8862results about "Lifting devices" patented technology

The invention relates to the technical field of intelligent warehousing and logistics automation, in particular to a forklift dynamic path planning method based on deep reinforcement learning, and the method comprises the steps: deploying multi-view vision, geomagnetism and other multi-source sensors, achieving data calibration and fusion through employing an insect compound eye-imitating vision model, and constructing a high-dimensional state space vector; heuristic models such as migrant bird navigation and biological stress response are adopted, deep reinforcement learning is combined, decision instructions are generated from the three aspects of path planning, dynamic obstacle avoidance and energy efficiency management, actions are executed through a control system, and deviation is fed back; a reward function is used for evaluating the decision effect, rewards are formed by weighting path efficiency, obstacle avoidance success and energy consumption penalty, the weight can be updated in a self-adaptive mode, and therefore the deep reinforcement learning model is optimized. According to the method, the accuracy, safety and efficiency of forklift path planning are effectively improved, the method can adapt to complex dynamic environments, and the requirements of intelligent logistics and industrial automation for forklift intelligent operation are met.

The invention discloses an electric forklift multi-mode driving switching method and system based on multivariable cooperation, and relates to the technical field of industrial vehicle intelligent control. The method is used for solving the problems of one-sided working condition sensing, switching oscillation and safety fault tolerance deficiency in multi-mode driving. The method comprises the following steps: firstly, generating a dynamically weighted working condition feature vector through multi-source sensing data fusion, and quantifying a stability risk, an energy consumption constraint and a power demand; secondly, based on a stability risk trigger steering safety envelope, arbitrating a multi-mode priority and correcting a torque upper limit in combination with a fuzzy rule to form an anti-conflict execution sequence; then, torque distribution and a steering angle acceleration instruction are optimized in a rolling mode in the safe envelope boundary, center-of-gravity shift is synchronously restrained, the track precision is improved, and energy consumption is reduced; finally, the control authority is transferred adaptively according to the operation intensity of a driver, when the decision is abnormal, the load-ramp rule base is degraded, an instruction is transferred through an S-shaped curve, and a torque balancing strategy is executed at the high position of a pallet fork to maintain stable.

The invention discloses an automatic loading method for a truck based on deep learning and stereoscopic vision. The automatic loading method comprises the following steps that S1, goods location pixel coordinates are obtained and converted into an AGV forklift coordinate system; s2, a driving track is calculated, a front station is generated, and the AGV forklift is guided to move; s3, collecting point cloud data, denoising, extracting features by adopting an improved Transform point cloud registration network, calculating three-dimensional feature points of goods locations and trays, and converting coordinates; s4, calculating a rotation adjustment amount and a displacement compensation parameter, optimizing a driving track and correcting a butt joint deviation; s5, adopting a self-adaptive local attention weighting strategy to match the target goods allocation with the tray slot, and correcting the pose; s6, the cargo stacking posture is adjusted, gravity center distribution is optimized, and the AGV forklift is controlled to complete cargo loading; and S7, exiting the loading area along the optimized track, recording data and optimizing a loading strategy. The goods allocation identification precision is improved, the loading path is optimized, manual intervention is reduced, the loading efficiency, stability and adaptability are improved, and the logistics automation level is enhanced.

The invention discloses a material weighing and conveying control method and system, and relates to the technical field of self-adaptive control systems. The method comprises the following steps: setting a visual positioning identifier in an unloading area, and configuring an identification code for a material; establishing an information management database, associating the identification codes of the materials with material attributes, and generating a material association attribute table; collecting an identification code of the material, and calling a material association attribute table based on the identification code; and based on the information management database, obtaining a production line state table of each production line and a warehouse state table of the current warehouse, generating a candidate transportation list, determining a comprehensive priority score of each candidate transportation target point, and selecting the candidate transportation target point with the highest score as a final transportation target point. Compared with the prior art in which fixed rules are used for scheduling, the material transportation targets can be dynamically distributed according to real-time production requirements, manual intervention is avoided, the logistics efficiency is improved, high-requirement materials are preferentially distributed, and production interruption caused by material shortage is prevented.

