CN217557858U

CN217557858U - Longitudinal and transverse translation type article storing and taking device based on comb tooth exchange

Info

Publication number: CN217557858U
Application number: CN202221277827.3U
Authority: CN
Inventors: 于君
Original assignee: Shanghai Yunjie Intelligent Technology Center
Current assignee: Shanghai Yunjie Intelligent Technology Center
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2022-10-11
Anticipated expiration: 2032-05-16

Abstract

The device comprises a base frame 1, fixed comb-shaped frames 3 arranged longitudinally and transversely between base frame rails 141, and a carrier capable of transversely moving along the rails; in the longitudinal moving frame 22 longitudinally moving in the transverse moving frame 21 of the carrier, there are provided left and right transverse moving frames 231, 232 which are relatively transversely moved, and can drive the hanger post comb teeth at the bottoms of the left and right lifting frames 241, 242 to move longitudinally and transversely, to enter and exit from the lower part of the comb teeth of any fixed comb-shaped frame 3, and to exchange articles, such as vehicles, with the fixed comb-shaped frame 3 through the lifting action. Compared with the prior art, the comb beam at the bottom of the lifting column of the lifting frame and the comb beam of the fixed comb type frame have very short suspension range, the stress condition is obviously improved, the comb type frame is not easy to deform, and the reliability is improved. The parking equipment not only can be used for a three-dimensional storage system, but also is more suitable for parking equipment of various vehicles.

Description

Longitudinal and transverse translation type article storing and taking device based on comb tooth exchange

Technical Field

The invention belongs to a mechanical article storing and taking technology, and particularly relates to an article storing and taking device for storing and taking articles in a comb tooth exchange mode and carrying the articles.

Background

In the prior art, no matter mechanical storage equipment or mechanical parking equipment, in order to avoid the problem of low efficiency of using a carrying plate type to store and carry articles, the technology of storing and carrying articles in a comb tooth exchange mode exists. For example, in chinese patent CN203066557U, a parking facility is introduced, which comprises a carrier capable of moving horizontally over a row of fixed comb-shaped frames arranged vertically and horizontally, a vertical moving frame is arranged in the horizontal moving frame of the carrier, a lifting frame is arranged in the vertical moving frame, comb beams overhanging towards the middle part and comb teeth inwardly overhanging at the end parts of the comb beams are respectively arranged at the bottoms of lifting columns below the four corners of the lifting frame. The four groups of comb teeth can move longitudinally and transversely between the fixed comb-shaped frames along with the movement of the transverse moving frame and the longitudinal moving frame, and vehicles can be taken from or placed on the fixed comb-shaped frames.

Such prior art has the following problems:

1. the L-shaped cantilever and the comb tooth structure which are transversely extended inwards of the lifting frame can exceed 1.6 meters in length in order to adapt to wheel tracks of various long and short vehicle bodies, and the length of the cantilever even needs to reach two meters in order to be compatible with vehicle types with the length of more than 5.2 meters. The long arm length ensures the safety intensity, reduces the compression deformation, compresses the arm height and the tooth thickness as much as possible to reduce the occupied equipment height space, and ensures that the configuration manufacture and the material selection of the suspension post and the comb beam are difficult to be considered and optimized,

and is not suitable for low-cost production, the horizontal shaking amount and the deformation amount of the comb teeth are not suitable for control when the comb teeth do lifting and transverse moving actions,

tooth collision failure is easy to occur.

2. The middle support of the fixed comb-shaped frame and the long-distance suspended comb beam structures on the two sides of the fixed comb-shaped frame have the advantages that in order to deal with the load of a heavy vehicle with a long wheelbase and avoid excessive distortion and deformation of the end parts of the comb beam caused by heavy pressure on the suspended comb teeth, the requirements on the material strength and the structural size of the comb beam are high, so that the material consumption and the structural size are not optimized, and the manufacturing cost is not reduced.

Disclosure of Invention

In order to solve the above defects in the prior art, the invention proposes the following technical solutions:

the device is a device for storing and taking articles in a longitudinal and transverse translation mode based on comb tooth exchange, and comprises a base frame 1, wherein the base frame 1 comprises a base frame track extending in the left-right direction,

comprises a plurality of rows of fixed comb-shaped frames 3 which extend and are arranged along the track direction of a base frame;

comprising at least one carrier 2 moving overhead on a plurality of rows of fixed comb-like frames 3 along a base track,

the fixed comb type frame 3 includes a fixed comb type frame front comb beam 311 and a fixed comb type frame rear comb beam 312,

the left and right parts of the fixed comb-shaped frame front comb beam 311 are respectively provided with a group of fixed comb-shaped frame left front comb teeth 3111 which are hung forwards and a group of fixed comb-shaped frame right front comb teeth 3112,

the left part and the right part of the fixed comb type frame rear comb beam 312 are respectively provided with a group of fixed comb type frame left rear comb teeth 3121 which are cantilevered backwards and a group of fixed comb type frame right rear comb teeth 3122;

the length extending direction of the comb beam of the fixed comb-shaped frame is parallel to the extending direction of the base frame track;

the method is characterized in that:

the carrier 2 comprises a transverse moving frame 21, a longitudinal moving frame 22, a transverse moving frame 23 and a lifting frame 24,

the structure of the traverse frame 21 comprises a left-right traverse frame edge beam 211 and a front-back traverse frame end beam 212;

the side beams 211 of the left and right sideslip frames are provided with sideslip frame longitudinal rails 218 which are parallel to each other;

the longitudinal moving frame 22 comprises a left and right longitudinal moving frame side beam 221 and a front and rear longitudinal moving frame end beam 222;

longitudinal moving frame end wheels 223 are arranged at two ends of the longitudinal moving frame end beam 222;

the left and right longitudinal moving frame side beams 221 are provided with longitudinal moving frame transverse moving rails 224 which are parallel to each other;

the vertical shift frame 22 is vertically shifted between the front and rear horizontal shift frame end beams 212 along the horizontal shift frame longitudinal rails 218 in the horizontal shift frame 21 by means of the vertical shift frame end wheels 223;

the traverse frame 23 includes a left traverse frame 231 and a right traverse frame 232,

the left cross-sliding frame 231 includes a left front guide post 2311 and a left rear guide post 2312,

the left transverse frame 231 is provided with left transverse frame side wheels 2314 at the front and the back,

the right cross frame 232 includes a right front guide post 2321 and a right rear guide post 2322,

