supporter of L4-；The second tray supporter of L5-.
Specific embodiment
The present invention is further described now in conjunction with drawings and the specific embodiments.
In conjunction with Fig. 1 to Fig. 6, a kind of robot in length and breadth, the robot in length and breadth (20) include frame body (2), package board (1),
Stringer system, transverse travel system, charging receiving terminal (7), hydraulic power unit (3), battery (5), in length and breadth robot electrical equipment control system
It unites (6), frame body (2) is rectangle frame body, and frame body (2) is internally provided with platform, hydraulic power unit (3), battery (5), crossbar switch
Device people electrical control system (6) is set on the platform of frame body (2), and package board (1) is set to the upper surface of frame body (2), row
System includes two groups of row driving devices, and two groups of row driving devices are parallel to each other, are symmetrically disposed under the two sides of frame body (2)
Side, stringer system include two groups of stringer driving devices, and two groups of stringer driving devices are parallel to each other, and are symmetrically disposed on frame body (2)
Other two sides lower section, be mutually perpendicular between two groups of row driving devices and stringer driving device, every group of row driving device
By row wheel support (12), row turbin generator (11), row wheel brake (10), row wheel shaft (9), row wheel lifting hydraulic cylinder
(8), row wheel (13) is constituted, the cuboid groove-like structure that row wheel support (12) is, row wheel shaft (9) passes through row wheel support
(12) both ends, row wheel brake (10) and row turbin generator (11) are set to row wheel support (12) inside, row wheel brake
(10) it is set on row wheel shaft (9), row turbin generator (11) is connected with row wheel shaft (9), and row wheel (13) is symmetrically set
Row wheel shaft (9) both ends are placed in, one end of two row wheel lifting hydraulic cylinders (8) and the top at row wheel support (12) both ends connect
It connects, the other end of two row wheel lifting hydraulic cylinders (8) is removably connect with the lower section of frame body (2), every group of stringer driving dress
It sets by stringer wheel support (15), stringer turbin generator (14), stringer wheel brake (16), stringer wheel shaft (17), stringer wheel raise-lower hydraulic
Cylinder (18), stringer wheel (19) are constituted, and stringer wheel support (15) is cuboid groove-like structure, and stringer wheel shaft (17) passes through stringer wheel branch
The both ends of frame (15), stringer wheel brake (16) and stringer turbin generator (14) are set to stringer wheel support (15) inside, and stringer wheel is stopped
Vehicle (16) is set on stringer wheel shaft (17), and stringer turbin generator (14) is connected with stringer wheel shaft (17), and stringer wheel (19) is symmetrical
Ground is set to stringer wheel shaft (17) both ends, one end and stringer wheel support (15) both ends of two stringer wheel lifting hydraulic cylinders (18)
Top connection, the other end of two stringer wheel lifting hydraulic cylinders (18) removably connect with the lower section of frame body (2), charging by
Terminal (7) is set on row wheel support (12) or stringer wheel support (15).
In a preferred embodiment, robot further includes wireless charging device (4) in length and breadth.
In a preferred embodiment, the row wheel lifting hydraulic cylinder (8) and stringer wheel raise-lower hydraulic of robot in length and breadth
It is bolted between cylinder (18) and frame body (2).
In conjunction with Fig. 7 to Figure 13, a kind of intelligent three-dimensional library with the robot in length and breadth further includes main body frame, rises
Drop machine (21), liftway (L3), the first track (L1), the second track (L2), main body frame are at least two layers of structure, lifting
The outside or inside of main body frame is arranged in channel (L3), and elevator (21) setting is in liftway (L3), the first track
(L1) it is laid on the bottom plate of the storage area of main body frame, the first track (L1) includes n (n >=2) group cross track and m (m >=2)
Long rails are organized, is parallel to each other, is parallel to each other between long rails, cross track is mutually interconnected with long rails between cross track
It connects, intersects and be laid in the same plane, be in 90 degree between cross track and long rails, elevator is provided with the second rail on (21)
Road (L2), the second track (L2) include one group of cross track and one group of long rails, the second track (L2) and the first track (L1)
Linking can be lain mutually in line, in length and breadth robot (20) can on the first track (L1) and the second track (L2) on continuous operation,
The intelligent three-dimensional library further includes several pallets (22) and several groups tray supporter, and the first tray supporter (L4) is set to body frame
On the bottom plate of the storage area of frame, most (n-s of the corresponding setting of every group of first tray supporter (L4) in the first track of main body (L1)
2) both sides external of cross track or at most (m-2) group long rails is organized, the first tray supporter is not arranged in both sides external in remaining
(L4) the cross track of the first track (L1) and the inside of long rails and track sheet is not provided with tray supporter with it, not outside
At least one group track in the cross track and long rails of first track (L1) of the first tray supporter (L4) is arranged in portion two sides
Collinearly it is connected with the cross track or long rails of the second track (L2) of elevator (21), elevator is provided with second on (21)
Tray supporter (L5), the second tray supporter (L5) is corresponding to be arranged at four angles of elevator (21), every group of first pallet branch
The distance between inside of frame (L4) and the second tray supporter (L5) is more than or equal to the length and width of robot (20) in length and breadth, the
The height of one tray supporter (L4) and the second tray supporter (L5) be greater than the first track (L1) highly with robot in length and breadth (20)
The sum of height, pallet (22) is separably set to the top of the first tray supporter (L4) and the second tray supporter (L5).