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system is for guiding a plurality of container handling vehicles. The delivery column is adapted for transport of a storage container from a container handling vehicle to a delivery port situated at a lower end of the delivery column, and further adapted for transport of a storage container from the delivery port to the container handling vehicle. The storage container is configured to be stored in a stack of storage containers beneath the container handling vehicle rail system. The delivery system includes a remotely operated delivery vehicle, which includes a container carrier adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

This application provides a robot and a warehousing system. The robot is configured to take or place a goods container which includes a robot body and a fork apparatus. The fork apparatus is arranged on the robot body which includes a telescopic mechanism and a goods retrieval mechanism. The telescopic mechanism includes a base plate and a transmission assembly. The goods retrieval mechanism is connected to the transmission assembly to move along a length direction of the base plate under the drive of the transmission assembly. The goods retrieval mechanism includes a rotating unit, a connecting base, and a goods retrieval unit. The goods retrieval unit is arranged on the connecting base. The rotating unit is configured to drive the connecting base to rotate relative to the telescopic mechanism, so that the goods retrieval unit can take or place the goods container in a different direction of the fork apparatus.

System for packing and sorting comprises: a server comprising a memory, a processor, and a sortation engine, an automated packaging device, and a packaging sorting system. The automated packaging device is configured to: receive one or more sorted articles through an opening of a repository of the automated packaging device, and seal the repository to form a package. The package sorting system configured to: direct a package computer controlled vehicle to move to a receiving position about the automated packaging device for receiving the package from the automated packaging device, and direct the package computer controlled vehicle to transport and deposit the received package into a package receptacle.

The embodiment of the invention discloses a tray forking control method and device of an unmanned forklift and a medium, and relates to the technical field of path planning, and the method comprises the steps that multi-mode environment data in a target forking environment is collected in real time through a multi-mode sensor, and based on the multi-mode environment data, region segmentation is conducted on the target forking environment, and the target forking environment is obtained; constructing a dynamic risk map, wherein the dynamic risk map comprises a static obstacle, a dynamic obstacle and a tray target position; according to the dynamic risk map, an improved adaptive sampling search algorithm and a preset node expansion constraint condition are adopted to generate a global forklift path; b spline curve fitting is carried out on the global forklift path, a multi-source error compensation item is introduced into the track control point through a pre-obtained multi-source quantization error, a fitted forklift path is determined, and the target tray is forked through the fitted forklift path.

A transport robot may include a body, a lifting assembly arranged on the body, and a first climbing assembly arranged on the lifting assembly and located on only one side of the body in a horizontal direction. The lifting assembly is configured to drive the first climbing assembly to ascend or descend. The first climbing assembly is configured to be docked with a second climbing assembly of a rack after being driven to ascend, and to climb along the second climbing assembly in a vertical direction.

The utility model provides a multifunctional adjustable telescopic pallet fork which comprises a rotating assembly, a lifting assembly and a telescopic fork assembly, the lifting assembly and the rotating assembly are installed in a combined mode, and the telescopic fork assembly and the lifting assembly are installed in a combined mode. The lifting assembly and the telescopic fork assembly are driven by the rotating assembly to rotate on the horizontal plane, and the telescopic fork assembly is driven by the lifting assembly to change the height. According to the multifunctional adjustable telescopic pallet fork, height adjustment and rotation adjustment can be achieved, the single telescopic pallet fork can achieve the functions of various existing devices, operation is more convenient, work is more efficient, and the occupied area is smaller.

The invention relates to the technical field of intelligent control of heavy equipment, in particular to a hydraulic synchronous intelligent control system for segmented turnover of an overweight steel structure, and discloses the hydraulic synchronous intelligent control system for segmented turnover of the overweight steel structure. According to the system, full-field strain data of a structure surface is acquired by deploying a flexible grid sensor array, and a deformation gradient topological graph is constructed to identify an instability risk area. And a dynamic fluid network model of the hydraulic system is established, fluid-solid coupling simulation is carried out in combination with deformation characteristics, and pressure pulsation transmission paths under different control instructions are predicted. And the system dynamically optimizes a data sampling strategy and network model parameters according to a prediction path, generates a hydraulic cylinder coordination action instruction subjected to pressure balance verification, and finally drives an execution mechanism to complete turnover operation. According to the scheme, full-field real-time sensing of structural deformation and dynamic coupling prediction control of hydraulic fluid are achieved, and the safety and control precision of the overweight component in the turnover process are improved.