the right transverse frame 232 is provided with a right transverse frame side wheel 2324 in front and at the back,

the left traverse frame 231 is transversely moved in the middle of the longitudinally moved frame in a left direction along the longitudinally moved frame transverse rail 224 by means of a left traverse frame side wheel 2314;

the right traverse frame 232 is transversely moved to the right at the middle part in the longitudinal moving frame along the longitudinal moving frame transverse moving track 224 by means of a right traverse frame side wheel 2324;

the crane 24 includes a left crane 241 and a right crane 242,

the left lifting frame 241 is installed between the left front guide post 2311 and the left rear guide post 2312 of the left traverse frame 231,

the left lifting frame 241 comprises a left front suspension pillar 2411 and a left rear suspension pillar 2412, the left front suspension pillar 2411 is guided by a left front guide pillar 2311 of the left traverse frame 231, and the left rear suspension pillar 2412 is guided by a left rear guide pillar 2312 of the left traverse frame 231;

the bottom of the left front suspension post 2411 is provided with a left front suspension post comb beam 24111;

a group of left front hanging column comb teeth 24112 which are extended backwards are arranged on the rear side of the left front hanging column comb beam 24111;

the bottom of the left rear suspension pillar 2412 is provided with a left rear suspension pillar comb beam 24121,

a group of left rear hanging column comb teeth 24122 which are hung forwards are arranged on the front side of the left rear hanging column comb beam 24121;

the right lifting frame 242 is arranged between the right front guide post 2321 and the right rear guide post 2322 of the right cross moving frame 232,

the right lifting frame 242 comprises a right front lifting column 2421 and a right rear lifting column 2422, the right front lifting column 2421 is guided by a right front guide post 2321 of the right cross sliding frame 232, and the right rear lifting column 2422 is guided by a right rear guide post 2322 of the right cross sliding frame;

the bottom of the right front hanging column 2421 is provided with a right front hanging column comb beam 24211,

a group of right front hanging column comb teeth 24212 which are hung backwards are arranged on the rear side of the right front hanging column comb beam 24211;

a right rear suspension post comb beam 24221 is arranged at the bottom of the right rear suspension post 2422,

a group of right rear hanging column comb teeth 24222 which are hung forwards are arranged on the front side of the right rear hanging column comb beam 24221;

the lower parts of at least two suspension posts of the lifting frame 24 are provided with object position identification sensing devices 243;

when the lifting frame 24 is lowered to the bottom position, the comb teeth at the bottom of the lifting column of the lifting frame 24 are lower than the comb teeth of the fixed comb-shaped frame;

when the carrier 2 runs, under the drive of the transverse moving frame 21, the longitudinal moving frame 22 and the transverse moving frame 23, the lifting frames 24 can pass through the fixed comb-shaped frames 3 vertically and horizontally;

after the longitudinal moving frame 22 of the carrier 2 is aligned and stopped right above a fixed comb-shaped frame 3, in the process of lifting the lifting frame 24 from the bottom position to the top position,

the left front suspension post comb tooth 24112 can pass through the tooth seam of the left front comb tooth 3111 of the fixed comb-shaped frame,

the left rear davit comb 24122 can pass through the tooth gap of the left rear comb 3121 of the fixed comb type frame,

right front davit comb 24212 can pass through the slot of fixed comb frame right front comb 3112,

right rear davit comb 24222 may pass through the slot of fixed comb frame right rear comb 3122.

Based on the above basic inventive features, the present invention has two preferred application modes, wherein the first type of features are as follows:

when the lifting frame 24 is lifted to the top position, the height distance from the top surface of the comb teeth of the fixed comb-shaped frame 3 to the bottom surface of the carrier above the comb teeth is larger than the height of the preset articles.

The second category is characterized by:

the multi-row fixed comb-shaped frame comprises a front row of fixed comb-shaped frames and a rear row of fixed comb-shaped frames, and a conveying channel with the width larger than that of the fixed comb-shaped frame 3 is arranged between the front row of fixed comb-shaped frames and the rear row of fixed comb-shaped frames;

when the carrier 2 runs, the lifting frame 24 is lifted to the top position, and the bottom surface of the lifting frame 24 is higher than the top surface of the fixed comb-shaped frame 3;

after the lifting frame 24 extracts the articles from the fixed comb-shaped frame 3 and lifts the articles to the top position, the lifting frame 24 moves to the carrying channel along with the longitudinal moving frame 22 and then moves transversely along with the carrier 2 along the carrying channel.

A further preferred application of the second class is characterized in that:

the pedestal rails include a forward pedestal side rail 141 and a pedestal bottom rail 142 located rearward of the bottom of the transfer aisle,

the traverse frame end wheel 214 of the front portion of the traverse frame 21 moves along the base frame side rail 141 in the front,

a sideslip frame side leg 219 is arranged at the lower part of the middle part of the sideslip frame side beam 211 of the sideslip frame 21, a sideslip frame bottom wheel 215 is arranged at the bottom of the sideslip frame side leg 219, and the sideslip frame bottom wheel 215 moves along the base frame bottom rail 142;

a lifting shaft is arranged near the rear side of the carrying channel, an inlet lifting comb-shaped frame 4 capable of lifting along the guide column is arranged in the lifting shaft, and the guide column 15 of the inlet lifting comb-shaped frame is positioned at the rear side of the lifting shaft.

Another further preferred application of the second class is characterized in that:

the pedestal track includes a pedestal bottom track 142 at the bottom of the transfer channel,

the base frame 1 comprises a base frame top rail 143 at the overhead top of the base frame bottom rail 142

The carrier 2 travels between the pedestal top rail 143 and the pedestal bottom rail 142;

a traverse frame side leg 219 is arranged below the middle part of the traverse frame side beam 211 of the traverse frame 21, a traverse frame bottom wheel 215 is arranged at the bottom of the traverse frame side leg 219, and the traverse frame bottom wheel 215 moves along the base frame bottom rail 142;

the upper part of the traverse frame 21 is provided with a traverse frame top guide wheel 216 guided by the pedestal top guide rail 143,

When the lifting frame exchanges articles with the fixed comb-shaped frame, the lifting column of the lifting frame can lead the comb teeth of the lifting column to penetrate out from the reasonable comb seam position and lift the articles, such as wheels of an automobile, after the position of the articles carried by the fixed comb-shaped frame is identified by the object position identification sensing device, compared with the prior art, the number of the comb teeth of the lifting frame lifting column can be less than that of the comb teeth of the fixed comb-shaped frame, the overhanging length of the comb beam of the lifting column is obviously shortened compared with that of the comb beam in the prior art, and the connecting point of the lifting column and the comb beam can also be arranged in the middle of the comb beam with the best stress state.