In a preferred embodiment, intelligent three-dimensional library further includes electric appliance complex control system, electric appliance comprehensively control system
It unites and wirelessly carries out information transmitting between robot electrical control system (6) in length and breadth.
In a preferred embodiment, intelligent three-dimensional library further includes fire-fighting system (23).
In a preferred embodiment, intelligent three-dimensional library further includes automatic charge device (25) and automatic charge device fortune
Row guide rail (26), automatic charge device are run in the top plate for the storage area that guide rail (26) are set to main body frame, automatic charging
Device (25) can run guide rail (26) along automatic charge device and run.
In a preferred embodiment, the top and/or side of the main body frame in intelligent three-dimensional library are provided with solar energy
Photovoltaic devices.
In a preferred embodiment, robot charging device (24) in length and breadth are provided on the first track (L1).
In a preferred embodiment, intelligent three-dimensional library includes entrance and exit, and inlet is provided with information identification system
System, exit is provided with pick-up button and scrambler.
In a preferred embodiment, each layer of body frame is both provided with corresponding robot (20) in length and breadth, in length and breadth
Robot (20) is run on the first track (L1) of affiliated layer and on second track (L2) of elevator (21).
In a preferred embodiment, when not lifting pallet (22), the operational process of robot (20) in length and breadth:
When robot electrical control system (6) issues the instruction of transverse movement in length and breadth, the stringer of robot (20) is driven in length and breadth
Stringer wheel lifting hydraulic cylinder (18) in dynamic device is shunk, and stringer driving device is driven to be raised above and leave track, crossbar switch
The row driving device of device people (20) just plays a role, and is in contact with track, and transversely track is run, at this time robot in length and breadth
(20) height of the top without departing from tray supporter.
When robot electrical control system (6) issues the instruction of longitudinal movement in length and breadth, the stringer of robot (20) in length and breadth
Stringer wheel lifting hydraulic cylinder (18) stretching, extension in driving device, drives stringer driving device to extend downwardly simultaneously contact track, with this
Meanwhile the row wheel lifting hydraulic cylinder (8) in the row driving device of robot (20) is shunk in length and breadth, drives row driving device
It is raised above and leaves track, track is run along longitudinal direction, at this time height of the top of robot (20) without departing from tray supporter in length and breadth
Degree.
When lifting pallet (22), the operational process of robot (20) in length and breadth:
When robot (20) in length and breadth is when being laterally moved, the row driving device with track phase of robot (20) in length and breadth
Contact, stringer driving device leaves track, lifts pallet (22) receive that robot electrical control system (6) in length and breadth issues
After order, it is more than support that the row wheel lifting hydraulic cylinder (8) of robot (20), which continues to extend to robot (20) upper end in length and breadth, in length and breadth
The height of disc carrier lifts pallet (22) to realize.When pallet (22) is lifted in the process of running by robot (20) in length and breadth
When needing to switch to longitudinal movement, the stringer wheel lifting hydraulic cylinder (18) of stringer driving device stretches, drive stringer driving device to
Under extend on track, then row driving device row wheel lifting hydraulic cylinder (8) shrink, drive row driving device leave
Track, robot (20) upper end still remains above tray supporter height in length and breadth at this time, starts longitudinally running.
