CN114074818A - Protection device for three-dimensional storehouse is used - Google Patents
Protection device for three-dimensional storehouse is used Download PDFInfo
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- CN114074818A CN114074818A CN202111197623.9A CN202111197623A CN114074818A CN 114074818 A CN114074818 A CN 114074818A CN 202111197623 A CN202111197623 A CN 202111197623A CN 114074818 A CN114074818 A CN 114074818A
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- guide rail
- plate
- deformation
- butt joint
- side plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention relates to the technical field of logistics equipment, in particular to a protection device for a three-dimensional warehouse, which comprises a stacker bearing platform, wherein the stacker bearing platform comprises a left side plate, a right side plate and a bottom side plate connected between the bottoms of the left side plate and the right side plate, a left guide rail assembly is arranged on the right side part of the left side plate, a right guide rail assembly is arranged on the left side part of the right side plate, a front butt joint guide rail plate which can be vertically blocked at the front side of the stacker bearing platform and can be overturned to the front upper side to the horizontal position and is arranged at the front side of the left guide rail assembly and the right guide rail assembly and used for a three-dimensional warehouse carrying robot to move forwards is arranged between the left side plate and the right side plate, a rear butt joint guide rail plate which can be vertically blocked at the rear side of the stacker bearing platform and can be backwards overturned to the horizontal position and is arranged at the rear side of the left guide rail assembly and the right guide rail assembly and used for the three-dimensional warehouse carrying robot to move backwards is arranged between the left side plate and the right side plate, the applicability is better.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a protection device for a three-dimensional warehouse.
Background
The existing logistics industry is developed rapidly, particularly, some goods are carried and planted by carrying machines and the like, and can be frequently used in stereoscopic warehouses such as large stereoscopic goods shelves, for the stereoscopic warehouse of the goods, the carrying robot needs to be lifted up and down to assist the stacker of the carrying robot to work, and the existing stacker can keep a certain distance from the goods shelves in order to prevent the stacker from touching the goods shelves in the lifting process. However, such a distance is often not advantageous for the robot to walk because the wheels on which the robot walks may shake at such a distance and may even get too large and the wheels may get stuck. In order to overcome the defects, a plurality of new designed stacker structures exist.
For example, chinese patent application No. 201520083008.9 discloses a stacker, which includes a guide rail, a traveling mechanism, a support, a rack, and a lifting mechanism. The walking mechanism comprises a box body, a walking motor, walking wheels, at least two guide wheels and a rotary bearing, wherein the walking motor is arranged on the box body, the walking wheels are connected with the walking motor, the walking wheels are arranged on the guide rails in a rolling mode, the guide wheels are arranged on the box body in a rotating mode, the at least two guide wheels are arranged on two sides of the guide rails in a rolling mode respectively, and the rotary bearing is arranged on the box body. The support comprises a lower cross beam, an upright post and a lower cross beam, wherein the two ends of the upright post are respectively connected with the lower cross beam and the upper cross beam, and the lower cross beam is connected with the slewing bearing. The rack is arranged on the upright post. The lifting mechanism comprises an objective table, a lifting motor and a gear, wherein the lifting motor is arranged on the objective table and is connected with the gear, and the gear is meshed with the rack. In the use, the objective table all needs to keep certain spacing distance with goods shelves, but on the objective table be through under the condition of carrying cargo robot shipment, the robot just needs to walk to goods shelves department, so, the horizontal interval of objective table with goods shelves needs to be than littleer, in order to make things convenient for the robot to walk to goods shelves from the objective table, but under this condition because there is the interval all the time and can let the robot produce jolting easily and make the security reduce, so can increase horizontal size in the design of objective table, the stationarity of stacker can be slightly poor like this, rock easily and fall the goods, the size comparison of use is more flexible, the suitability is not good enough.
Still disclose a light-load list stand stacker as application number is 202010526937.8, including running gear, elevating system, carry cargo bed, guide rail, fork mechanism and cushion socket, the intermediate position at running gear top and elevating system's bottom fixed connection, carry cargo bed movable mounting on elevating system, guide rail fixed mounting is on elevating system, fork mechanism fixed mounting is on carrying cargo bed, cushion socket fixed mounting is at running gear's top, elevating system includes stand, elevator motor, synchronizing wheel and hold-in range, elevator motor fixed mounting is at elevating system's top, elevator motor is located the right side of stand. The same problem exists, and especially for occasions with higher walking requirements of the robot or occasions with higher safety requirements, a mechanism which is good enough for the robot to walk is needed. The falling of cargo would otherwise be very disadvantageous both in terms of personnel safety and in terms of protection of the equipment.
Disclosure of Invention
The invention aims to provide a protective device for a three-dimensional garage, which has better applicability.
The technical purpose of the invention is realized by the following technical scheme: the utility model provides a protector that three-dimensional storehouse was used, includes the stacker plummer, the stacker plummer include left side board, right side board and the bottom side board that is connected between left side board and the right side board bottom, install the left guide rail assembly that walks around the left side wheel part that supplies three-dimensional storehouse transfer robot on the right side position of left side board, install the right guide rail assembly that walks around the right side wheel part that supplies three-dimensional storehouse transfer robot on the left side position of right side board, left side board with install between the right side board and can be upright form and block and be in behind stacker plummer front side and can overturn to the level to the front top left guide rail assembly with the preceding butt joint guide rail board that supplies three-dimensional storehouse transfer robot to advance of right guide rail assembly front side, left side board with still install between the right side board and can be upright form and block and can overturn to the level behind the stacker plummer rear side and be in left guide rail assembly with right guide rail assembly behind the right guide rail assembly And the side rear butt joint guide rail plate is used for the three-dimensional warehouse carrying robot to move backwards.
Preferably, a front shaft which can rotate and horizontally extends left and right is erected between the left side plate and the right side plate, the front shaft is positioned at the front side of the left guide rail assembly and the right guide rail assembly, the front butt guide rail plate is arranged on the front shaft in a penetrating manner, and a front overturning mechanism which can rotate the front butt guide rail plate is connected between the front butt guide rail plate and the bottom side plate.