Similarly, compared with the prior art, the fixed comb-shaped frame provided by the invention has the advantages that the two ends of the comb beam do not need to be suspended and extended in a long distance, and when the comb teeth bear pressure, the torsional deformation stress generated on the comb beam is obviously reduced, so that the structure of the comb beam can adopt a thinner design, the material performance requirement is lower, and the comb beam is easier to produce at low cost.

The transverse moving frame adopts the single-side wheels and the middle bottom wheels or the middle bottom wheels and the top guide wheels, so that the single side or the double sides of the transverse moving frame can be suspended without being supported by rails, and the arrangement space condition of the continuous guide columns is provided for arranging the lifting shafts on the single side or the double sides, thereby being more convenient for the practical application of the invention in a multilayer mode.

The following embodiments will describe specific features and advantages of the invention in more detail with reference to the accompanying drawings. Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are preferred application examples of the present invention in parking apparatuses, and are only for explaining the present invention, and it should not be construed that the present invention is limited to application only in parking apparatuses.

It is to be understood that the terms "front", "rear", "left" and "right" refer to: when a viewer looks at a horizontal viewing angle perpendicular to the base frame rail direction in the embodiment, the viewing angle is set to be left and right corresponding to the left and right hand directions of the viewer, and the viewing angles are set to be front and back adjacent to and far from the viewer respectively. The movement along the left-right direction of the viewer is "lateral movement", the movement along the front-back direction of the viewer is "longitudinal movement", and the movement along the front-back direction of the viewer is "longitudinal movement".

The terms "upper", "lower", "vertical", "flat", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. The above terms are merely used to facilitate describing the relative positional relationships of the various parts of the invention accurately, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

The term "ground" below also includes floor surfaces; "empty" indicates an idle state in which no items are loaded; the "top position" means an upper limit position set in advance, and when the fixed comb type frame is designated for carrying a vehicle conforming to a size of a specific vehicle type, the top position must be set to a position exceeding a height of the specific vehicle type parked on the fixed comb type frame; "bottom" means a predetermined lower limit position; "access port" means a predetermined area where an article or a vehicle can be stored or taken out, and includes an entrance through which the vehicle can enter or exit; "overhead" means supported above the ground by a column or structure; by "plurality" is meant at least two, e.g., two, three, etc.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be directly coupled, may be indirectly coupled through intervening media, may be internal to two elements, or may be in an interactive relationship between two elements, unless expressly defined otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Drawings

Fig. 1 is a partial fragmentary perspective view of an embodiment 1 of the present invention applied to a parking apparatus;

FIG. 2 is a perspective view of a fixed comb-shaped frame of embodiment 1;

FIG. 3 is a perspective view of a traverse frame of the carrier of example 1;

FIG. 4 is a perspective view of a vertically movable frame of the carrier according to embodiment 1;

FIG. 5 is a perspective view of a combination of a traverse frame and a vertical frame of the carrier according to example 1;

fig. 6 is a perspective view of the left and right lateral frames of the carrier of embodiment 1;

fig. 7 is a perspective view of a left crane and a right crane of the carrier of embodiment 1;

fig. 8 is a perspective view of the carrier according to embodiment 1, showing a combination of a vertical movement frame, a horizontal movement frame, and a lifting frame;

fig. 9 is a perspective view of the carrier with the crane of embodiment 1 lowered to the bottom position;

fig. 10 is a perspective view of the carrier of embodiment 1 with the crane raised to the top position;

fig. 11 is a perspective view of the carrier of embodiment 1 with the lifting frame lowered to both sides of the fixed comb-shaped frame;

fig. 12 is a partial sectional right view and a partial enlarged view of the crane of embodiment 1 lowered to both sides of the fixed comb-type frame;

fig. 13 is a partial front sectional view of the lifting frame lowered to the bottom position of embodiment 1 penetrating between the head and the tail of the fixed comb-shaped frame;

FIG. 14 is a front view and a partial enlarged view of a partial section of the lifting frame lowered to the bottom position of the embodiment 1 moved to below the comb teeth of the fixed comb-shaped frame;

fig. 15 is a partial sectional perspective view of the crane of embodiment 1 when the crane picks up a vehicle and lifts it to the top position;

FIG. 16 is a partial sectional perspective view of the crane of embodiment 2 after the crane has picked up a vehicle and moved to the center tunnel;

fig. 17 is a perspective view of the left and right lateral frames of the carrier of embodiment 2;

fig. 18 is a perspective view of a left crane and a right crane of the carrier of embodiment 2;

fig. 19 is a combined perspective view of a vertical movement frame, a horizontal movement frame, and a lifting frame of the carrier of embodiment 2;

fig. 20 is a perspective view of the carrier when the crane of embodiment 2 is loaded with a vehicle;

fig. 21 is a right side sectional view of the crane of embodiment 2 lifting the vehicle from the fixed comb-type frame;

FIG. 22 is a right sectional view showing the lifting frame lowered to the bottom position in the embodiment 2 at both sides of the fixed comb-shaped frame;

figure 23 is a right side sectional view of the crane of embodiment 2 lifting the vehicle from the fixed comb-type frame and translating toward the center tunnel;

fig. 24 is a right side sectional view of the crane carrying the vehicle of embodiment 2 in the center tunnel;

FIG. 25 is a right side cross-sectional view of the multilayer of example 2 after stacking;

FIG. 26 is a perspective view and a partially enlarged view of a traverse frame of the carrier in accordance with embodiment 3;

fig. 27 is a perspective view and a partially enlarged view of the carrier with vehicles of embodiment 3 moving along the rail toward the side entry;

fig. 28 is a perspective view of a left crane and a right crane of the carrier of embodiment 3;

figure 29 is a perspective view and a partial enlarged view of the lifting frame of the embodiment 3 when the lifting frame enters between the head and the tail of the adjacent fixed comb-shaped frames;

FIG. 30 is a perspective view and a partially enlarged view of the comb teeth of the lifting frame of the embodiment 3 entering below the comb teeth of the fixed comb-shaped frame;

fig. 31 is a right sectional view and a partially enlarged view of the comb teeth of the lifting frame of embodiment 3 entering under the comb teeth of the fixed comb-shaped frame;