When robot (20) in length and breadth is when carrying out longitudinal movement, the stringer driving device with track phase of robot (20) in length and breadth
Contact, row driving device leaves track, lifts pallet (22) receive that robot electrical control system (6) in length and breadth issues
After order, it is more than support that the stringer wheel lifting hydraulic cylinder (18) of robot (20), which continues to extend to robot (20) upper end in length and breadth, in length and breadth
The height of disc carrier lifts pallet (22) to realize.When pallet (22) is lifted in the process of running by robot (20) in length and breadth
When needing to switch to transverse movement, the row wheel lifting hydraulic cylinder (8) of row driving device stretches, and drives row driving device downward
It extends on track, then the stringer wheel lifting hydraulic cylinder (18) of stringer driving device is shunk, and leaves track, at this time machine in length and breadth
People (20) upper end still remains above tray supporter height, starts laterally operation.
Intelligent three-dimensional library may be used as storage article, can also store vehicle, when intelligence of the intelligent three-dimensional library as storage vehicle
When stereo garage, the specifically used process for storing vehicle is as follows:
When a) having bicycle parking demand, layer where electric appliance complex control system indicates bicycle parking entrance has pallet (22) in length and breadth
Robot (20) is moved to inlet, and vehicle is parked on the pallet (22) of intelligent three-dimensional garage by car owner, and car owner leaves；
B) the corresponding stringer wheel lifting hydraulic cylinder (18) of robot (20) intelligent starting or row wheel lifting hydraulic cylinder in length and breadth
(8) it to lift pallet (22) and vehicle, and is transferred according to electric appliance complex control system and carries out transportation tray (22) and vehicle；
If vehicle is parked in one layer to maintain an equal level with main body frame entry position, bicycle parking by c) electric appliance complex control system instruction
The robot in length and breadth (20) of layer carries out longitudinal movement and/or transverse movement along the first track (L1) where entrance, by pallet (22)
And vehicles drive to have the first tray supporter (L4) destination locations；
If d) instruction of electric appliance complex control system is by vehicle parking in other layers, the machine in length and breadth of bicycle parking entrance place layer
People (20) carries out longitudinal movement and/or transverse movement to elevator (21) inlet, along what is be mutually linked along the first track (L1)
After first track (L1) and the second track (L2) enter elevator (21) inside, the robot in length and breadth (20) of layer where bicycle parking entrance
Intelligent starting stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) are to lift pallet (22) and vehicle, by pallet
(22) and after vehicle is placed on internal the second tray supporter (L5) of elevator (21), the machine in length and breadth of layer where bicycle parking entrance
People (20) exits elevator (21), returns to corresponding stand；
E) elevator (21) reach target parking position where the number of plies when, the robot in length and breadth (20) of this layer is along this layer
First track (L1) and the second track (L2) operation, into after elevator (21) inside, the corresponding stringer wheel lifting of intelligent starting
Hydraulic (18) cylinder or row wheel lifting hydraulic cylinder (8) remove lifting to lift pallet (22) and vehicle, by pallet (22) and vehicle
Machine (21), and run along first track (L1) of the second track (L2) and this layer, vehicle and pallet (22) are transported to this
The parking position with the first tray supporter (L4) of layer.
F) after pallet (22) and vehicles drive to the destination locations with tray supporter, robot (20) intelligent starting in length and breadth
Stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) placement tray (22), pallet (22) and vehicle are placed in
On corresponding first tray supporter (L4)；
G) robot (20) returns to corresponding parking area in length and breadth.
Process when intelligent three-dimensional garage is picked up the car is as follows:
A) car owner proposes pick-up demand in exit；
B) it is run according to electric appliance complex control system to vehicle without the robot in length and breadth (20) of pallet (22) and parks ground
Location, intelligent starting stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) hold up pallet (22) and vehicle；
If c) vehicle is parked in one layer that main body frame bicycle parking outlet port maintains an equal level, the machine in length and breadth of layer where bicycle parking outlet
People (20) carries pallet (22) and vehicle and carries out longitudinal movement and/or transverse movement along first track (L1) of this layer, by pallet
(22) and vehicles drive to outlet；
If d) vehicle is parked in other layers, the robot in length and breadth (20) of layer carries pallet (22) and vehicle, edge where stopping
First track (L1) of this layer carries out longitudinal movement and/or transverse movement to elevator (21) inlet, along the be mutually linked
After one track (L1) and the second track (L2) enter elevator (21) inside, robot in length and breadth (20) intelligent starting stringer of this layer
Wheel lifting liquid (18) cylinder pressure or row wheel lifting hydraulic cylinder (8) are put pallet (22) and vehicle with lifting pallet (22) and vehicle
After setting on internal the second tray supporter (L5) of elevator (21), the robot in length and breadth (20) of this layer exits elevator (21),
Return to corresponding stand；
E) elevator (21) reach bicycle parking outlet where layer when, bicycle parking outlet where layer robot in length and breadth (20) along phase
The first track (L1) of layer removes inside elevator (21) where the second track (L2) being mutually connected and bicycle parking outlet, and edge is deposited
The first track (L1) of layer carries out longitudinal movement and/or transverse movement where vehicle outlet, by pallet (22) and vehicles drive to out
Mouthful；
F) user takes vehicle away；
G) robot in length and breadth (20) of layer where bicycle parking outlet carries pallet (22) return and has tray supporter accordingly
Region, and start stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) and pallet (22) is placed in corresponding support
On disc carrier.