Preferably, the front tilting mechanism comprises a front pneumatic cylinder, a piston rod of the front pneumatic cylinder is hinged with the front butt joint guide rail plate, and a cylinder body of the front pneumatic cylinder is hinged with the bottom side plate.
Preferably, a rear shaft which can rotate and horizontally extends left and right is erected between the left side plate and the right side plate, the rear shaft is positioned at the rear side of the left guide rail assembly and the right guide rail assembly, the rear butt guide rail plate is arranged on the rear shaft in a penetrating manner, and a rear overturning mechanism which can rotate the rear butt guide rail plate is connected between the rear butt guide rail plate and the bottom side plate.
Preferably, the rear tilting mechanism comprises a rear pneumatic cylinder, a piston rod of the rear pneumatic cylinder is hinged with the rear butt joint guide rail plate, and a cylinder body of the rear pneumatic cylinder is hinged with the bottom side plate.
Preferably, the left guide rail assembly has a left deformation portion which can be depressed to form a portion for allowing a left wheel portion of the three-dimensional warehouse transfer robot to be downwardly inserted to lower a center of gravity of the three-dimensional warehouse transfer robot and to be raised for the three-dimensional warehouse transfer robot to travel, the right guide rail assembly has a right deformation portion which can be depressed to form a portion for allowing a right wheel portion of the three-dimensional warehouse transfer robot to be downwardly inserted to lower a center of gravity of the three-dimensional warehouse transfer robot and to be raised for the three-dimensional warehouse transfer robot to travel, the left guide rail assembly includes a front left fixed guide rail and a rear left fixed guide rail which are installed on a right side plate surface of the left side plate and are spaced apart from each other in a front-to-back direction, and a left deformation guide rail which is movable relative to the front left fixed guide rail and the rear fixed guide rail, and a section of the left deformation guide rail erected on the front left fixed guide rail and the rear fixed rail is the left deformation portion, the left front fixed guide rail and the left rear fixed guide rail form a left space between the front and the rear and supply the left deformation part to sink and rise, the right guide rail assembly comprises a front right fixed guide rail and a rear right fixed guide rail which are arranged on the left side plate surface of the right side plate and are distributed at intervals in the front and the rear, and a right deformation guide rail which can move between the front right fixed guide rail and the rear right fixed guide rail, wherein one section of the right deformation guide rail is erected on the front right fixed guide rail and the rear right fixed guide rail and falls into the right deformation part, and a right space is formed between the front right fixed guide rail and the rear right fixed guide rail and supplies the right deformation part to sink and rise.
Preferably, the part of the left deformation guide rail on the front side of the left deformation part is provided with a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the left deformation guide rail on the rear side of the left deformation part is also provided with a horizontal section extending backwards and a vertical section formed by bending the rear end of the horizontal section downwards, the vertical sections on the front side and the rear side of the left deformation guide rail are respectively connected with a left following traction device arranged on the stacker carrier, the part of the right deformation guide rail on the front side of the right deformation part is also provided with a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the right deformation guide rail on the rear side of the right deformation part is also provided with a horizontal section extending backwards and a vertical section formed by bending the rear end of the horizontal section downwards, the vertical sections on the front side and the rear side of the right deformation guide rail are respectively connected with a right following traction device arranged on a stacker bearing platform.
Preferably, a front left extrusion roller capable of abutting against the front side surface of the vertical section on the front side of the left deformation guide rail is installed at the end part of the horizontal section on the front side of the front left deformation guide rail of the front butt joint guide rail plate, a front right extrusion roller capable of abutting against the front side surface of the vertical section on the front side of the right deformation guide rail is installed at the end part of the horizontal section on the front side of the right deformation guide rail of the front butt joint guide rail plate, a rear left extrusion roller capable of abutting against the rear side surface of the vertical section on the rear side of the left deformation guide rail is installed at the end part of the horizontal section on the rear side of the left deformation guide rail of the rear butt joint guide rail plate, and a rear right extrusion roller capable of abutting against the rear side surface of the vertical section on the rear side of the right deformation guide rail is installed at the end part of the horizontal section on the rear side of the right deformation guide rail of the rear joint guide rail of the rear butt joint guide rail plate.
Preferably, the front butt-joint guide rail plate comprises a front rubber plate for the three-dimensional warehouse transfer robot to contact and walk and a front steel reinforcing plate attached and fixed to the front rubber plate, and the rear butt-joint guide rail plate comprises a rear rubber plate for the three-dimensional warehouse transfer robot to contact and walk and a rear steel reinforcing plate attached and fixed to the rear rubber plate.
Preferably, the end of the piston rod of the front pneumatic cylinder is connected with a front hinge seat, the front hinge seat is detachably connected with the front steel reinforcing plate, the end of the piston rod of the rear pneumatic cylinder is connected with a rear hinge seat, and the rear hinge seat is detachably connected with the rear steel reinforcing plate.
The invention has the beneficial effects that: the stacker can carry the robot better at the oscilaltion in-process, has better protection to the robot on the stacker, and after having arrived appointed goods shelves position, can compensate the interval between stacker and the goods shelves through butt joint guide rail plate before expanding and butt joint guide rail plate after to make the robot walk steadily between stacker and goods shelves, prevent that the goods from falling and causing the potential safety hazard.
Can carry out the dismouting according to on-the-spot operating mode, the suitability is also better.
The protection nature is better, and noise reduction damping all has further promotion to equipment to the security of goods to personnel.
Drawings
Fig. 1 is a schematic perspective view of a carrier robot of embodiment 1 when the carrier robot is not parked;
FIG. 2 is a schematic perspective view of FIG. 1 from another perspective;
FIG. 3 is an elevation view of the right portion of the steel structure of FIG. 1 during deformation of the rail;
fig. 4 is a perspective view of the carrier robot of fig. 1 parked therein;
FIG. 5 is a schematic perspective view of the structure of FIG. 4 with a portion of the structure to the left removed;
FIG. 6 is a schematic view of a left front fixed rail, a left rigid chain and a left deformable rail, wherein a certain section of the left front fixed rail, the left rigid chain and the left deformable rail is vertically separated;
FIG. 7 is a perspective view of the assembled separate structures of FIG. 6;
FIG. 8 is a schematic perspective view of the left rigid chain of FIG. 6 after optimization;
FIG. 9 is a perspective view of the guard of embodiment 2, showing a left side plate 11 with front and rear side portions removed and being lifted and lowered;
FIG. 10 is an enlarged view taken at I in FIG. 9;
FIG. 11 is a perspective view of FIG. 9 from another perspective;
fig. 12 is a schematic perspective view of the front docking guide rail plate and the rear docking guide rail plate in the structure of fig. 9 when the front docking guide rail plate and the rear docking guide rail plate are flattened and then the robot travels.
