CN206636280U - A kind of garage goes out Input System - Google Patents

Abstract

The utility model discloses a kind of garage to go out Input System, and garage, which goes out Input System, includes pile trigger, tipper and linkage controller, piles up trigger and tipper is mounted side by side in the groove at garage exit/entry.Due to being to have saved driving force instead of existing price scissors lowering or hoisting gear by lifting drive provided with pile trigger, support frame is provided with two telescopic shafts, two cars successively can be lifted plate lifting and are placed on two telescopic shafts by lifting drive, so as to which lifting drive only needs one car lift plate of lifting every time, the energy consumption of lifting drive is low, while also improves efficiency；Tipper realizes automobile and AGV walkings by the way of returning face plate upset, has equally saved driving force；And the pile trigger and tipper of the system are controlled by linkage controller, the coordinating efficiency for piling up trigger and tipper is high.The running of upper scheduling system control whole system, control AGV work with pile trigger and tipper cooperation, further increase out warehouse-in efficiency.

Description

A kind of garage goes out Input System

Technical field

It the utility model is related to multi-storied garage Transport Vehicle field, and in particular to a kind of discrepancy system in garage.

Background technology

Plate AGV garage entrances are lifted in car, it is necessary to which configure underground stack of plate machine distributes car lift plate, car lift plate to every automobile AGV carryings plate and automobile to specified parking stall.In the prior art, plate AGV bearing capacity walking paths are lifted as car using crossbeam, cut Knife difference lifting lift plate, the mode of latch positioning realize this function.

Plate AGV BOGEY WHEEL walking paths are lifted as car using crossbeam, AGV loading things are heavier, and beam strength requires higher.Often During secondary lifting lift plate, crossbeam is needed to remove, and lift plate can be moved to specified location by price scissors.Price scissors is required for every time will be remaining Lift plate be lifted to specified location, price scissors needs the work(that does more every time.This stack of plate mode efficiency is low, structure is thick, consumption Can be big, cause discrepancy efficiency in garage low.

Plate AGV garage entrances are lifted in car, there are certain intervals between stack of plate machine and car lift plate AGV access doors, automobile enters Fashionable to fill up this interval using a kind of mechanism, most of car is lifted board-like parking AGV manufacturers and realized using lifting mechanism at present This function.

This interval is filled up using lifting mechanism, when car lift plate AGV, which carries lift plate, enters garage port, lifting mechanism meeting Larger power is born, this is higher to lifting mechanism structural member intensity requirement, and power unit braking ability requires also higher.Therefore Barrier rate is high, also there is potential safety hazard.

The content of the invention

A kind of fault rate of the application offer is low, the garage for the efficiency high that comes in and goes out goes out Input System.

A kind of garage is provided in a kind of embodiment and Input System, including pile trigger, tipper and linkage controller, pile are pulled Machine and tipper are mounted side by side in the groove at garage exit/entry；

Pile trigger includes support frame and lifting drive, and having two that are separately mounted to levels on support frame stretches Axle, each telescopic shaft are correspondingly provided with a telescope motor, and telescope motor driving telescopic shaft stretches；Lifting drive includes rising Drive mechanism and lifting mechanism drop, and lift drive mechanism includes lifting motor, and lifting motor driving lifting mechanism is moved up and down, lifted Rising mechanism includes lift plate pin and the electric rotating machine being attached thereto, electric rotating machine driving lift plate pin rotation；

Tipper includes returning face plate and upset motor, and upset motor is connected with returning face plate, driving returning face plate upset；

Linkage controller is connected with telescope motor, lifting motor, electric rotating electromechanics and upset motor signal respectively, linkage control Device control pile trigger processed and tipper linkage pile are pulled and overturn.

Further, piling up trigger also includes flexible inductor, elevation sensor and rotary inductor, inductor installation of stretching In position corresponding to telescopic shaft, for monitoring the position of telescopic shaft and generating corresponding telescope signal, elevation sensor installation In position corresponding to lifting mechanism, for monitoring the height and position of lifting mechanism and generating corresponding altitude signal, rotary inductive Device is arranged on position corresponding to lift plate pin, for monitoring the rotation position of lift plate pin and generating corresponding rotating signal；Flexible sense Device, elevation sensor and rotary inductor is answered to be connected respectively with linkage controller signal, linkage controller is according to telescope signal, height Degree signal and rotating signal control pile trigger pile are pulled.