The utility model discloses a photovoltaic module installation robot, and relates to the technical field of automation, the photovoltaic module installation robot comprises an overturning positioning unit, a grabbing installation unit and an identification positioning unit, the overturning positioning unit comprises an overturning mechanism and a bearing part, and the overturning mechanism is used for driving the bearing part to overturn. And the grabbing and mounting unit is used for grabbing the photovoltaic panel and transferring the photovoltaic panel to a specified mounting position on the photovoltaic bracket. The identifying and positioning unit comprises a first identifying part and a second identifying part, the first identifying part is arranged on the moving unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining first position information, and the second identifying part is arranged on the grabbing and mounting unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining second position information; and the grabbing and mounting unit is used for identifying the mounting hole site in the photovoltaic support and obtaining second position information, and the grabbing and mounting unit adjusts the mounting position of the photovoltaic panel on the photovoltaic support according to the first position information and the second position information. According to the invention, high-precision and automatic installation of the photovoltaic panel on the photovoltaic support is realized, and the production efficiency is improved.

Systems, methods, and computer-readable media are disclosed for package sorting systems that facilitate efficient package sorting for delivery. The package sorting system may be a multi-level or single-level fulfillment or sortation center. The package sorting system may include a receiving area for receiving a large volume of packages and placing the packages into containers. The containers may be transported to an unloading area, which may be on a second story. At the unloading area, the packages may be unloaded from containers and placed into destination bins, each package in a destination bin destined for delivery within close proximity to one another. The destination container may be transported to a delivery area. At the delivery area the packages may be loaded into delivery vehicles for distributing the packages. The package sorting system may include drive units and package drive units for transporting containers and / or packages.

A screw jack with a lead screw that disengages from a traveling nut to prevent overdrive directly coupled to an electric motor though a series of planetary gears. A battery adapter mounted on an outer tube of the jack for attachment of a user's selected battery to the motor. A lift accessory with two lifting points, one a hook and the other a channel, bolted to a support bracket attached to an outer tube of the jack. A hanging accessory with toggle clamps at opposite ends of a beam for suspending the jack such as from a roll cage of an ATV.

The utility model discloses a hydraulic walking control system and a high-altitude operation vehicle. The system comprises a walking pump, a first flow distributing and collecting valve, a second flow distributing and collecting valve and walking motors. A port A of the walking pump is connected with a third port of the first flow distributing and collecting valve and a third port of the second flow distributing and collecting valve, and a port B of the walking pump is connected with a port B of the left front walking motor, a port B of the left rear walking motor, a port A of the right front walking motor and a port A of the right rear walking motor. A fourth port of the first flow distributing and collecting valve is connected with a port A of a left front walking motor, and a second port of the first flow distributing and collecting valve is connected with a port A of a left rear walking motor; a fourth port of the second flow distributing and collecting valve is connected with a port B of the right front walking motor, and a second port of the second flow distributing and collecting valve is connected with a port B of the right rear walking motor. According to the utility model, the problem that the walking effect is influenced due to the change of flow and pressure caused by slipping during walking is avoided.

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system, which is for guiding a plurality of container handling vehicles, includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. The delivery column is adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery system includes a remotely operated delivery vehicle. The remotely operated delivery vehicle includes a vehicle body, rolling devices connected to the vehicle body, rolling device motors for driving the rolling devices in a horizontal plane, and a power source connected to the rolling device motors. A container carrier is adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

The utility model discloses a battery replacing device which comprises a supporting frame and a battery replacing body, and the battery replacing body can incline relative to the supporting frame. The battery replacing main body comprises a movable assembly which is arranged on the supporting frame and can ascend and descend and a compartment body which is rotatably connected with the movable assembly, a telescopic mechanism is arranged in the compartment body, and a battery replacing mechanism is arranged on the top surface of the telescopic mechanism; and the telescopic mechanism can move relative to the compartment body and / or the battery replacing mechanism can move relative to the telescopic mechanism in the direction perpendicular to the telescopic direction. By the adoption of the structure, the battery replacement equipment can achieve vehicle side battery replacement and can adapt to different battery replacement vehicles and battery storage devices through lifting and rotating of the compartment body; and meanwhile, through calibration movement of the telescopic mechanism and / or the battery replacing mechanism and inclination of the battery replacing body relative to the supporting frame, the battery replacing mechanism can be well attached to a chassis of the battery replacing vehicle all the time, and therefore the battery replacing precision and the battery replacing efficiency can be improved.

The utility model relates to the field of aerial work platforms, and discloses a liquid collecting device and an aerial work platform, and the liquid collecting device comprises a steering oil cylinder liquid receiving disc which is provided with a liquid receiving cavity used for receiving leaked liquid of a steering oil cylinder; the steering oil cylinder liquid receiving disc is detachably arranged on the liquid receiving disc mounting seat, the liquid receiving disc mounting seat is provided with a connecting part, and the connecting part is used for being connected with a cylinder body of a steering oil cylinder; and the limiting structure has a locking state and an unlocking state, when the limiting structure is in the locking state, the steering oil cylinder liquid receiving disc can be locked in the liquid receiving disc mounting base, and the steering oil cylinder liquid receiving disc can be taken out of the liquid receiving disc mounting base when the limiting structure is in the unlocking state. According to the liquid collecting device and the aerial work platform, leaked liquid of the steering oil cylinder can be collected, and the liquid leakage problem of the aerial work platform can be solved.