Detailed Description
The following specific examples are given by way of illustration only and not by way of limitation, and it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made in the examples without inventive faculty, and yet still be protected by the scope of the claims.
a safety protection mechanism for a handling robot in a three-dimensional warehouse comprises a stacker bearing platform 1, wherein the stacker bearing platform 1 comprises a left side plate 11, a right side plate 12 and a bottom side plate 13 connected between the bottoms of the left side plate 11 and the right side plate 12, the conventional stacker bearing platform 1 is of a U-shaped structure, a handling robot is parked in an area surrounded by the U-shaped structure, on one hand, the existing stacker does not well limit the robot, on the other hand, the robot is not effectively protected in the operation process of the stacker so as to cause safety accidents such as falling of goods and hitting of people or equipment, and particularly for the three-dimensional warehouse, the height is higher, so that the transportation efficiency is too high, the goods are dangerous in case of falling, but if only complete attention is paid, few goods are placed by each handling robot, and thus the transportation cost is too high, therefore, a left guide rail assembly for the left wheel part of the three-dimensional garage transfer robot j to travel back and forth is installed on the right side part of the left side plate 11, a right guide rail assembly for the right wheel part of the three-dimensional garage transfer robot to travel back and forth is installed on the left side part of the right side plate 12, the left guide rail assembly has a left deformed part a0 which can be depressed to form a state that the left wheel part of the three-dimensional garage transfer robot j can be placed downwards to lower the gravity center of the three-dimensional garage transfer robot j and can be lifted to travel by the three-dimensional garage transfer robot j, and the right guide rail assembly has a right deformed part b0 which can be depressed to form a state that the right wheel part of the three-dimensional garage transfer robot j can be placed downwards to lower the gravity center of the three-dimensional garage transfer robot j and can be lifted to travel by the three-dimensional garage transfer robot j. The design point of the left deformation part a0 and the right deformation part b0 is that they are downwards collapsed to form a U-shaped surrounding structure with an upward opening, firstly, the structure can enable the height of the three-dimensional warehouse carrying robot j on a guide rail to be lowered originally, the gravity center can sink, stability can be greatly improved, secondly, the wrapped structure can provide excellent peripheral limit for the three-dimensional warehouse carrying robot j, good protection is provided for the goods on the three-dimensional warehouse carrying robot j and the three-dimensional warehouse carrying robot j, the collapsed state is adopted in the process of lifting and descending of the stacker, but after the stacker reaches a specified shelf height position, the left deformation part a0 and the right deformation part b0 are required to be restored to a horizontal straight position for the three-dimensional warehouse carrying robot j to walk.
Preferably, the left guide rail assembly comprises a front left fixed guide rail a1 and a rear left fixed guide rail a2 which are installed on the right side plate surface of the left side plate 11 and are distributed at intervals in the front-rear direction, and a left deformed guide rail x which is movable relative to the front left fixed guide rail a1 and the rear left fixed guide rail a2, wherein a section of the left deformed guide rail x which is erected on the front left fixed guide rail a1 and the rear left fixed guide rail a2 is the left deformed portion a0, a front left space a12 is formed between the front left fixed guide rail a1 and the rear left fixed guide rail a2 in the front-rear direction and is used for the left deformed portion a0 to sink and rise, the right guide rail assembly comprises a front right fixed guide rail b1 and a rear right fixed guide rail b2 which are installed on the left side plate surface of the right side plate 12 and a deformed guide rail y which is movable relative to the front fixed guide rail b1 and the rear right fixed guide rail b2, one section of the right deformable guide rail y is erected on the right front fixed guide rail b1 and the right rear fixed guide rail b2 and falls into a right deformable part b0, and a right spacing space b12 is formed between the right front fixed guide rail b1 and the right rear fixed guide rail b2 in the front-rear direction, so that the right deformable part b0 can sink and rise. This provides a basic frame structure, the left front fixed rail a1 and the left rear fixed rail a2 can adopt a rigid rail made of steel as a main fixed supporting part, and preferably adopt rails made of steel, and should preferably adopt a non-deformable integrated structure, or other non-deformable stable structural style, at least the section of the left front fixed rail a1 and the left rear fixed rail a2 for the robot to walk is a rigid linear integrated structure, and for the robot to support and walk, and the right front fixed rail b1 and the right rear fixed rail b2 should also adopt the rail structure design of the left side. In this framework, the left deformation guide rail x and the right deformation guide rail y are preferably rubber guide rails, which not only have good support property, but also can reduce vibration and noise, and what is more important is that the rubber guide rails have certain flexibility to provide deformation capability, and can complete sinking and rising actions.