FIG. 32 is a perspective view of a traverse frame of the carrier of embodiment 4;

FIG. 33 is a perspective view of the carrier of embodiment 4;

figure 34 is a perspective view of the lifting frame of the embodiment 4 entering between the head and the tail of the adjacent fixed comb-shaped frame;

figure 35 is a perspective view and a partially enlarged view of the area where the carrier of example 4, with the crane moved to the center aisle, moves to the entrance zone;

FIG. 36 is a right sectional view of the comb teeth of the elevation frame of the embodiment 4 entering below the comb teeth of the fixed comb-shaped frame;

FIG. 37 is a right side cross-sectional view of the multilayer of example 4 after lamination;

reference numerals:

a base frame 1; a pedestal post 11; a pedestal stringer 12; a base frame cross member 13; a base frame side rail 141;

a base frame rail 142; a base frame top rail 143; an entrance lifting comb guide post 15;

a carrier 2; a traverse frame 21; the frame side beams 211 are transversely moved; the cross-frame end beam 212; a traverse frame end wheel 214;

a traverse frame bottom wheel 215; a traverse frame top guide wheel 216; a traverse frame secondary end wheel 217; a traverse frame longitudinal rail 218;

transversely moving the frame side legs 219; a cross frame bottom beam 2101; a cross-frame top beam 2102; a transverse frame side leg bottom longitudinal beam 2103;

a longitudinal movement frame 22; longitudinally moving the frame side beam 221; longitudinally moving the frame end beams 222; longitudinally moving the frame end wheels 223; a longitudinally moving frame traversing rail 224;

a traverse frame 23; a left cross-frame 231; a left front post 2311; a left rear guide post 2312; a left cross frame upper beam 2313;

a left sideslip frame side wheel 2314; a right traverse frame 232; a right front guide post 2321; a right rear guide post 2322; a right cross-sliding upper beam 2323;

a right sideslip frame side wheel 2324;

a lifting frame 24; a left lifting frame 241; a left front suspension post 2411; a left front davit comb beam 24111; left front davit comb 24112;

a left rear suspension post 2412; a left rear davit comb beam 24121; left rear davit comb 24122; a left crane upper beam 2413;

a right crane 242; right front suspension post 2421; a right front bollard 24211; right front bollard comb 24212;

right rear suspension post 2422; right rear davit comb beam 24221; right rear boom comb 24222; the right crane upper beam 2423;

the object position recognition sensing device 243;

a fixed comb-shaped frame 3; a fixed comb frame front comb beam 311; the left front comb teeth 3111 of the fixed comb-shaped frame;

a fixed comb-shaped frame right front comb tooth 3112; a fixed comb frame rear comb beam 312; the left rear comb teeth 3121 of the fixed comb-shaped frame;

the right rear comb teeth 3122 of the fixed comb-shaped frame;

an entrance lifting comb-shaped frame 4.

Detailed Description

Embodiment 1 is shown in fig. 1 to 15, which is an application of the present invention to a parking apparatus.

Referring to fig. 1, the structure of the pedestal comprises a pedestal 1, wherein the pedestal 1 comprises a front track beam and a rear track beam which are supported by a pedestal support 11, and a pedestal side track 141 is arranged on the track beams. Between the middle of the pedestal columns 11 there are pedestal stringers 12, and between adjacent pedestal stringers 12 there is a pedestal cross beam 13. Three rows of fixed comb-shaped frames 3 for parking vehicles are uniformly arranged on the base frame cross beam 13 in an array manner at intervals of 5.8 meters from left to right and at intervals of 2.5 meters from front to back. The space below the pedestal longitudinal beams 12 and the pedestal cross beams 13 is suitable for arranging ground self-propelled parking spaces.

One or more carriers 2 are provided, and the carriers 2 can be moved across the three rows of fixed comb frames 3 along the base frame side rails 141.

Referring to fig. 2, the fixed comb 3 is constructed to include a fixed comb front comb beam 311 and a fixed comb rear comb beam 312. The left and right parts of the fixed comb-shaped frame front comb beam 311 are respectively provided with a group of fixed comb-shaped frame left front comb teeth 3111 which are hung forwards and a group of fixed comb-shaped frame right front comb teeth 3112. The left and right parts of the fixed comb frame rear comb beam 312 are respectively provided with a group of fixed comb frame left rear comb teeth 3121 which are cantilevered backwards and a group of fixed comb frame right rear comb teeth 3122.

Referring to fig. 9, the carrier 2 is constituted by a traverse frame 21, a vertical frame 22, a traverse frame 23, and a crane 24.

Referring to fig. 3, the traverse frame 21 is constructed by left and right traverse frame side beams 211 and front and rear traverse frame end beams 212, the left and right traverse frame side beams 211 being provided with traverse frame longitudinal rails 218 parallel to each other. The side of the front and rear cross frame end beams 212 are provided with cross frame end wheels 214.

Referring to fig. 4, the longitudinal moving frame 22 includes left and right longitudinal moving frame side beams 221 and front and rear longitudinal moving frame end beams 222, and longitudinal moving frame end wheels 223 are mounted at both ends of the longitudinal moving frame end beams 222. The left and right vertical shift frame side beams 221 are provided with vertical shift frame traverse rails 224 which are parallel to each other.

Referring to fig. 5, the vertical shift frame 22 is vertically shifted between the front and rear horizontal shift frame end beams 212 along the horizontal shift frame longitudinal rails 218 within the horizontal shift frame 21 by means of the vertical shift frame end wheels 223.

Referring to fig. 6, the cross frame 23 includes a left cross frame 231 and a right cross frame 232, the left cross frame 231 includes a left front guide post 2311 and a left rear guide post 2312, and left cross frame side wheels 2314 are mounted at the front and rear bottoms of the left cross frame 231. The right cross frame 232 comprises a right front guide post 2321 and a right rear guide post 2322, and the front and rear bottoms of the right cross frame 232 are provided with right cross frame side wheels 2324.

Referring to fig. 7, the crane 24 includes a left crane 241 and a right crane 242, the left crane 241 includes a left front suspension post 2411 and a left rear suspension post 2412, and the bottom of the left front suspension post 2411 is connected to the middle of the left front suspension post comb beam 24111. A group of left front suspension column comb teeth 24112 which are hung backwards are arranged on the rear side of the left front suspension column comb beam 24111. The bottom of the left rear hanging column 2412 is connected to the middle of the left rear hanging column comb beam 24121, and a group of left rear hanging column comb teeth 24122 which are hung forwards are arranged on the front side of the left rear hanging column comb beam 24121.