Further, tipper also includes tilt sensor, and tilt sensor is arranged on position corresponding to returning face plate, and with Linkage controller signal connects, for monitoring the upturned position of returning face plate and generating corresponding energizing signal, linkage controller root According to energizing signal control tipper upset.

Further, in addition to upper scheduling system, upper scheduling system are electric with linkage controller, AGV and internet Signal connects, and upper scheduling system is used for indication linked controller and AGV performs storage task and export task.In mobile terminal Application software, such as APP are installed in equipment, mobile terminal device is connected into internet, operates the application software, can also be realized The storage of automobile and outbound.

Further, in addition to inductor of swiping the card, inductor of swiping the card including bicycle parking swipes the card inductor and pick-up is swiped the card sensing Device, bicycle parking swipe the card inductor at the garage exit/entry, and pick-up inductor of swiping the card is arranged on garage lobby, and bicycle parking is swiped the card sense Answer device and pick-up inductor of swiping the card is connected with upper scheduling system electric signal respectively, be respectively used to sensing and swipe the card and generate corresponding Bicycle parking card using information and pick-up card using information, upper scheduling system perform storage according to bicycle parking card using information or pick-up card using information Task or export task.

Further, in addition to car lift plate inductor, car lift plate inductor are arranged in pile trigger, and are with upper scheduling System connection, plate quantity is lifted for detecting the car being laminated in pile trigger, generated at least if monitoring that car lift plate is crossed in storage task Partitioned signal is mended, car lift plate crosses at most generation and removes partitioned signal if being monitored in outbound task, and upper scheduling system is with mending partitioned signal With go partitioned signal prompting to perform to mend plate task and to go plate task.

Further, limit assembly is additionally provided with support frame, a telescopic shaft, which corresponds to, installs a limit assembly, spacing group Part includes clamp, extension spring and electromagnet, is rotatably arranged in the middle part of clamp by rotating shaft on support frame, extension spring One end is fixed on clamp lower end, and the other end is fixed on support frame, and one end of telescopic shaft is provided with neck, in the effect of extension spring Under, the upper end of clamp can be caught in the neck of telescopic shaft, and electromagnet is arranged on support frame, and the absorption end face of electromagnet is to clamp Set, electromagnet adsorbs clamp in the state of energization so that clamp rotates the neck for departing from telescopic shaft, and electromagnet is controlled with linkage Device electric signal connection processed, linkage controller control electromagnet absorption clamp.

Further, clamp inductor is additionally provided with support frame, clamp inductor is connected with linkage controller, for detecting The position of clamp simultaneously generates corresponding clamp positional information, and linkage controller controls electromagnet to adsorb according to clamp positional information.

According to the garage discrepancy system of above-described embodiment, due to being instead of existing by lifting drive provided with pile trigger Price scissors lowering or hoisting gear has saved driving force, and support frame is provided with two telescopic shafts, and lifting drive can be successively by two cars Lift plate lifting is placed on two telescopic shafts, and so as to which lifting drive only needs one car lift plate of lifting every time, lifting is driven The energy consumption of dynamic device is low, while also improves efficiency；Tipper realizes automobile and AGV walkings by the way of returning face plate upset, Driving force is equally saved；And the pile trigger and tipper of the system are controlled by linkage controller, trigger and tipper are piled up Coordinating efficiency it is high.The running of upper scheduling system control whole system, control AGV and pile trigger and tipper cooperation work Make, further increase out warehouse-in efficiency.

Brief description of the drawings

Fig. 1 is the part-structure schematic diagram that garage goes out Input System in a kind of embodiment；

Fig. 2 is the structured flowchart that garage goes out Input System in a kind of embodiment；

Fig. 3 is the structural representation that trigger is piled up in a kind of embodiment；

Fig. 4 is a kind of structural representation of support frame in embodiment；

Fig. 5 is Fig. 4 partial enlarged drawing A；

Fig. 6 is a kind of structural representation of lifting drive in embodiment；

Fig. 7 is a kind of structural representation of tipper in embodiment；

Fig. 8 is a kind of structured flowchart of linkage controller control section in embodiment；

Fig. 9 is the flow chart of a kind of discrepancy method in garage in embodiment；

Figure 10 is the flow chart that task is put in storage in a kind of embodiment；

Figure 11 is a kind of flow chart of outbound task in embodiment.