Preferably, the back pad of the left deformation guide rail x is provided with a left rigid chain m, the back pad of the right deformation guide rail y is provided with a right rigid chain n, the upper limit of the single rubber guide rail is limited when bearing heavy weight, the rigid chain refers to that the chain is made of steel bar materials such as steel or hard plastics, and the like, namely, each chain link should be rigid, but the chain links are hinged and movable, and the chain links can be deformed due to the movement between the chain links, so that the rigid chain not only can play a better role in supporting, but also can be deformed and turned, so that the deformation of the deformation guide rail can be matched, the left deformation guide rail x and the left rigid chain m can be connected up and down, the right deformation guide rail y and the right rigid chain n can be connected up and down, and the connection mode is, for example, the left deformation guide rail x is directly bonded on the upper side 4 of the chain link of the left rigid chain link, of course, the left deformed guide rail x and the link plate 4 of the left rigid chain m can be connected through the existing connecting structure 5 such as a clip or a pin shaft, the connecting positions are spaced, the deformation capacity of the left deformed guide rail x and the right rigid chain m is not affected too much, and the right deformed guide rail y and the right rigid chain n are connected by referring to the structure on the left side. Briefly, the left deformable guide rail x and the right deformable guide rail y are provided on their sides with a lining layer made of hard material and capable of following the deformation thereof, and by the addition of this lining layer, the left deformable guide rail x is supported on the left front fixed guide rail a1 and the left rear fixed guide rail a2 by a left rigid chain m, which is sandwiched between the left deformable guide rail x and the left front fixed guide rail a1 and the left rear fixed guide rail a2, and the corresponding right rigid chain n is sandwiched between the right deformable guide rail y and the right front fixed guide rail b1 and the right rear fixed guide rail b2, it can be understood that the structure of the chain is selected, and that the chain has excellent movability because the chain is provided with rollers 7 on its links and can be supported and moved very well on the guide rails, and for example on the left side, the left front fixed guide rail a1 and the left rear fixed guide rail a2 can be formed with protruding guide rail portions 6, the left and right sides of the guide rail part 6 are all hollow steps, which just allows the lower parts of the left and right side chain plates 4 of the left rigid chain m to be placed in and respectively limited at the left and right sides, the roller of the left rigid chain m is just supported on the convex guide rail part 6, the left and right sides are limited by the chain plates and enable the chain to move back and forth very well through the rolling of the roller, the left deformation guide rail x is supported at the upper side part of the chain plates and cannot influence the roller, as the roller is lower than the upper side part of the chain plates, of course, the left deformation guide rail x is a flexible material which can be clamped between the left and right chain plates and extruded to the roller, the main body of the left rigid chain m can adopt the existing roller chain structure, namely, the left and right chain plates are arranged at the left and right of each chain link, the left and right chain plates are connected through a pin shaft and sleeved with the roller on the pin shaft, and the outer chain plates between the adjacent chain plates are simultaneously connected on the pin shaft so that the two chain links are hinged, it is not described in detail here, because the specific chain is designed in different details, and this embodiment only needs to use these basic structures, and for better use, the main body of the left rigid chain m is further modified, namely, on the basis of the existing chain structure, for example, a protective backing plate 8 which is positioned above the roller and is used for contacting and supporting the lower side of the left deformation guide rail x can be fixedly welded between the upper sides of the left and right side link plates of a single chain link of the left rigid chain m, a flat part 81 is arranged in the middle of the protective backing plate 8, and a round corner transition part 82 in the shape of a circular arc is formed at the front and rear ends of the flat part 81, in this way, the abrasion on the left deformation guide rail x is reduced during deformation, the right rigid chain n adopts the same chain structure design as the left rigid chain m, and the right front fixed guide rail b1 and the right rear fixed guide rail b2 adopt the same structure design as the left front fixed guide rail a1 and the left rear fixed guide rail a 2. Like this, left side warp guide rail x also can directly be connected with protection backing plate 8, through modes such as current bolt, round pin axle, bonding, can not be connected on the link joint, and the effect of connecting can be better. Of course, the protective backing plate 8 may be fixed to the chain by the above welding method using a steel plate, or may be fixed to the chain by other existing methods using a plastic plate, which has a weak supporting strength for the deformed guide rail, but has a better protective effect for the structure when the corners and other parts are deformed greatly, both of which are better preferred methods.
Further, the stacker carrier 1 is provided with a left middle lifting support rail a3 which is positioned between the left front fixed rail a1 and the left rear fixed rail a2 and can carry and pull the left deformation portion a0 to descend and ascend, and the stacker carrier 1 is provided with a right middle lifting support rail b3 which is positioned between the right front fixed rail b1 and the right rear fixed rail b2 and can carry and pull the right deformation portion b0 to descend and ascend. The left middle lifting support rail a3 and the right middle lifting support rail b3 can be made of steel and extend forwards and backwards to form a rail structure, the upper surfaces of the left middle lifting support rail a3 and the right middle lifting support rail b3 can be connected with the back surface part, namely the lower side surface part, of the left deformed part a0 and the right deformed part b0 respectively, the left middle lifting support rail a3 and the right middle lifting support rail b3 mainly provide lifting deformation power and are used for better bearing in the operation process of the transfer robot. The left and right middle elevation support rails a3 and b3 may be driven by an elevation structure s such as a pneumatic cylinder or a motor connected thereto. Of course, on the basis of the structure with the cushion layer, for example, in the case that there is a left rigid chain m on the lower side of the left deformation guide rail x, the part of the left rigid chain m on the lower side of the left deformation portion a0 is directly connected with the left middle lifting support guide rail a3, the chain plate of the left rigid chain m can be connected with the left middle lifting support guide rail a3 and the like by the fixing means of welding, binding and the like, so that the lifting structure s firstly lifts the left middle lifting support guide rail a3, and then the left middle lifting support guide rail a3 pulls the left rigid chain m to lift and lower the left deformation portion a0 to complete deformation, of course, if there is no left rigid chain m, the left middle lifting support guide rail a3 can also directly connect the left deformation portion a0 to pull the middle portion, and it should be noted that the left deformation portion a0 lifts and lowers, the middle part of the lifting support rail a is not deformed too much, because the left middle lifting support rail a3 is in a flat state, and the middle part is connected with the left middle lifting support rail a3, the part at least lifts up and down to generate a deformation power source, and the deformed part is a section at the front side and the rear side of the middle part, and is deformed along with the lifting of the middle part of the left deformed part a0, so that a U-shaped surrounding groove structure is formed by sinking, and the part is lifted and flattened. The left middle lifting support guide rail a3 is made of steel, and can be connected with a lifting rod of a lifting structure s such as an air cylinder and the like to complete lifting and supporting operations. The structure of the connection of the right middle elevating support rail b3 and the right deforming part b0 and the structure of the elevating realization of the right middle elevating support rail b3 itself can be designed with reference to the left side and preferably designed as a mirror image of the left side structure.