H) robot in length and breadth (20) of layer returns to corresponding parking area where bicycle parking outlet.
Intelligent three-dimensional garage can be carried out in conjunction with APP using user can download dedicated APP, and use vehicle driving
Card information is registered, and when registration also needs to bind phone number and the means of payment, can be with by APP to pay and to pick up the car
It finds intelligent three-dimensional garage of the invention and knows the quantity stopped.Specifically used process is as follows:
When a) stopping, the vehicle after registration comes the entrance in garage, and inlet information identification system will identify whether it is note
Volume vehicle, if it is registered vehicle, then entrance door is opened, and robot (20) can be according to electric appliance comprehensively control system in length and breadth
The instruction of system is by vehicle parking to destination locations, when electric appliance complex control system can send parking to registration mobile phone after vehicle stops
Between and start Fare determined by travel time, while the argument information that whether charge can be sent to registration mobile phone, mobile phone is registered when needing to charge and is returned
After the opinion for needing to charge again, automatic charge device can run guide rail along automatic charge device and run the vehicle to charge to needs
Position, and be automatically Vehicular charging, electric appliance complex control system can send the time that start to charge, electric appliance to registration mobile phone
Complex control system starts timing metering and billing, and electric appliance complex control system can send charging to registration mobile phone when charging complete
Timing metering and billing and collection of charges information.
When b) picking up the car, user comes vehicle outlet, presses button of picking up the car on outlet portal, and electric appliance complex control system can be to registration
Mobile phone sends identifying code, after identifying code is inputted the scrambler on outlet portal beside pick-up button by user, robot (20) in length and breadth
Vehicle can be looked for and by vehicles drive to vehicle outlet, vehicle outlet door is opened, and vehicle is driven out to by user, and vehicle outlet door is closed, intelligence
Stereo garage can send the Fare determined by travel time and collection of charges information of charging to registration mobile phone.
Above-mentioned specific embodiment is merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft
Etc. may be changed, all equivalents and improvement carried out based on the technical solution of the present invention are not answered
It excludes except protection scope of the present invention.
Claims (11)
1. a kind of robot in length and breadth, which is characterized in that
The robot in length and breadth (20) include frame body (2), packaging system, stringer system, transverse travel system, charging receiving terminal (7),
Hydraulic power unit (3), power supply, in length and breadth robot electrical control system (6)；
Packaging system is provided with above frame body (2)；
Transverse travel system includes at least two groups row driving device, and two groups of row driving devices are parallel to each other, and is symmetrically disposed on frame
The lateral lower section of body (2), stringer system includes at least two groups stringer driving device, and two groups of stringer driving devices are parallel to each other, symmetrically
Ground is set to the longitudinally below of frame body (2), is mutually perpendicular between two groups of row driving devices and two groups of stringer driving devices, row
System, stringer system are separately connected hydraulic power unit (3), in length and breadth robot electrical control system (6)；
Every group of row driving device is mainly by row wheel support (12), row turbin generator (11), row wheel brake (10), row wheel
Axis (9), row wheel lifting hydraulic cylinder (8), row wheel (13) are constituted；
Row wheel shaft (9) passes through the both ends of row wheel support (12), and row wheel brake (10) and row turbin generator (11) are set to
Row wheel support (12) is internal, and row wheel brake (10) is set on row wheel shaft (9), row turbin generator (11) and row wheel shaft
(9) it is connected；
- at least two row wheels (13) are symmetrically disposed on row wheel shaft (9) both ends；
The first end of-at least two row wheel lifting hydraulic cylinders (8) the respectively top with row wheel support (12) both ends
Connection, the second end of at least two row wheel lifting hydraulic cylinders (8) respectively removably connect with below frame body (2)
It connects；
Every group of stringer driving device is mainly by stringer wheel support (15), stringer turbin generator (14), stringer wheel brake (16), stringer wheel
Axis (17), stringer wheel lifting hydraulic cylinder (18), stringer wheel (19) are constituted；
Stringer wheel shaft (17) passes through the both ends of stringer wheel support (15), stringer wheel brake (16) and stringer turbin generator (14) setting
Internal in stringer wheel support (15), stringer wheel brake (16) is set on stringer wheel shaft (17), stringer turbin generator (14) and stringer
Wheel shaft (17) is connected；
- at least two stringer wheels (19) are symmetrically disposed on stringer wheel shaft (17) both ends；
The first end of-at least two stringer wheel lifting hydraulic cylinders (18) the respectively top with stringer wheel support (15) both ends
Connection, the second end of at least two stringer wheel lifting hydraulic cylinders (18) respectively removably connect with below frame body (2)
It connects.