Embodiment

The present invention is described in further detail below by embodiment combination accompanying drawing.

Embodiment one：

Present embodiments provide a kind of garage and go out Input System, as shown in figure 1, garage, which goes out Input System, includes pile trigger 1 With tipper 2, pile up trigger 1 and tipper 2 is mounted side by side in the groove at garage port 3, both upper ends flush with ground. Entrance at pile trigger 1 is car entrance, and the entrance at tipper 2 is AGV entrances.

As shown in Fig. 2 garage, which goes out Input System, also includes linkage controller 4, upper scheduling system 5 and inductor 6 of swiping the card, Linkage controller 4 is connected with pile trigger 1, tipper 2 and the upper electric signal of scheduling system 5 respectively, and linkage controller 4 is that PLC is mono- Piece machine, for controlling pile trigger 1 and tipper 2 to coordinate pile and pull and overturn.Inductor 6 of swiping the card is swiped the card including bicycle parking inductor and to be taken Car is swiped the card inductor, and bicycle parking swipes the card inductor at garage exit/entry, is swiped the card letter for swiping the card and generating corresponding bicycle parking Breath, and bicycle parking card using information is transmitted to upper scheduling system 5, pick up the car and swipe the card inductor in the lobby in garage, be used for Corresponding pick-up card using information is swiped the card and produced, and pick-up card using information is transmitted to upper scheduling system 5, upper scheduling system 5 It can also be connected with mobile end signal, be such as connected with mobile phone, corresponding APP programs are installed on mobile phone, user can pass through mobile phone APP assigns bicycle parking task or pick-up task.Upper scheduling system 5 is also connected with AGV, the electric signal of inductor 6 of swiping the card, upper scheduling System 5 is the control centre of whole garage discrepancy system, controls the coordinate operation of all devices, and upper scheduling system 5 passes through brush Card information judges to perform storage task or outbound task, and controls AGV and pass on storage task or outbound assignment instructions to linkage Controller 4 completes storage and the outbound of automobile.

As shown in Figure 3 and Figure 4, pile trigger 1 includes support frame 11 and lifting drive 12, and support frame 11 has four, The mount point of four support frames 11 surrounds a rectangle, and matches 13 with car lift plate, and four support frames 11 support car jointly Lift plate 13.Support frame 11 is provided with two telescopic shafts 111 of levels, and each telescopic shaft 111 is corresponding to be provided with a flexible electricity Machine 112, one end of telescopic shaft 111 is lift plate end, and the other end is spacing drive end, and the side of spacing drive end is provided with straight line tooth, Telescope motor 112 is connected by gear with telescopic shaft 111, and telescope motor 112 drives telescopic shaft 111 to move axially.

As shown in figure 5, being additionally provided with limit assembly 113 on support frame 11, a telescopic shaft 111 is corresponding to be provided with a limit Hyte part 113, limit assembly 113 include clamp 1131, extension spring 1132 and electromagnet 1133, and the middle part of clamp 1131 is by turning Axle is rotatably arranged on support frame 11, and one end of extension spring 1132 is fixed on the lower end of clamp 113, and the other end is fixed on branch On support 11, the spacing drive end of telescopic shaft 111 is provided with neck, and in the presence of extension spring 1132, the upper end of clamp 113 can It is caught in the neck of telescopic shaft 111, electromagnet 1133 is arranged on support frame 11, and the absorption end face of electromagnet 1133 is set to clamp Put, electromagnet 1133 adsorbs clamp in the state of energization so that clamp rotates the neck for departing from telescopic shaft.

As shown in fig. 6, lifting drive 12 includes lift drive mechanism 121 and lifting mechanism 122, lift drive mechanism 121 include lifting motor 1211, and lifting mechanism 122 is arranged on lift drive mechanism 121, and lifting motor 1211 is driven by chain Dynamic lifting mechanism 122 moves up and down.Lifting mechanism 122 includes lift plate pin 1221 and the electric rotating machine 1222 being attached thereto, rotation The driving lift plate of motor 1222 pin 1221 rotates.

As shown in fig. 7, tipper 2 includes returning face plate 21 and upset motor 22, returning face plate 21 and upset motor 22 are arranged on On mounting bracket, upset motor 22 drives returning face plate 21 to overturn, and the lower section of returning face plate 21 has the panel for AGV walkings, returning face plate 21 For automobile traveling.