The right crane 242 includes a right front suspension mast 2421 and a right rear suspension mast 2422, and the bottom of the right front suspension mast 2421 is connected to the middle of the right front suspension mast comb beam 24211. A group of right front hanging column comb teeth 24212 which are suspended and extend backwards are arranged on the rear side of the right front hanging column comb beam 24211; the bottom of the right rear hanging column 2422 is connected to the middle of the right rear hanging column comb beam 24221. A group of right rear hanging column comb teeth 24222 which are suspended and extend forwards are arranged on the front side of the right rear hanging column comb beam 24221.

The upper convex bases on both sides of the lower part of the hanging column 2411 of the lifting frame 24 are provided with object position identification sensing devices 243 of laser opposite emission type.

Referring to fig. 8, the left traverse frame 231 is traversed left at the inner middle portion of the longitudinal frame along the longitudinal frame traverse rail 224 by means of the left traverse frame side wheel 2314; the right traverse frame 232 is moved right at the inner center portion of the vertical movement frame by means of the right traverse frame side wheel 2324 along the vertical movement frame horizontal movement rail 224. The left traverse frame 231 and the right traverse frame 232 move independently under the control of the system.

The left lifting frame 241 is installed between the left front guide pillar 2311 and the left rear guide pillar 2312 of the left cross moving frame 231, and the right lifting frame 242 is installed between the right front guide pillar 2321 and the right rear guide pillar 2322 of the right cross moving frame 232.

The left front suspension pillar 2411 is guided by the left front guide pillar 2311 of the left cross frame 231, and the left rear suspension pillar 2412 is guided by the left rear guide pillar 2312 of the left cross frame 231; the right front suspension strut 2421 is guided by the right front guide post 2321 of the right cross frame 232 and the right rear suspension strut 2422 is guided by the right rear guide post 2322 of the right cross frame.

Referring to fig. 10, when the front and rear lifting frames 241, 242 are synchronously lifted to the top position, the bottoms of the sets of lifting column comb teeth of the lifting frames are higher than the bottom surface of the traverse frame 21, which prevents the carrier from colliding with the roof of a vehicle parked on the fixed comb type frame when the carrier is in operation.

Referring to fig. 11 and 12, when the front and rear lifting frames 241, 242 are synchronously lowered to the bottom position, the top surfaces of the sets of comb teeth of the lifting frames are lower than the bottom surfaces of the comb teeth of the fixed comb-shaped frame. Thus, when the carrier 2 is laterally moved along the rail, the suspension post comb teeth do not collide with the fixed comb frame comb teeth.

Referring to fig. 13, after the traverse frame 21 of the carrier 2 is aligned with and braked from the left to the right with respect to a row of the fixed comb frames 3, the system can first move the left traverse frame 231 to the left end of the longitudinal frame 22 and the right traverse frame 232 to the right end of the longitudinal frame 22, and at this time, the longitudinal movement of the longitudinal frame 22 can drive the suspension posts of the crane 24 to pass through the reserved gaps between the left and right adjacent fixed comb frames 3 without colliding with the fixed comb frames 3 and the vehicles parked on the fixed comb frames 3 and conforming to the preset vehicle model size.

Referring to fig. 14, after the vertical moving frame 22 is vertically aligned with a fixed comb-shaped frame 3, the left traverse frame 231 moving to the right under the control of the system will drive the two sets of lifting column comb teeth of the left lifting frame 241 to move to the right under the comb teeth of the fixed comb-shaped frame. When the laser path between the object position recognition sensing devices of the laser correlation type sensing mode installed at the bottoms of the left front suspension pillar 2411 and the left rear suspension pillar 2412 is blocked by the tire of the vehicle, the system calculates the more accurate parking position of the wheel above the comb teeth of the fixed comb-shaped frame in real time by a preset algorithm according to the diameter range of the wheel of a preset vehicle type, the preset comb seam size and position of the comb teeth of the fixed comb-shaped frame and the relative installation position of the sensor, and instructs the left traverse frame 231 to stop at the correct position according to the more accurate parking position. Similarly, the correct stop position of the right traversing frame 232 is calculated according to the feedback information of the other set of laser sensors.

Referring to fig. 15, following the above process, when the left and right lifting frames 241, 242 are lifted, the vehicle on the fixed comb-shaped frame 3 is lifted into the longitudinal frame 22 and can move to the entrance along with the carrier 2, thereby completing the vehicle taking process.

The number of teeth of four groups of comb teeth of the fixed comb-shaped frame can be set to be the same or different according to different design requirements. And the number of teeth of the four groups of comb teeth of the left lifting frame and the right lifting frame should be the same. And, in order to keep the stability of the vehicle that is extracted, every group broach of crane can be according to the common adoption in the prior art, set for the pattern that middle part broach is lower, both sides broach is higher, in order to coincide the wheel bottom shape. The number of teeth of each group of comb teeth of the lifting frame in the embodiment is 4.

When the fixed comb-shaped frame adopts two pairs of left and right comb-tooth groups with different tooth numbers, the number of tooth gaps of a pair of comb-tooth groups with less tooth numbers is also 4, and a concave pattern with a low middle part and high two sides is also adopted to match the shape of the wheel. According to experience, the comb type pair should be used only for parking the front wheels of the vehicle, since the front overhang size of the commonly used cars does not vary much. Because the wheel position on the pair of comb teeth of the fixed comb-shaped frame is fixed and unchanged, a laser sensor does not need to be set below the lifting frame hanging column corresponding to the pair of comb teeth. Obviously, in order to adapt to various vehicle types with different wheelbases, the number of teeth of the other pair of comb tooth groups of the fixed comb-shaped frame should be enough.

The length of the comb beam at the bottom of the lifting column of the lifting frame is set to be about 40 cm, and the length of the comb teeth of the lifting column is set to be 48 cm.

As can be seen from example 1, compared with the prior art, the positive effects of the present invention are:

1. although the photoelectric sensing system is added, the length of the lifting column comb beam is obviously shortened, and the lifting column is connected to the middle of the comb beam, so that the transverse overhanging length of the lifting column comb beam towards two sides is shorter, and a more ideal stress working condition is formed;

2. the number of the comb teeth of the lifting column is also obviously reduced, and the comb teeth of the lifting column can bear wheels at more favorable stress points, so that the lifting frame is lighter in overall structure, less in material consumption and lower in material performance requirement, good conditions are provided for compression of the overall weight of the carrier, and the carrier is more convenient for industrialized low-cost manufacturing.