Of course, the driving effect of the single left middle lifting support rail a3 and right middle lifting support rail b3 is not very good, because there is no control on the two sides of the rail assembly in the process of returning from sinking to rising, which will make the two sides return to the original position and present a certain obstacle, so the design is made that the stacker plummer 1 is installed with a left following pulling device for pulling the front and back end parts of the left deformed rail x and making the left deformed rail x always in a tensioned state, the left following pulling device pulls the left deformed rail x to keep the tensioned state of the left deformed rail x following the lifting action of the left middle lifting support rail a3, the left following pulling device can adopt electric rollers, if there is a rigid chain lining, it can be realized by the construction of chain wheel matching with the motor, of course, on a small stacker, the traction driving structure q such as the electric roller, the motor or the air cylinder can be controlled by the existing automatic control equipment and is matched with the lifting structure s to lift and operate, so that the deformed guide rail is always in a tensioning state, for example, when the lifting structure s descends, the traction driving structure q needs to relax the deformed guide rail, and when the lifting structure s ascends, the traction driving structure q tightens the deformed guide rail. Correspondingly, the stacker plummer 1 is provided with a right following traction device which is used for drawing the front end part and the rear end part of the right deformed guide rail y and enabling the right deformed guide rail y to be always in a tensioning state, and the design of the right following traction device can adopt the design of a left following traction device.
Further preferably, the rear end portion of the left front fixed rail a1 is hinged to a left front guide rail a11, the front end portion of the left rear fixed rail a2 is hinged to a left rear guide rail a21, the left front guide rail a11 and the left rear guide rail a21 are respectively located on the front side and the rear side of the left middle lifting support rail a3, on one hand, the length of the middle portion is increased, so that the remaining amount of the stop position of the robot is larger, on the other hand, the robot has an initial guiding and limiting effect in the process of sinking, the sinking shape is closer to an inverted isosceles trapezoid structure, and the better wrapping effect is achieved. The guide rails described above may be made of steel. Likewise, a rear end portion of the right front fixed rail b1 is hinged to a right front guide rail b11, a front end portion of the right rear fixed rail b2 is hinged to a right rear guide rail b21, and the right front guide rail b11 and the right rear guide rail b21 are respectively provided on front and rear sides of the right middle elevation support rail b 3. The hinge structure can be an existing hinge connection structure.
In the above preferred embodiment, the improvement is further: a first elastic buffer supporting means t1 for preventing the left front guide rail a11 from falling down from the horizontal state is connected, a second elastic buffer supporting means t2 for preventing the left rear guide rail a21 from falling down from the horizontal state is connected, a third elastic buffer supporting means t3 for preventing the right front guide rail b11 from falling down from the horizontal state is connected, a fourth elastic buffer supporting means t4 for preventing the right rear guide rail b21 from falling down in a horizontal state is connected, the four elastic buffer supporting devices aim to ensure that the robot has upward buffer support in the sinking process, prevent potential safety hazard and mechanical damage caused by rapid sinking, these resilient cushioned support means may employ existing dampers, but their damping capacity is insufficient to impact the tensile driving force of the sag, which eventually requires a sag.
Preferably, a left front extension lifting plate a31 which extends forwards and can abut against the left front guide rail a11 is fixed at the bottom of the left middle lifting support rail a3, and a left rear extension lifting plate a32 which extends backwards and can abut against the left rear guide rail a21 upwards is fixed at the bottom of the left lifting support rail a 3;
a right front extension lifting plate b31 extending forwards and capable of abutting against the right front guide rail b11 is fixed to the bottom of the right middle lifting support rail b3, and a right rear extension lifting plate b32 extending backwards and capable of abutting against the right rear guide rail b21 is fixed to the bottom of the right middle lifting support rail b 3.
Because the lifting mechanism s provides enough upward supporting force and has enough supporting force for the robot to support and walk by means of the extending plate after the deformed guide rail rises and returns to the horizontal state under the condition that the extending plate exists, the damping force of the damper does not need to be set too large correspondingly, and the action of the sinking protection state cannot be influenced.
The design idea of the whole structure is clear, namely that the deformed guide rails are deformed and sunken downwards in the lifting or traversing process of the stacker, so that the carrying transfer robot is covered in the enclosing structure formed by the guide rails, and when the carrying transfer robot needs to carry, the guide rails are deformed and restored to a straight state.
The protection device of the embodiment comprises a stacker bearing platform 1, wherein the stacker bearing platform 1 comprises a left side plate 11, a right side plate 12 and a bottom side plate 13 connected between the bottoms of the left side plate 11 and the right side plate 12, a left guide rail assembly for a left wheel part of a three-dimensional warehouse carrying robot j to walk front and back is installed on the right side part of the left side plate 11, a right guide rail assembly for a right wheel part of the three-dimensional warehouse carrying robot to walk front and back is installed on the left side part of the right side plate 12, a front butt joint guide rail plate d1 which can be vertically blocked at the front side of the stacker bearing platform 1 and can be turned over to the front upper side to the horizontal position at the front side of the left guide rail assembly and the right guide rail assembly for the three-dimensional warehouse carrying robot j to move forward is installed between the left side plate 11 and the right side plate 12, the front butt joint guide rail plate d1 is blocked at the front side of the stacker bearing platform 1 in a vertical state in the process of lifting, the front butt joint guide rail plate d1 is used for protecting the internal structure of the stacker and preventing some internal structural components from falling out of the stacker, when the stacker runs to a shelf position with a specified height, the front butt joint guide rail plate d1 is turned over to be in a horizontal state like the front upper part and is in butt joint with the front and back of the left guide rail assembly to form a rail supporting structure for the robot to walk, the distance between the shelf and the stacker is also compensated after the front butt joint guide rail plate d1 is turned over, no distance or extremely small distance is ensured to the greatest extent, so the size of the front butt joint guide rail plate d1 is suitable for the distance between the shelf and the stacker under the actual condition, and the front butt joint guide rail plate d1 is matched with the shelf on the front side. Similarly, a rear butt joint guide rail plate d2 which can be vertically blocked at the rear side of the stacker bearing platform 1 and can be turned backwards to be horizontal and then is positioned at the rear side of the left guide rail assembly and the right guide rail assembly and used for the three-dimensional warehouse carrying robot j to move backwards is further arranged between the left side plate 11 and the right side plate 12, the rear butt joint guide rail plate d2 corresponds to a rear goods shelf, and the structure refers to the design of the front side. Therefore, the front side and the rear side of the stacker can both have better protection effect.