As shown in figure 8, telescope motor 112, lifting motor 1211, the electric rotating machine 1222 of linkage controller 4 and pile trigger 1 Connect with the electric signal of electromagnet 1133, and be connected with the upset motor 22 of tipper 2, linkage controller 4 is used to control pile trigger 1 Pile pull upset with tipper 2.

In order to realize the accurate outbound of automation and storage, flexible inductor 71, lifting sensing are also equipped with pile trigger 1 Device 72, rotary inductor 73 and clamp inductor 74, flexible inductor 71 is arranged on position corresponding to telescopic shaft 111, for supervising Survey the flexible position of telescopic shaft 111 and generate corresponding telescope signal.Elevation sensor 72 is arranged on the correspondence of lifting mechanism 122 Position, for monitoring the height and position of lifting mechanism 122 and generating corresponding altitude signal.Rotary inductor 73 is arranged on lift Position corresponding to plate pin 1221, for monitoring the rotation position of lift plate pin 1221 and generating corresponding rotating signal.Clamp senses Device 74 be arranged on 113 corresponding position of clamp, for sensing the rotation position of clamp 113 and generating clamp positional information.Stretch Contracting inductor 71, elevation sensor 72, rotary inductor 73 and clamp inductor 74 are connected with the signal of linkage controller 4 respectively, Linkage controller 4 controls the flexible lift plate of telescopic shaft 111 or hidden and avoids according to telescope signal 71 and clamp inductor 74, according to height Degree signal 72 controls lifting mechanism 122 to move up and down, and lifts plate according to the rotation of the console plate pin 1221 of rotating signal 73 or hides Avoid.

Be provided with tipper 2 upset inductor 8, upset inductor 8 be arranged on on 21 corresponding position of returning face plate, For monitoring the rotation position of returning face plate 21 and generating corresponding energizing signal.Inductor 8 is overturn with the signal of linkage controller 4 to connect Connect, linkage controller 4 controls returning face plate 21 to overturn according to energizing signal, and returning face plate 21 may be reversed to the automobile traveling of horizontality Position and the avoidance position of vertical state, linkage controller 4 confirm whether returning face plate 21 is turned to specified location according to upset information.

Linkage controller 4 is piled up trigger 1 and connected with the actuator on tipper 2 with inductor electric signal respectively, and control pile is pulled Machine 1 and tipper 2 are coordinated to perform storage task and outbound task.

In the present embodiment, car lift plate inductor 9 is also equipped with pile trigger 1, car lift plate inductor 9 is arranged on pile trigger In 1, and it is connected with upper scheduling system 5, the car for detecting stacking in pile trigger 1 lifts the quantity of plate 13, if in storage task Monitor that car lifts plate 13 and crosses generation benefit partitioned signal at least, generated if car lift plate excessive 13 is monitored in outbound task and go plate to believe Number, upper scheduling system 5 is according to benefit partitioned signal and goes partitioned signal prompting to perform benefit plate task and goes plate task.

Above-mentioned inductor is specially microswitch, limit switch, photoelectric sensor or encoder.

The garage of the present embodiment goes out Input System, due to being existing by the replacement of lifting drive 12 provided with pile trigger 1 Price scissors lowering or hoisting gear has saved driving force, and support frame 11 is provided with two telescopic shafts 111, lifting drive 12 can successively by Two car lift liftings of plate 13 are placed on two telescopic shafts 111, so as to which lifting drive only needs one car lift plate of lifting every time , the energy consumption of lifting drive is low, while also improves efficiency；Tipper 2 is realized by the way of the upset of returning face plate 21 Automobile and AGV walkings, have equally saved driving force；And the pile trigger 1 and tipper 2 of the system are controlled by linkage controller 4 System, the coordinating efficiency for piling up trigger 1 and tipper 2 are high.Upper scheduling system 5 controls the running of whole system, and control AGV pulls with pile Machine 1 and the work of the cooperation of tipper 2, further increase out warehouse-in efficiency.

Embodiment two：

Present embodiments provide a kind of garage and go out storage method, this garage goes out garage of the storage method based on embodiment one and gone out The automobile that Input System is realized goes out storage.