2. a kind of robot in length and breadth according to claim 1, which is characterized in that using one of following scheme or any group
It closes:
Scheme 1: the frame body (2) is rectangle frame body；
Scheme 2: the power supply uses battery (5)；
Scheme 3: the frame body (2) is internally provided with platform, hydraulic power unit (3), power supply, in length and breadth robot electrical control system
(6) it is set on the platform of frame body (2)；
Scheme 4: the packaging system is package board (1), and package board (1) is set to the upper surface of frame body (2).
Scheme 5: row wheel support (12) is cuboid groove-like structure, and stringer wheel support (15) is cuboid groove-like structure；
Scheme 6: pass through respectively between the row wheel lifting hydraulic cylinder (8) and stringer wheel lifting hydraulic cylinder (18) and frame body (2)
It is bolted；
Scheme 7: charging receiving terminal (7) is set on row wheel support (12) or stringer wheel support (15).
Scheme 8: further including wireless charging device (4).
3. a kind of robot in length and breadth according to claim 1 or 2, which is characterized in that two groups of row driving devices are symmetrically
It is set to below the both lateral sides of frame body (2), two groups of stringer driving devices are symmetrically disposed under longitudinal two sides of frame body (2)
Side, two groups of row driving devices, two groups of stringer driving devices form quadrilateral structure.
4. a kind of intelligent three-dimensional library, which is characterized in that intelligent three-dimensional library uses the claims 1 to 4 described in any item one
Kind in length and breadth robot, intelligent three-dimensional library further include main body frame, elevator (21), liftway (L3), the first track (L1), the
Two tracks (L2), specifically:
Main body frame is at least two layers of structure, and the outside or inside of main body frame, elevator is arranged in liftway (L3)
(21) setting is in liftway (L3)；
On the bottom plate for the storage area that-the first track (L1) is laid on main body frame, the first track (L1) includes that at least two groups are lateral
Track and at least two groups long rails are parallel to each other between cross track, are parallel to each other between long rails, cross track and vertical
It is connected with each other to track, intersects and be laid in the same plane, be in 90 degree between cross track and long rails；
It is provided on elevator (21) the second track (L2), the second track (L2) includes at least one set of cross track and at least one
Group long rails, the second track (L2) is set as lying mutually in line with the first track (L1) to be connected, and robot (20) is first in length and breadth
On track (L1) and the second track (L2) on continuous operation.
5. a kind of intelligent three-dimensional library according to claim 4, which is characterized in that the intelligent three-dimensional library further includes pallet
(22) and tray supporter, on the bottom plate for the storage area that the first tray supporter (L4) is set to main body frame, every group of first pallet branch
Frame (L4) is corresponding to be arranged in the parts transversely track of the first track of main body (L1) or the both sides external of long rails；
Not in the cross track and long rails of the first track (L1) of both sides external setting the first tray supporter (L4) at least
There are one group of transverse direction, long rails correspondingly collinearly to hold in the mouth with the cross track of the second track (L2) of elevator (21) or long rails
It connects；
It is provided on elevator (21) the second tray supporter (L5), the second tray supporter (L5) is arranged in correspondence in elevator (21)
Four angles at, the distance between inside of every group of first tray supporter (L4) and the second tray supporter (L5) be more than or equal in length and breadth
The height of the length and width of robot (20), the first tray supporter (L4) and the second tray supporter (L5) is greater than the first track
(L1) the sum of the height highly with robot in length and breadth (20)；
The pallet (22) is detachably set to the top of the first tray supporter (L4) and the second tray supporter (L5).
6. a kind of intelligent three-dimensional library according to claim 4, which is characterized in that the intelligent three-dimensional library further includes that electric appliance is comprehensive
Control system is closed, is wirelessly connected between electric appliance complex control system and in length and breadth robot electrical control system (6)
It connects.
7. a kind of intelligent three-dimensional library according to claim 4, which is characterized in that the intelligent three-dimensional library further includes fire-fighting system
It unites (23).