3. The comb beam of the fixed comb-shaped frame does not need to be overhung to two sides, and compared with the prior art, the stress on the end part of the fixed comb beam is obviously reduced, and the comb beam is not easy to deform.

4. The number of teeth of the comb teeth of the fixed comb-shaped frame can be more than that of the comb teeth of the suspension posts, so that the movable comb-shaped frame can be easily stored and taken by a short-wheelbase vehicle body and a super-long-wheelbase vehicle body under the guidance of a wheel position recognition system, the optional vehicle type range of the parking equipment is widened remarkably, and the practicability is stronger.

Embodiment 2 as shown in fig. 16 to 25, the present embodiment is a modification on the basis of embodiment 1.

Referring to fig. 16, unlike embodiment 1, the lifting frame 24 of the present embodiment has a lifting amplitude of only 20 cm from the bottom position to the top position. When the lifting frame 24 is lifted to the top position, the vehicle carried by the comb teeth can move vertically and horizontally at a height of about 5 cm above the empty fixed comb-shaped frame 3 and can move to the entrance along the reserved passage.

Referring to fig. 17, the top of the left cross frame 231 of this embodiment is connected by a left cross frame upper beam 2313, left cross frame side wheels 2314 are provided at the four corners of the top frame type configuration of the left cross frame 231, and a left front guide column 2311 and a left rear guide column 2312 hang downward. The top of the right cross frame 232 is connected by a right cross frame upper beam 2323, right cross frame side wheels 2324 are arranged at the four corners of the top frame-shaped structure of the right cross frame 232, and a right front guide post 2321 and a right rear guide post 2322 hang downwards.

Referring to fig. 18, the left and right crane

upper beams

2413 and 2423 of the upper parts of the left and

right cranes

241 and 242 of the present embodiment are each constructed in a single piece, and therefore, the height of the crane is lower than that of the crane of embodiment 1.

Referring to fig. 19, after the left and right elevating

frames

241, 242 are elevated to the top position, the top of the left and right elevating

frames

241, 242 and the left and right traverse frames 231, 232 do not exceed the top surface of the longitudinal frame 22.

Referring to fig. 20, 21 and 22, when the left and

right cranes

241, 242 carrying vehicles are raised to the top position and lowered to the bottom position, the top elevation of the entire carrier is not changed.

Referring to fig. 23 and 24, when the left and right lifting frames 241 and 242 carrying the vehicle are lifted to the top position, the vehicle can be moved to a predetermined carrying passage in the middle to move to the entrance and exit.

Referring to fig. 25, the lifting frame has a small lifting amplitude, so that the embodiment is suitable for multi-layer overlapping to form a multi-layer parking garage.

It should be noted that, because the crane that rises to the top position moves above the fixed comb-shaped frame, so, the fixed comb-shaped frame can also be installed in fact to middle transport passageway bottom, like this, in special time quantum, can be as required, will only need the vehicle that stops for a short time to deposit temporarily on the fixed comb-shaped frame in the transport passageway to increase the storage capacity temporarily.

Compared with embodiment 1, this embodiment has the advantage of being more suitable for multi-layer overlapping implementation. Of course, the single-layer storage capacity is reduced by about one third due to the need to reserve the carrying passage. Therefore, in a specific application, if only a single-layer library is required to be built, the scheme of example 1 is obviously more suitable.

Embodiment 3 as shown in fig. 26 to 31, the present embodiment is a modification on the basis of embodiment 2.

Referring to fig. 26, unlike embodiment 2, the traverse frame 21 of the present embodiment is provided with traverse frame end wheels 214 only on both sides of the front traverse frame end beam 212, and traverse frame side legs 219 are provided below the middle portions of the left and right traverse frame side beams 211 of the traverse frame 21 toward the rear, and a traverse frame bottom wheel 215 is provided at the bottom of each traverse frame side leg 219. In order to reinforce the frame structure, a traverse frame bottom beam 2101 is provided between the bottoms of the left and right traverse frame side legs 219 in the present embodiment.

Referring to fig. 27, the base frame 1 is installed with a front base frame side rail 141 and a base frame bottom rail 142 positioned at a rear position of the bottom of the middle transfer passage, the traverse frame end wheels 214 move along the base frame side rail 141, and the traverse frame bottom wheels 215 move along the base frame bottom rail 142.

Referring to fig. 28 and 29, the crane can enter and exit the conveyance passage only at a height up to the top position due to the presence of the traverser bottom beam 2101 at the bottom of the traverser of the present embodiment. In order to prevent the sensor-mounted upper convex base at the bottom of the crane raised to the top position from colliding with the head and tail bottom of the super-long vehicle on the fixed comb frame, unlike the previous embodiment, the object position recognition sensing means 244 at the bottom of the left and

right cranes

241, 242 of the present embodiment are disposed at the lower part of the inner side of the suspension tower.

Referring to fig. 30, when the vehicle on the rear fixed comb-shaped frame 3 needs to be taken out, the left and right suspension posts of the crane 24 need to enter the space outside the vehicle end from the carrying passage at the height of the top position, then descend to the bottom position, and move into the lower part of the comb teeth of the fixed comb-shaped frame 3.

Referring to fig. 31 and 26, in order to avoid the inclination caused by the unbalanced load when the carrier is loaded in an unbalanced manner as a whole, a traverse frame sub-end wheel 217 is installed below the traverse frame end wheel 214 at the front portion of the traverse frame 21. When the traverse frame 21 is traversed, the traverse frame secondary end wheel 217 is located below the upper wing plate of the H-shaped steel beam where the base frame side rail 141 is located. When the carrier begins to tilt backwards, the carrier can be stopped by the transverse frame auxiliary end wheel 217 of the upper wing plate which is propped against the H-shaped steel beam.

Referring to fig. 27, 29 and 30, a hoistway is provided at the rear side of the carrying passage, and an entrance lifting comb 4 is provided in the hoistway to be lifted up and down along guide posts, and the entrance lifting comb guide posts 15 are provided at the rear side of the hoistway. Because the rear end of the transverse moving frame 21 of the carrier 2 is not provided with an end wheel, and the rear side of the pedestal 1 is not required to be provided with a pedestal side track, when the carrier 2 runs, the rear end of the transverse moving frame 21 is in a suspended state in the whole course and is not in contact with the pedestal, so that the space conflict between the inlet lifting comb-shaped frame guide post 15 and the pedestal side track is avoided, and the carrier 2 can be aligned with the inlet lifting comb-shaped frame 4 and exchange vehicles with the inlet lifting comb-shaped frame 4.