The garage method as shown in figure 9, the garage of the present embodiment comes in and goes out, comprises the following steps：

S100：Obtain card using information；

When needing bicycle parking or picking up the car, first swiped the card on inductor swiping the card, inductor of swiping the card senses swipe the card after generate one Individual card using information, and card using information is uploaded to upper scheduling system.It is specific to be respectively：When user needs bicycle parking, Yong Huke Bicycle parking task is assigned by three kinds of modes, is respectively：Swipe the card in bicycle parking in garage exit/entry card taking and swiped the card on inductor again；Take two Tie up code receipt；And bicycle parking task is directly assigned by cell phone application.When user needs to pick up the car, user can equally pass through three kinds Mode assigns pick-up task, is respectively：Pick-up in garage lobby inductor of swiping the card is swiped the card；By the bar shaped on Quick Response Code receipt RFID laser on code or Quick Response Code alignment card reader, which is swept, to be swept；And pick-up task is directly assigned by cell phone application.

S200：Judge task type；

Upper scheduling system is sentenced according to the card using information of acquisition takes the post as service type, and task type includes storage task and gone out Storehouse task, and the instruction of storage task and outbound task is transmitted to linkage controller.

S210：If it is determined that being storage task, then car lift board status in detection pile trigger, if car lift plate is very few, performs benefit Plate task, car lift plate is added in pile trigger；If pile trigger top layer does not have car to lift plate, car lift plate is risen into top layer；If car It is enough to lift plate, and there is top layer car to lift plate, then is directly entered in next step；

S310：Perform storage task；

As shown in Figure 10, storage task is controlled by linkage controller, is specifically also comprised the following steps：

S311：Control tipper overturns returning face plate to position is avoided, and returning face plate, which is turned to avoidance position, to be sensed by overturning Device is monitored；

S312：AGV is controlled from the walking panel walking of tipper to the second laminate of pile trigger, and AGV positioning top The firmly limited block of top layer car lift plate；

S313：Telescopic shaft retraction under control pile trigger top plate, pile trigger removes the support to top layer car lift plate, by AGV Carry top layer car lift plate and automobile above；

S314：AGV is controlled to be put in storage top plate and car carrying；

S315：Returning face plate is gone to garage and walked by control tipper, completes storage task.

S220：If it is determined that being outbound task, then car lift board status in detection pile trigger, if car lift plate is excessive, performs and goes Plate task, the car lift plate that will be piled up in trigger is removed, if there is pile trigger top layer car to lift plate, the car of top layer lift plate is dropped into the Two layers；If car lift plate quantity is few, car lift plate space is also deposited, and top layer does not have car to lift plate, then is directly entered in next step；

S320：Perform outbound task；

As shown in figure 11, outbound task is controlled by linkage controller, is specifically also comprised the following steps：

S321：Control stack of plate machine that the carrier vehicle plane of top plate is concordant with the AGV supporting planes of tipper, while control is turned over Favourable turn overturns returning face plate to position is avoided, and monitors whether returning face plate overturns in place by overturning inductor；

S322：Control AGV carries car lift plate and automobile traveling to the second laminate of pile trigger；

S323：Control pile trigger telescopic shaft is reached below top plate；

S324：Control AGV sails out of garage port by the walking panel of tipper；

S325：The returning face plate of control tipper, which is overturn to garage, to walk, and steam supply car sails out of garage port, completes outbound and appoints Business；

The garage that the present embodiment provides goes out storage method, because upper scheduling system is swiped the card sensing with linkage controller respectively End and the connection of AGV cars signal, by obtaining card using information control control pile trigger, tipper and AGV co-ordinations, it is finally completed Automobile is put in storage task and outbound task, and integration, which automatically controls, greatly improves access efficiency, and the transition dress of garage port Pile trigger and the tipper being set in embodiment one, piling up trigger and tipper can quickly pile up and pull and overturn, and be easy to AGV rows Walk, further increase the efficiency that automobile goes out storage.

Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not limiting The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple Deduce, deform or replace.

Claims (8)

1. a kind of garage goes out Input System, it is characterised in that including pile trigger, tipper and linkage controller, the pile trigger It is mounted side by side on tipper in the groove at garage exit/entry；

The pile trigger includes support frame and lifting drive, has be separately mounted to levels two on support frame as described above Telescopic shaft, each telescopic shaft are correspondingly provided with a telescope motor, and the telescope motor drives the telescopic shaft to stretch；Rise Drop drive device includes lift drive mechanism and lifting mechanism, and the lift drive mechanism includes lifting motor, the lifting electricity Machine driving lifting mechanism moves up and down, and the lifting mechanism includes lift plate pin and the electric rotating machine being attached thereto, the electric rotating The machine driving lift plate pin rotation；

The tipper includes returning face plate and upset motor, and the upset motor is connected with the returning face plate, drives the upset Plate is overturn；

The linkage controller is connected with telescope motor, lifting motor, electric rotating electromechanics and upset motor signal respectively, described The movement controller control pile trigger and tipper linkage pile are pulled and overturn.