8. a kind of intelligent three-dimensional library according to claim 4, which is characterized in that using one of following scheme or any group
It closes:
Scheme 01: the intelligent three-dimensional library further includes that automatic charge device (25) and automatic charge device run guide rail (26), from
In the top plate for the storage area that dynamic charging unit operation guide rail (26) is set to main body frame, automatic charge device (25) is along automatic
Charging unit runs guide rail (26) operation；
Scheme 02: the top and/or side of the main body frame in the intelligent three-dimensional library are provided with photovoltaic device；
Scheme 03: robot charging device (24) in length and breadth are provided on first track (L1).
9. a kind of intelligent three-dimensional library according to claim 4 or 5, which is characterized in that robot electrical control system in length and breadth
(6) following procedure is run:
After the transverse movement mode of robot electrical control system (6) is triggered in length and breadth, the stringer driving of robot (20) in length and breadth
Stringer wheel lifting hydraulic cylinder (18) in device is shunk, and drives stringer driving device to be raised above and leave track, in length and breadth machine
The row driving device of people (20) is in contact with track, and transversely track is run
After the longitudinal movement mode of robot electrical control system (6) is triggered in length and breadth, the stringer driving of robot (20) in length and breadth
Stringer wheel lifting hydraulic cylinder (18) stretching, extension in device drives stringer driving device to extend downwardly simultaneously contact track, meanwhile, in length and breadth
Row wheel lifting hydraulic cylinder (8) in the row driving device of robot (20) is shunk, and row driving device is driven to be raised above
And track is left, track is run along longitudinal direction.
10. a kind of access method in intelligent three-dimensional library, which is characterized in that using a kind of intelligence described in the claims 5 or 9
Stereo garage,
Bicycle parking or stock object include the following steps:
Step1: the crossbar switch with pallet (22) of layer where robot electric appliance complex control system instruction bicycle parking entrance in length and breadth
Device people (20) is moved to inlet, and the pallet (22) that vehicle is parked in intelligent three-dimensional garage by car owner receives vehicle or cargo；
Step2: robot electric appliance complex control system controls the corresponding stringer wheel liter of robot (20) intelligent starting in length and breadth in length and breadth
Descending liquid cylinder pressure (18) or row wheel lifting hydraulic cylinder (8) are transferred with lifting pallet (22) according to electric appliance complex control system
Carry the pallet (22) of loading vehicles or cargo；
Step3: robot electric appliance complex control system controls vertical according to the free destination locations of artificial setting or system in length and breadth
Cross-machine people carries, if vehicle is parked in and main body frame entry position by robot electric appliance complex control system instruction in length and breadth
Fair one layer, then enter Step4, if robot electric appliance complex control system in length and breadth instruction by vehicle parking if other layers into
Enter Step5；
Step4: the robot in length and breadth (20) of layer where bicycle parking entrance carries out longitudinal movement and/or laterally fortune along the first track (L1)
It is dynamic, pallet (22) and vehicle or goods handling are arrived into the destination locations with the first tray supporter (L4)；
Step5: the robot in length and breadth (20) of layer where robot electric appliance complex control system control bicycle parking entrance is along first in length and breadth
Track (L1) carries out longitudinal movement and/or transverse movement to elevator (21) inlet, along the first track (L1) being mutually linked
After entering elevator (21) inside with the second track (L2), the stringer wheel of the robot in length and breadth (20) of layer where starting bicycle parking entrance
Lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) are to lift pallet (22) and vehicle or cargo, by pallet (22) and vehicle
After being placed on internal the second tray supporter (L5) of elevator (21), the robot in length and breadth (20) of layer is moved back where bicycle parking entrance
Elevator (21) out return to corresponding stand；
When elevator (21) reaches the number of plies where target parking position, the first rail of the robot in length and breadth (20) of this layer along this layer
Road (L1) and the second track (L2) operation, into after elevator (21) inside, the corresponding stringer wheel raise-lower hydraulic of intelligent starting
(18) pallet (22) and vehicle are removed elevator to lift pallet (22) and vehicle by cylinder or row wheel lifting hydraulic cylinder (8)
(21), it and along first track (L1) of the second track (L2) and this layer runs, vehicle and pallet (22) is transported to the layer
The parking position with the first tray supporter (L4)；
After pallet (22) and vehicles drive to the destination locations with tray supporter, robot (20) intelligent starting is vertical in length and breadth for control
Row wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) are with placement tray (22), by pallet (22) and vehicle or cargo
It is placed on corresponding first tray supporter (L4), robot (20) returns to corresponding parking area in length and breadth for control.