Compared with embodiment 2, this embodiment provides conditions for more reasonable elevator shaft layout, and is more suitable for multi-floor implementation.

Embodiment 4 as shown in fig. 32 to 37, this embodiment is another modification on the basis of embodiment 2.

Referring to fig. 32, unlike embodiment 2, the traverse frame 21 of the present embodiment is not provided with the traverse frame end wheels 214, but two pairs of traverse frame side legs 219 are provided below the middle portions of the left and right traverse frame side beams 211 of the traverse frame 21, and a traverse frame bottom wheel 215 is provided at the bottom of each pair of traverse frame side legs 219. Two pairs of traverse frame top guide wheels 216 are installed above the middle part of the left and right traverse frame side beams 211. To enhance the stability of the sideslip frame leg 219, a sideslip frame top rail 2102 is provided between the top surfaces of the middle portions of the left and right sideslip frame side rails 211. As shown in fig. 33, the vertical movement frame 22 runs under the lateral movement frame top cross member 2102.

Referring to fig. 34 to 37, two pedestal bottom rails 142 are provided at the bottom of the conveying passage in the middle of the pedestal 1, and a pedestal top rail 143 is provided at the top of the pedestal bottom rails 142. In the multiple-ply application, the pedestal top rail 143 is mounted to the bottom of the stringers of the superstructure. Within the same layer, the carrier 2 travels between the pedestal top rail 143 and the pedestal bottom rail 142. In the present embodiment, the story height of each story is set to 3 meters.

The traverse frame bottom wheels 215 of the carrier 2 move along the base chassis rails 142. The traverse frame top guide wheels 216 are clamped to both side guide surfaces of the base frame top guide rails 143 to receive the guide of the base frame top guide rails 143. When the carrier 2 is in operation, the tilting force generated by the offset load on the carrier 2 caused by the longitudinal movement of the longitudinal moving frame 22 with load is restrained and counteracted by the bottom wheels 215 of the cross sliding frame and the top guide wheels 216 of the cross sliding frame.

Referring to fig. 35, in this embodiment, both sides of the carrying passage may be provided with a lifting shaft, an inlet lifting comb 4 capable of lifting along the guide posts is disposed in the lifting shaft, and the guide posts 15 of the inlet lifting comb are located at the outer side of the lifting shaft. Because there is not the end wheel at the sideslip frame 21 both ends of carrier 2, the frame limit track need not set up in bed frame 1 both sides, consequently, when carrier 2 moves, its both ends are in unsettled state around the sideslip frame 21, and is contactless with the bed frame, and this space conflict of entry lift comb type frame guide pillar 15 with the frame limit track has just been avoided, makes carrier 2 can align the entry lift comb type frame 4 in arbitrary lift well and with entry lift comb type frame 4 exchange vehicle.

Compared with the embodiment 3, the embodiment provides the condition that the lifting shafts are arranged on both sides of the carrying passage, and is more suitable for a multi-layer project scheme with efficient access.

The laser correlation photoelectric sensor system described in the above embodiment is only one of the alternative and mature means in the prior art of the object position recognition sensor device 243 of the present invention, and obviously, other technical means, such as a machine vision system, capable of achieving the same function may be adopted. Of course, sensing systems that utilize a light touch of the resilient physical member with the tire surface to generate a feedback signal may also be designed.

The lifting and traversing of the various components described in the various embodiments of the present invention can obviously be accomplished by a variety of means known in the art, such as a motor-driven sprocket-and-chain mechanism, a wire rope mechanism, a screw mechanism, a rack and pinion mechanism, a telescopic ram mechanism, etc.

Claims

1. A longitudinal and transverse translation type article storing and taking device based on comb tooth exchange,

comprises a base frame (1),

the base frame (1) comprises a base frame track extending in the left-right direction,

comprises a plurality of rows of fixed comb-shaped frames (3) which extend and are arranged along the track direction of a base frame;

comprising at least one carrier (2) which is movable over a plurality of rows of stationary comb frames (3) along a base track,

the fixed comb-shaped frame (3) comprises a fixed comb-shaped frame front comb beam (311) and a fixed comb-shaped frame rear comb beam (312),

the left and right parts of the front comb beam (311) of the fixed comb-shaped frame are respectively provided with a group of fixed comb-shaped frame left front comb teeth (3111) which are hung forwards and a group of fixed comb-shaped frame right front comb teeth (3112),

the left part and the right part of the fixed comb type frame rear comb beam (312) are respectively provided with a group of fixed comb type frame left rear comb teeth (3121) which are hung backwards and a group of fixed comb type frame right rear comb teeth (3122);

the method is characterized in that:

the carrier (2) comprises a transverse moving frame (21), a longitudinal moving frame (22), a transverse moving frame (23) and a lifting frame (24),

the traverse frame (21) comprises a left and right traverse frame side beam (211) and a front and back traverse frame end beam (212);

the side beams (211) of the left and right traverse frames are provided with traverse frame longitudinal rails (218) which are parallel to each other;

the longitudinal moving frame (22) comprises a left longitudinal moving frame side beam (221), a right longitudinal moving frame side beam (221) and a front longitudinal moving frame end beam (222);

longitudinal moving frame end wheels (223) are arranged at two ends of the longitudinal moving frame end beam (222);

the left and right longitudinal moving frame side beams (221) are provided with longitudinal moving frame transverse moving tracks (224) which are parallel to each other;

the longitudinal moving frame (22) longitudinally moves between the front transverse moving frame end beam and the rear transverse moving frame end beam (212) along a transverse moving frame longitudinal track (218) in the transverse moving frame (21) by means of a longitudinal moving frame end wheel (223);

the transverse moving frame (23) comprises a left transverse moving frame (231) and a right transverse moving frame (232),

the left cross sliding frame (231) comprises a left front guide post (2311) and a left rear guide post (2312),

the front and the back of the left transverse frame (231) are provided with left transverse frame side wheels (2314),

the right cross sliding frame (232) comprises a right front guide post (2321) and a right rear guide post (2322),

the front and the back of the right transverse moving frame (232) are provided with right transverse moving frame side wheels (2324),

the left transverse moving frame (231) is transversely moved in the middle of the longitudinal moving frame along a transverse moving track (224) of the longitudinal moving frame by a left transverse moving frame side wheel (2314);