2. garage as claimed in claim 1 goes out Input System, it is characterised in that the pile trigger also include flexible inductor, Elevation sensor and rotary inductor, the flexible inductor is arranged on position corresponding to the telescopic shaft, flexible for monitoring The position of axle and corresponding telescope signal is generated, the elevation sensor is arranged on position corresponding to the lifting mechanism, uses In the height and position for monitoring lifting mechanism and corresponding altitude signal is generated, the rotary inductor is arranged on the lift plate pin pair The position answered, for monitoring the rotation position of lift plate pin and generating corresponding rotating signal；Flexible inductor, elevation sensor and Rotary inductor is connected with the linkage controller signal respectively, and the linkage controller is believed according to the telescope signal, height Number and rotating signal control it is described pile trigger pile pull.

3. garage as claimed in claim 2 goes out Input System, it is characterised in that the tipper also includes tilt sensor, The tilt sensor is arranged on position corresponding to the returning face plate, and is connected with the linkage controller signal, for monitoring The upturned position of the returning face plate simultaneously generates corresponding energizing signal, and the linkage controller controls institute according to the energizing signal State tipper upset.

4. garage as claimed in claim 3 goes out Input System, it is characterised in that described upper also including upper scheduling system Scheduling system is connected with the linkage controller, AGV and internet telecommunications number, and the upper scheduling system is described for indicating Linkage controller and AGV perform storage task and export task.

5. garage as claimed in claim 4 goes out Input System, it is characterised in that also includes inductor of swiping the card, the sense of swiping the card Answer that device including bicycle parking swipes the card inductor and pick-up is swiped the card inductor, the bicycle parking swipes the card inductor at garage exit/entry, Pick-up inductor of swiping the card is arranged on garage lobby, inductor is swiped the card in the bicycle parking and pick-up is swiped the card inductor respectively with institute The connection of upper scheduling system electric signal is stated, sensing is respectively used to and swipes the card and generate corresponding bicycle parking card using information and pick-up is swiped the card letter Breath, the upper scheduling system perform storage task or export task according to the bicycle parking card using information or pick-up card using information.

6. garage as claimed in claim 5 goes out Input System, it is characterised in that also lifts plate inductor, the car lift including car Plate inductor is arranged in pile trigger, and is connected with the upper scheduling system, and plate is lifted for detecting the car being laminated in pile trigger Quantity, if being monitored in storage task, car lift plate crosses generation at least and mends partitioned signal, if being monitored in outbound task, car lifts plate Cross at most generation and remove partitioned signal, the upper scheduling system with the benefit partitioned signal and go partitioned signal prompting perform mend plate task and Go plate task.

7. garage as claimed in claim 6 goes out Input System, it is characterised in that limit assembly is additionally provided with support frame as described above, One telescopic shaft one limit assembly of corresponding installation, the limit assembly include clamp, extension spring and electromagnet, Rotatably it is arranged in the middle part of the clamp by rotating shaft on support frame as described above, one end of the extension spring is fixed on the card Plate lower end, the other end are fixed on support frame as described above, and one end of the telescopic shaft is provided with neck, in the effect of the extension spring Under, the upper end of the clamp can be caught in the neck of the telescopic shaft, and the electromagnet is arranged on support frame as described above, the electricity The absorption end face of magnet is set to the clamp, and the electromagnet adsorbs the clamp in the state of energization so that the card Plate rotates the neck for departing from the telescopic shaft, and the electromagnet is connected with the linkage controller electric signal, the coordinated signals Device controls the electromagnet to adsorb the clamp.

8. garage as claimed in claim 7 goes out Input System, it is characterised in that clamp sensing is additionally provided with support frame as described above Device, the clamp inductor are connected with the linkage controller, for detecting the position of clamp and generating corresponding clamp position Information, the linkage controller control the electromagnet to adsorb according to the clamp positional information.