Preferably, a front shaft d11 which can be used for rotating a front butt joint guide rail plate d1 and is horizontally extended leftwards and rightwards is erected between the left side plate 11 and the right side plate 12, the front shaft d11 is located at the front side of the left guide rail assembly and the right guide rail assembly, the front butt joint guide rail plate d1 is arranged on the front shaft d11 in a penetrating mode, and a front overturning mechanism which is used for rotating the front butt joint guide rail plate d1 is connected between the front butt joint guide rail plate d1 and the bottom side plate 13. The front axle can be installed between the left side plate 11 and the right side plate 12 in the existing detachable mode, so that the front axle is convenient to disassemble and assemble. Preceding butt joint guide rail board d1 has been seted up the shaft hole and has been worn to establish on front axle d11, just can overturn, the structure of current block type can be adopted at preceding butt joint guide rail board d 1's shaft hole position, can be on front axle d11 dismantled and assembled structural design, perhaps other current dismantled and assembled structures are installed in the front axle, butt joint guide rail board d1 is changed before convenient like this, come not to cooperate different operating modes to use, and preceding butt joint guide rail board d1 itself also can adopt a plurality of boards to dismantle the concatenation and form, can need the size of adjustment plate more like this. Further, the front overturning mechanism comprises a front pneumatic cylinder e1, a piston rod of the front pneumatic cylinder e1 is hinged with the front butt guide rail plate d1, and a cylinder body of the front pneumatic cylinder e1 is hinged with the bottom side plate 13. The end of the piston rod outside the front pneumatic cylinder e1 is hinged to the front butt rail plate d 1. This allows the front docking rail plate d1 to be changed in vertical and horizontal positions. When the stacker is lifted, the front butt joint guide rail plate d1 is vertically hung on the front shaft d11, and once the robot needs to walk, the driving piston rod of the front pneumatic cylinder e1 extends to enable the front butt joint guide rail plate d1 to turn over around the front shaft to the front upper side to be horizontal.
Similarly, left side board 11 with erect between the right side board 12 and supply back butt joint guide rail board d2 to rotate and be about extending the rear axle d21 of level form, rear axle d21 is located left side guide rail assembly with right side guide rail assembly rear side, back butt joint guide rail board d2 wears to establish on the rear axle d21, back butt joint guide rail board d2 with be connected with between the bottom plate 13 and supply back butt joint guide rail board d2 pivoted back tilting mechanism. The rear overturning mechanism comprises a rear pneumatic cylinder e2, a piston rod of the rear pneumatic cylinder e2 is hinged with the rear butt joint guide rail plate d2, and a cylinder body of the rear pneumatic cylinder e2 is hinged with the bottom side plate 13. The structure of the rear side is designed with reference to the structure of the front side.
Further, the left guide rail assembly has a left deforming part a0 which can be sunk to form a left wheel part for the three-dimensional garage transfer robot j to be put downwards to lower the gravity center of the three-dimensional garage transfer robot j and to be lifted for the three-dimensional garage transfer robot j to walk, the right guide rail assembly has a right deforming part b0 which can be sunk to form a right wheel part for the three-dimensional garage transfer robot j to be put downwards to lower the gravity center of the three-dimensional garage transfer robot j and to be lifted for the three-dimensional garage transfer robot j to walk, the left guide rail assembly comprises a front left fixed guide rail a1 and a rear fixed guide rail a2 which are arranged on the right side plate surface of the left side plate 11 and are distributed at intervals in the front-back direction, and a deforming guide rail x which can move relative to the front fixed guide rail a1 and the rear fixed guide rail a2, wherein a section of the left deforming guide rail x is erected on the front fixed guide rail a1 and the rear fixed guide rail a2 to be the left deforming part a0, a left side spacing space a12 is formed between the left front fixed guide rail a1 and the left rear fixed guide rail a2 in the front and rear direction and is used for the left deformation portion a0 to sink and rise, the right guide rail assembly comprises a right front fixed guide rail b1 and a right rear fixed guide rail b2 which are installed on the left side plate surface of the right side plate 12 and are distributed in the front and rear direction at intervals, and a right deformation guide rail y which can move relative to the right front fixed guide rail b1 and the right rear fixed guide rail b2, a section of the right deformation guide rail y erected on the right front fixed guide rail b1 and the right rear fixed guide rail b2 falls into a right deformation portion b0, and a right side spacing space b12 is formed between the right front fixed guide rail b1 and the right rear fixed guide rail b2 in the front and rear direction and is used for the right deformation portion b0 to sink and rise. The structure belongs to the internal structure of the stacker, and the specific structure of embodiment 1 can be directly adopted, which is not described herein again.
Preferably, the part of the left deformation guide rail x in front of the left deformation part a0 has a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the left deformation guide rail x in back of the left deformation part a0 also has a horizontal section extending backwards and a vertical section formed by bending the back end of the horizontal section downwards, the vertical sections in front of and behind the left deformation guide rail x are respectively connected with left-side following pulling devices mounted on the stacker carrier platform 1, the part of the right deformation guide rail y in front of the right deformation part b0 also has a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the right deformation guide rail y in back of the right deformation part b0 also has a horizontal section extending backwards and a vertical section formed by bending the back end of the horizontal section downwards, the vertical sections on the front side and the rear side of the right deformation guide rail y are respectively connected with a right following traction device arranged on the stacker bearing platform 1. This partial structure also follows the structure in embodiment 1.