It picks up the car or picking object includes the following steps:
S1: robot electric appliance complex control system receives the pick-up demand that car owner or the owner of cargo propose in length and breadth, in length and breadth robot electric appliance
Address is parked in complex control system lookup；
S2: the control of robot electric appliance complex control system is comprehensive according to electric appliance without the robot in length and breadth (20) of pallet (22) in length and breadth
Control system is run to address is parked, and robot electric appliance complex control system controls robot intelligent starting stringer wheel in length and breadth in length and breadth
Lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder (8) hold up pallet (22) and vehicle；
S3: robot electric appliance complex control system is located at the control of different location to destination in length and breadth are as follows:
- Ruo Che is parked in one layer that main body frame bicycle parking outlet port maintains an equal level, then the machine in length and breadth of layer where controlling bicycle parking outlet
People (20) carries pallet (22) and vehicle and carries out longitudinal movement and/or transverse movement along first track (L1) of this layer, by pallet
(22) and vehicles drive to outlet；
- Ruo Che is parked in other layers, then the robot in length and breadth (20) of layer where controlling parking carries pallet (22) and vehicle, and edge should
The first track (L1) of layer carries out longitudinal movement and/or transverse movement to elevator (21) inlet, along first be mutually linked
After track (L1) and the second track (L2) enter elevator (21) inside, robot in length and breadth (20) intelligent starting stringer wheel of this layer
Liquid (18) cylinder pressure or row wheel lifting hydraulic cylinder (8) are gone up and down to lift pallet (22) and vehicle, pallet (22) and vehicle are placed
After on internal the second tray supporter (L5) of elevator (21), the robot in length and breadth (20) of this layer exits elevator (21), returns
Return corresponding stand；Elevator (21) reach bicycle parking outlet where layer when, bicycle parking outlet where layer robot in length and breadth
(20) the first track (L1) along layer where the second track (L2) being mutually linked and bicycle parking outlet moves inside elevator (21)
It removes, and carries out longitudinal movement and/or transverse movement along the first track (L1) that bicycle parking exports place layer, by pallet (22) and vehicle
It is transported to outlet；
S4: after vehicle or cargo are removed or unload, the robot in length and breadth (20) of layer carries pallet where control bicycle parking outlet
(22) region for having tray supporter accordingly is returned to, and starts stringer wheel lifting hydraulic cylinder (18) or row wheel lifting hydraulic cylinder
(8) pallet (22) is placed on corresponding tray supporter.
S5: the robot in length and breadth (20) of layer returns to corresponding parking area where control bicycle parking outlet.
11. a kind of APP of intelligent three-dimensional garage is applied, which is characterized in that using a kind of intelligence described in the claims 5 or 9
Energy stereo garage, for delivering and accessing vehicle, it includes client, garage end, server end that APP, which is applied, comprising following steps:
SS1 registration: APP user terminal downloads to terminal by user, and vehicle driving card information is input to by user as registration information
In APP, phone number and the means of payment are obtained as binding information by APP, to pay and to pick up the car, APP server end dress
The quantity and state real time information for being loaded with intelligent three-dimensional garage database and parking are transferred and are accessed for user；
SS2 parking: intelligent three-dimensional garage end is mounted with inlet information identification system, and inlet information identification system connects APP
Server end, inlet information identification system identifies the entrance vehicle for coming garage, if it is registered vehicle
, then entrance door is opened by control, and garage end sends instructions to robot electric appliance complex control system in length and breadth, controls machine in length and breadth
People (20) is by vehicle parking to destination locations；
SS3 charging: electric appliance complex control system can send down time to registration mobile phone and start Fare determined by travel time after vehicle stops,
The argument information whether to charge can be sent to registration mobile phone simultaneously, the opinion that handset replies need to charge is registered when needing to charge
Afterwards, automatic charge device can run guide rail along automatic charge device and run to the position for the vehicle for needing to charge, and automatic
For Vehicular charging, robot electric appliance complex control system can send the time started to charge to registration mobile phone in length and breadth, in length and breadth machine