the right transverse moving frame (232) is transversely moved to the right at the middle part in the longitudinal moving frame along a transverse moving track (224) of the longitudinal moving frame by a right transverse moving frame side wheel (2324);

the lifting frame (24) comprises a left lifting frame (241) and a right lifting frame (242),

the left lifting frame (241) is arranged between a left front guide post (2311) and a left rear guide post (2312) of the left transverse moving frame (231),

the left lifting frame (241) comprises a left front lifting column (2411) and a left rear lifting column (2412), the left front lifting column (2411) is guided by a left front guide column (2311) of the left transverse frame (231), and the left rear lifting column (2412) is guided by a left rear guide column (2312) of the left transverse frame (231);

the bottom of the left front hanging column (2411) is provided with a left front hanging column comb beam (24111);

a group of left front hanging column comb teeth (24112) which are extended backwards are arranged on the rear side of the left front hanging column comb beam (24111);

the bottom of the left rear hanging post (2412) is provided with a left rear hanging post comb beam (24121),

a group of left rear hanging column comb teeth (24122) which are hung forwards are arranged on the front side of the left rear hanging column comb beam (24121);

the right lifting frame (242) is arranged between a right front guide post (2321) and a right rear guide post (2322) of the right transverse moving frame (232),

the right lifting frame (242) comprises a right front lifting column (2421) and a right rear lifting column (2422), the right front lifting column (2421) is guided by a right front guide column (2321) of the right transverse moving frame (232), and the right rear lifting column (2422) is guided by a right rear guide column (2322) of the right transverse moving frame;

the bottom of the right front suspension post (2421) is provided with a right front suspension post comb beam (24211),

a group of right front hanging column comb teeth (24212) which are hung backwards are arranged on the rear side of the right front hanging column comb beam (24211);

the bottom of the right rear hanging post (2422) is provided with a right rear hanging post comb beam (24221),

a group of right rear hanging column comb teeth (24222) which are hung forwards are arranged on the front side of the right rear hanging column comb beam (24221);

the lower parts of at least two suspension posts of the lifting frame (24) are provided with object position identification sensing devices (243);

when the lifting frame (24) is lowered to the bottom position, the comb teeth at the bottom of the lifting column of the lifting frame (24) are lower than the comb teeth of the fixed comb-shaped frame;

when the carrier (2) runs, under the drive of the transverse moving frame (21), the longitudinal moving frame (22) and the transverse moving frame (23), the suspension posts of the lifting frame (24) can vertically and horizontally pass through the fixed comb-shaped frames (3);

after a longitudinal moving frame (22) of the carrier (2) is aligned and stopped right above a fixed comb-shaped frame (3), a lifting frame (24) is lifted from the bottom position to the top position,

the left front hanging column comb teeth (24112) can pass through the tooth gaps of the left front comb teeth (3111) of the fixed comb-shaped frame,

the left back hanging post comb teeth (24122) can penetrate through the tooth gaps of the left back comb teeth (3121) of the fixed comb-shaped frame,

the right front hanging post comb teeth (24212) can pass through the tooth gaps of the right front comb teeth (3112) of the fixed comb-shaped frame,

the right rear suspension post comb teeth (24222) can penetrate through the tooth gaps of the right rear comb teeth (3122) of the fixed comb type frame.

2. The comb-exchange-based vertically and horizontally translated article storage and retrieval device according to claim 1, wherein:

when the lifting frame (24) is lifted to the top position, the height distance from the top surface of the comb teeth of the fixed comb-shaped frame (3) to the bottom surface of the carrier above the comb teeth is larger than the height of the preset articles.

3. The comb-exchange-based vertically and horizontally translated article storage and retrieval device according to claim 1, wherein:

the multi-row fixed comb-shaped frame comprises a front row of fixed comb-shaped frames and a rear row of fixed comb-shaped frames, and a conveying channel with the width larger than that of the fixed comb-shaped frame (3) is arranged between the front row of fixed comb-shaped frames and the rear row of fixed comb-shaped frames;

when the carrier (2) runs, the lifting frame (24) is lifted to the top position, and the bottom surface of the lifting frame (24) is higher than the top surface of the fixed comb-shaped frame (3);

the lifting frame (24) extracts articles from the fixed comb-shaped frame (3) and lifts the articles to a top position, the lifting frame (24) moves to the carrying channel along with the longitudinal moving frame (22), and then moves transversely along with the carrier (2) along the carrying channel.

4. The comb-exchange-based vertically and horizontally translated article storage and retrieval device according to claim 3, wherein:

the base track comprises a front base side track (141) and a base bottom track (142) located at the bottom of the conveying channel and at the rear,

a traverse frame end wheel (214) at the front part of the traverse frame (21) moves along the base frame side rail (141) near the front,

a sideslip frame side leg (219) is arranged at the lower back of the middle part of a sideslip frame side beam (211) of the sideslip frame (21), a sideslip frame bottom wheel (215) is arranged at the bottom of the sideslip frame side leg (219), and the sideslip frame bottom wheel (215) moves along a base frame bottom track (142);

a lifting well is arranged at the rear side of the carrying channel, an inlet lifting comb-shaped frame (4) capable of lifting along the guide post is arranged in the lifting well, and the guide post (15) of the inlet lifting comb-shaped frame is positioned at the rear side of the lifting well.

5. The comb-interchange-based vertically and horizontally translating article accessing device according to claim 3, wherein:

the pedestal rail comprises a pedestal bottom rail (142) at the bottom of the transfer channel,

the base frame (1) comprises a base frame top guide rail (143) positioned at the overhead top of the base frame bottom rail (142)

The carrier (2) runs between a pedestal top rail (143) and a pedestal bottom rail (142);

a sideslip frame side leg (219) is arranged below the middle part of a sideslip frame side beam (211) of the sideslip frame (21), a sideslip frame bottom wheel (215) is arranged at the bottom of the sideslip frame side leg (219), and the sideslip frame bottom wheel (215) moves along a base frame bottom rail (142);

the upper part of the traverse frame (21) is provided with a traverse frame top guide wheel (216) which is guided by a base frame top guide rail (143),

a lifting shaft is arranged near the rear side of the carrying channel, an inlet lifting comb-shaped frame (4) capable of lifting along the guide post is arranged in the lifting shaft, and the guide post (15) of the inlet lifting comb-shaped frame is positioned at the rear side of the lifting shaft.