Further, a left front squeeze roller g1 which can abut against the front side surface of the vertical section at the front side of the left deformation guide rail x is installed at the end of the horizontal section at the front side of the front butt guide rail d1, the left front squeeze roller g1 is at the position which is at the upper end when the front butt guide rail d1 is in the vertical state, the left front squeeze roller g1 is axially in the left-right direction and is preferably a rubber roller, further, the left front squeeze roller g1 is preferably at the position which is at the rear when the front butt guide rail d1 is in the vertical state, and the roller mounting seat g0 is preferably installed and connected to the front butt guide rail d1 and is installed by an elastic or damping type damping device gg which can adopt the existing configuration such as a spring assembly or a gas spring rod, etc., the roller mounting seat g0 is installed by a damping device gg, a buffer device gg is connected between the front butt joint guide rail plate d1 and the roller mounting seat g0, for example, a base body of a damping rod is fixed with the front butt joint guide rail plate d1, a telescopic rod of the damping rod is connected with the roller mounting seat g0, when the left front extrusion roller g1 is in a vertical storage state, the left front extrusion roller g1 is preferably higher than the left front extrusion roller g1, the buffer direction of the buffer device gg is upward, when the left front extrusion roller g1 rotates forwards and upwards, the left front extrusion roller g1 acts backwards and downwards and abuts against the front side surface of a vertical section at the front side of the left deformation guide rail x, due to the buffer device gg, the left front extrusion roller g1 can further improve the front side tensioning effect of the left deformation guide rail x and simultaneously improve the stability of the left front extrusion roller g1, of course, after the left front extrusion roller g1 rotates, the upper part of the rear end part in a vertical state is close to the front section of the left deformation guide rail x in normal times, the clearance between the two is reduced, so that the robot can safely travel. Similarly, preceding butt joint guide rail board d1 leans on the end of the horizontal paragraph of right side deformation guide rail y front side is installed and is leaned on right front extrusion roller g2 on the front surface of the vertical paragraph of right side deformation guide rail y front side, back butt joint guide rail board d2 leans on the end of the horizontal paragraph of left side deformation guide rail x rear side is installed and is leaned on left back extrusion roller g3 on the rear surface of the vertical paragraph of left side deformation guide rail x rear side, back butt joint guide rail board d2 leans on the end of the horizontal paragraph of right side deformation guide rail y rear side is installed and is leaned on right back extrusion roller g4 on the rear surface of the vertical paragraph of right side deformation guide rail y rear side. The structural design of the right front extrusion roller g2, the left rear extrusion roller g3 and the right rear extrusion roller g4 can refer to the left front extrusion roller g1, and all can be mounted on the corresponding butt joint guide rail plate through the respectively equipped roller mounting seats g0, and all the roller mounting seats g0 can be connected to the corresponding butt joint guide rail plate through the respectively equipped buffer devices gg.
Preferably, the front docking guide rail plate d1 includes a front rubber plate d01 for the three-dimensional garage transfer robot j to walk in a contact manner and a front steel reinforcing plate d02 attached and fixed to the front rubber plate d01, the rear docking guide rail plate d2 includes a rear rubber plate d03 for the three-dimensional garage transfer robot j to walk in a contact manner and a rear steel reinforcing plate d04 attached and fixed to the rear rubber plate d03, the front rubber plate d01 serves as a direct bearing surface for the robot to abut against, the front steel reinforcing plate d02 serves as a supporting framework, and the front steel reinforcing plate d02 can be used for the front axle and the rear axle to be sleeved. The roller mounting seat g0 and corresponding roller can be installed after connecting buffer gg, and the connection mode can be installed and connected through the existing detachable modes such as bolts and nuts.
Further, the end connection of the piston rod of preceding pneumatic cylinder e1 has preceding articulated seat e11, and the piston rod of also preceding pneumatic cylinder e1 leans on the end connection preceding articulated seat e11 outside the cylinder body, and preceding articulated seat e11 is furnished with the articulated shaft, preceding articulated seat e11 still with preceding steel reinforcing plate d02 demountable installation is connected, can be preceding steel reinforcing plate d02 and preceding articulated seat e 11's articulated shaft can dismantle the connection, can be connected with corresponding axle bed on the preceding steel reinforcing plate d02 and can dismantle the connection through current detachable construction and preceding articulated seat e 11's articulated shaft. The significance of the detachable connection is that the front steel reinforcing plate d02 is replaceable, and structures with different sizes can be selected to be installed to match different working conditions. Similarly, the front steel reinforcing plate d02 also needs to be provided, the end of the piston rod of the rear pneumatic cylinder e2 is connected with a rear hinge seat e22, and the rear hinge seat e22 is detachably connected with the rear steel reinforcing plate d 04.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a protector that three-dimensional storehouse was used which characterized in that: the stacking machine bearing platform comprises a stacking machine bearing platform (1), wherein the stacking machine bearing platform (1) comprises a left side plate (11), a right side plate (12) and a bottom side plate (13) connected between the bottoms of the left side plate (11) and the right side plate (12), a left guide rail assembly for the front and back walking of a left side wheel part of a three-dimensional warehouse transfer robot (j) is installed on the right side part of the left side plate (11), a right guide rail assembly for the front and back walking of the right side wheel part of the three-dimensional warehouse transfer robot is installed on the left side part of the right side plate (12), a front butt joint guide rail plate (d 1) capable of vertically blocking the front side of the stacking machine bearing platform (1) and overturning to the horizontal upper front side to be located on the front side of the left guide rail assembly and the front side of the right guide rail assembly for the three-dimensional warehouse transfer robot (j) to advance forwards is installed between the left side plate (11) and the right side plate (12), and a rear butt joint guide rail plate (d 2) which can be vertically blocked at the rear side of the stacker bearing platform (1) and can be turned backwards to be horizontal and then positioned at the rear sides of the left guide rail assembly and the right guide rail assembly and used for the three-dimensional warehouse carrying robot (j) to move backwards is further arranged between the left side plate (11) and the right side plate (12).
2. The protection device for the three-dimensional garage according to claim 1, wherein: left side board (11) with erect between right side board (12) and supply preceding butt joint guide rail board (d 1) to rotate and be about extending the front axle (d 11) of level form, front axle (d 11) are located left side guide rail assembly with right side guide rail assembly front side, preceding butt joint guide rail board (d 1) is worn to establish on front axle (d 11), preceding butt joint guide rail board (d 1) with be connected with between end curb plate (13) and supply preceding butt joint guide rail board (d 1) pivoted preceding tilting mechanism.
3. The protection device for the three-dimensional garage according to claim 2, wherein: the front overturning mechanism comprises a front pneumatic cylinder (e 1), a piston rod of the front pneumatic cylinder (e 1) is hinged with the front butt guide rail plate (d 1), and a cylinder body of the front pneumatic cylinder (e 1) is hinged with the bottom side plate (13).