People's electric appliance complex control system starts timing metering and billing, and robot electric appliance complex control system can be to note in length and breadth when charging complete
Volume mobile phone sends the timing metering and billing and collection of charges information of charging；
SS3 picks up the car: when pick-up, intelligent three-dimensional garage end responds the pick-up signal of user, in length and breadth robot electric appliance comprehensively control system
It unites and sends identifying code to registration mobile phone, the identifying code that pick-up scrambler receives user's input judges and send to pick up the car to order to arrive
Robot electric appliance complex control system in length and breadth, robot electric appliance complex control system then controls robot (20) in length and breadth and looks for vehicle in length and breadth
And will control vehicle outlet door at vehicles drive to vehicle outlet and open, vehicle is driven out to by user, and vehicle outlet door is closed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710638700.7A CN109322518A (en) | 2017-07-31 | 2017-07-31 | The APP application of robot, intelligent three-dimensional, access method and intelligent three-dimensional garage in length and breadth |
| PCT/CN2018/071832 WO2019024441A1 (en) | 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710638700.7A CN109322518A (en) | 2017-07-31 | 2017-07-31 | The APP application of robot, intelligent three-dimensional, access method and intelligent three-dimensional garage in length and breadth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109322518A true CN109322518A (en) | 2019-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710638700.7A Pending CN109322518A (en) | 2017-07-31 | 2017-07-31 | The APP application of robot, intelligent three-dimensional, access method and intelligent three-dimensional garage in length and breadth |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109322518A (en) |
| WO (1) | WO2019024441A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111606249A (en) * | 2020-05-26 | 2020-09-01 | 山东中天盛科自动化设备有限公司 | Three-dimensional transfer system of seedling |
| CN112978181A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN115180332A (en) * | 2022-04-18 | 2022-10-14 | 太原福莱瑞达物流设备科技有限公司 | Four-way shuttle and using method thereof |
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| GB201903982D0 (en) * | 2019-03-22 | 2019-05-08 | Ocado Innovation Ltd | Load-handling device |
| CN110949158B (en) * | 2019-12-08 | 2021-06-01 | 国网江苏省电力有限公司滨海县供电分公司 | Charging station convenient to enter and exit |
| CN111550098A (en) * | 2020-04-28 | 2020-08-18 | 芜湖彰鸿工程技术有限公司 | Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof |
| CN113187284A (en) * | 2020-06-04 | 2021-07-30 | 北京德威智泊科技有限公司 | Vehicle management method, device, equipment and system |
| CN113148650A (en) * | 2021-02-09 | 2021-07-23 | 北京工业大学 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
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| CN114162095B (en) * | 2021-12-10 | 2022-12-02 | 西安电子科技大学芜湖研究院 | Intelligent wireless remote control vehicle moving equipment |
| CN114933129B (en) * | 2021-12-22 | 2024-06-11 | 江苏速升自动化装备股份有限公司 | Double-track shuttle production line |
| CN114776114A (en) * | 2022-05-11 | 2022-07-22 | 杨亚生 | Underground parking garage system capable of being automatically charged and parked under mobile phone control and unattended operation |
| 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 |
| CN117314126B (en) * | 2023-11-28 | 2024-02-06 | 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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| JP4053693B2 (en) * | 1999-07-22 | 2008-02-27 | 日精株式会社 | Lift level lock device |
| CN2880987Y (en) * | 2006-02-16 | 2007-03-21 | 林�建 | Longitudinal horizontal translation garage |
| CN203223024U (en) * | 2013-05-03 | 2013-10-02 | 于君 | Comb-shaped parking frame of parking garage and applicable transport trolley |
| CN105888334B (en) * | 2016-02-05 | 2018-05-25 | 唐恩泽 | A kind of vehicle access translational plane based on track translation |
| CN205743202U (en) * | 2016-07-13 | 2016-11-30 | 青岛茂源金属集团有限公司 | One vertically and horizontally moves horizontally drive mechanism |
| CN205990803U (en) * | 2016-07-13 | 2017-03-01 | 青岛茂源金属集团有限公司 | A kind of vertical lift type parking equipment |
| CN207079996U (en) * | 2017-07-31 | 2018-03-09 | 尹传锋 | Robot, intelligent three-dimensional storehouse in length and breadth |
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2017
- 2017-07-31 CN CN201710638700.7A patent/CN109322518A/en active Pending
-
2018
- 2018-01-09 WO PCT/CN2018/071832 patent/WO2019024441A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111606249A (en) * | 2020-05-26 | 2020-09-01 | 山东中天盛科自动化设备有限公司 | Three-dimensional transfer system of seedling |
| CN112978181A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN115180332A (en) * | 2022-04-18 | 2022-10-14 | 太原福莱瑞达物流设备科技有限公司 | Four-way shuttle and using method thereof |
| CN115180332B (en) * | 2022-04-18 | 2023-04-25 | 太原福莱瑞达物流设备科技有限公司 | Four-way shuttle and application method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019024441A1 (en) | 2019-02-07 |
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