4. The protection device for the three-dimensional garage according to claim 3, wherein: left side board (11) with erect between right side board (12) and supply back butt joint guide rail board (d 2) to rotate and be about extending the rear axle (d 21) of level form, rear axle (d 21) are located left side guide rail assembly with right side guide rail assembly rear side, back butt joint guide rail board (d 2) is worn to establish on rear axle (d 21), back butt joint guide rail board (d 2) with be connected with between end curb plate (13) and supply back butt joint guide rail board (d 2) pivoted back tilting mechanism.
5. The protection device for the three-dimensional garage according to claim 4, wherein: the rear overturning mechanism comprises a rear pneumatic cylinder (e 2), a piston rod of the rear pneumatic cylinder (e 2) is hinged with the rear butt joint guide rail plate (d 2), and a cylinder body of the rear pneumatic cylinder (e 2) is hinged with the bottom side plate (13).
6. The protection device for the three-dimensional garage according to claim 1, wherein: the left guide rail assembly is provided with a left deformation part (a 0) which can be sunk to form a left wheel part for the three-dimensional warehouse transfer robot (j) to be downwards placed so as to lower the gravity center of the three-dimensional warehouse transfer robot (j) and to be lifted for the three-dimensional warehouse transfer robot (j) to walk, the right guide rail assembly is provided with a right deformation part (b 0) which can be sunk to form a right wheel part for the three-dimensional warehouse transfer robot (j) to be downwards placed so as to lower the gravity center of the three-dimensional warehouse transfer robot (j) and to be lifted for the three-dimensional warehouse transfer robot (j) to walk, the left guide rail assembly comprises a left front fixed guide rail (a 1) and a left rear fixed guide rail (a 2) which are arranged on the right side plate surface of the left side plate (11) and a left deformation guide rail (x) which can move relative to the left front fixed guide rail (a 1) and the left rear fixed guide rail (a 2), and a section of the left deformation guide rail (x) is erected on the left front fixed guide rail (1) and the left rear fixed guide rail (a 1) (a) and a rear fixed guide rail (x) which can move a2) The upper section is the left deforming part (a 0), a left spacing space (a 12) is formed between the front left fixed rail (a 1) and the rear left fixed rail (a 2) in the front-rear direction, and the left deforming part (a 0) sags and rises, the right guide rail assembly comprises a right front fixed guide rail (b 1) and a right rear fixed guide rail (b 2) which are arranged on the left side plate surface of the right side plate (12) and are distributed at intervals in the front-rear direction, and a right deformation guide rail (y) which can move relative to the right front fixed guide rail (b 1) and the right rear fixed guide rail (b 2), one section of the right deformation guide rail (y) is a right deformation part (b 0) which is erected on the right front fixed guide rail (b 1) and the right rear fixed guide rail (b 2), a right side spacing space (b 12) is formed between the right front fixed rail (b 1) and the right rear fixed rail (b 2) at the front and rear and the right deforming part (b 0) sinks and rises.
7. The protection device for the three-dimensional garage according to claim 6, wherein: the part of the left deformation guide rail (x) on the front side of the left deformation part (a 0) is provided with a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the left deformation guide rail (x) on the rear side of the left deformation part (a 0) is also provided with a horizontal section extending backwards and a vertical section formed by bending the rear end of the horizontal section downwards, the vertical sections on the front side and the rear side of the left deformation guide rail (x) are respectively connected with a left-side following pulling device arranged on the stacker bearing platform (1), the part of the right deformation guide rail (y) on the front side of the right deformation part (b 0) is also provided with a horizontal section extending forwards and a vertical section formed by bending the front end of the horizontal section downwards, the part of the right deformation guide rail (y) on the rear side of the right deformation part (b 0) is also provided with a horizontal section extending backwards and a vertical section formed by bending the rear end of the horizontal section downwards, the vertical sections on the front side and the rear side of the right deformation guide rail (y) are respectively connected with a right following traction device arranged on the stacker bearing platform (1).
8. The protection device for the three-dimensional garage according to claim 7, wherein: the end part of the horizontal section of the front butt joint guide rail plate (d 1) close to the front side of the left deformation guide rail (x) is provided with a left front extrusion roller (g 1) which can abut against the front side surface of the vertical section of the front side of the left deformation guide rail (x), a right front extrusion roller (g 2) which can abut against the front side surface of a vertical section at the front side of the right deformation guide rail (y) is arranged at the end part of the horizontal section at the front side of the right deformation guide rail (y) of the front butt joint guide rail plate (d 1), a left rear extrusion roller (g 3) which can abut against the rear side surface of a vertical section at the rear side of the left deformation guide rail (x) is arranged at the end part of a horizontal section at the rear side of the left deformation guide rail (x) of the rear butt joint guide rail plate (d 2), and a right rear extrusion roller (g 4) which can abut against the rear side surface of the vertical section at the rear side of the right deformation guide rail (y) is installed at the end part of the horizontal section at the rear side of the right deformation guide rail (y) of the rear butt joint guide rail plate (d 2).
9. The protection device for the three-dimensional garage according to claim 5, wherein: preceding butt joint guide rail board (d 1) including be used for supplying three-dimensional storehouse transfer robot (j) contact walking preceding rubber slab (d 01) and with preceding steel reinforcing plate (d 02) that preceding rubber slab (d 01) laminating was fixed, back butt joint guide rail board (d 2) including be used for supplying three-dimensional storehouse transfer robot (j) contact walking back rubber slab (d 03) and with back steel reinforcing plate (d 04) that back rubber slab (d 03) laminating was fixed.
10. The protection device for the three-dimensional garage according to claim 9, wherein: the end connection of the piston rod of preceding pneumatic cylinder (e 1) has preceding articulated seat (e 11), preceding articulated seat (e 11) still with preceding steel reinforcing plate (d 02) can be dismantled the installation and connect, the end connection of the piston rod of back pneumatic cylinder (e 2) has back articulated seat (e 22), back articulated seat (e 22) still with back steel reinforcing plate (d 04) can be dismantled the installation and connect.
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