The invention discloses an AGV portal motion speed control method and an AGV, and the method comprises the steps: receiving a portal motion speed instruction, and obtaining a needed portal motion speed in the portal motion speed instruction; based on the action speed of the portal frame, a speed-rotating speed formula is used for calculating the required rotating speed of the pump; if the required rotating speed is larger than or equal to the minimum rotating speed of the pump motor, the rotating speed of the pump motor is adjusted to the pump required rotating speed, the current corresponding to the opening degree of a multi-way valve port enabling the output flow allowed by the multi-way valve to be larger than the real-time output flow of the pump is calculated, and the opening degree of the multi-way valve port is controlled based on the current; otherwise, the rotating speed of the pump motor is adjusted to the minimum rotating speed, the current corresponding to the opening degree of the valve port of the multi-way valve enabling the output flow allowed by the multi-way valve to be smaller than the real-time output flow of the pump is calculated, and the opening degree of the valve port of the multi-way valve is controlled based on the current. According to the method, different flow control modes are selected based on the required rotating speed of the pump, the low-speed lifting micro-motion performance is optimized, the pressure loss generated by rapid lifting is reduced, and the energy consumption is reduced.

The invention relates to the technical field of active safety of forklifts, and discloses a driving assistance method for stability adjustment of a forklift, which comprises the following steps: acquiring input parameters of the forklift for driving assistance; acquiring a fuzzy set corresponding to the input parameter; establishing a fuzzy rule base for logical reasoning based on the fuzzy set of the input parameters; constructing a decision function through a weighted average method to calculate a driving mode control value, and optimizing a weight through minimizing a decision error based on supervised learning; outputting a corresponding driving mode according to the driving mode control value; the invention further discloses a driving assistance system for forklift stability adjustment. The driving assistance system comprises a road surface recognition module, a forklift state acquisition module, a parameter fuzzification module, a fuzzy rule base storage module, a driving mode decision module and a driving mode execution module. By monitoring a plurality of input parameters, the overall performance and the adaptive capacity of the forklift system are improved, and efficient operation and safe operation of the forklift system in a dynamic complex environment are ensured.

An autonomous guided vehicle includes a frame, a drive section, a payload handler, a sensor system, and a supplemental sensor system. The sensor system has electro-magnetic sensors, each responsive to interaction or interface of a sensor emitted or generated electro-magnetic beam or field with a physical characteristic, the electro-magnetic beam or field being disturbed by interaction or interface with the physical characteristic, and which disturbance is detected by and effects sensing of the physical characteristic. The sensor system generates sensor data embodying at least one of a vehicle navigation pose or location information and payload pose or location information. The supplemental sensor system supplements the sensor system, and is, at least in part, a vision system with cameras disposed to capture image data informing the at least one of a vehicle navigation pose or location and payload pose or location supplement to the information of the sensor system.

The utility model relates to the technical field of building hoisting, and provides a combined type double-body steel sliding beam hoisting seat which is installed on a hoisting platform, at least two guide beams are arranged at the top of the hoisting platform, the combined type double-body steel sliding beam hoisting seat comprises a steel sliding beam with a hoisting hole, and a first guide clamping groove matched with the outer sides of the guide beams is formed in the bottom of the steel sliding beam. A lifting rope penetrates through the lifting hole; the guide seats are fixedly connected with the steel sliding beams, and second guide clamping grooves matched with the outer sides of the guide beams are formed in the bottoms of the guide seats; and the driving element is connected to one side of the steel sliding beam so as to drive the steel sliding beam to slide. The anti-overturning performance of the combined type double-body steel sliding beam hanging seat is greatly improved, and the requirement for stable sliding of the hanging seat is met.

To provide loading structure of a solar panel by which the solar panel is not necessary to be removed in elevation while securing area of the solar panel in a top cover with a hanging tool.SOLUTION: Loading structure of a solar panel in a top cover with a hanging tool of the present invention comprises: in the top cover 1 with the hanging tool 2 for elevation on a top face, the solar panel 4 arranged at an upper part of the top cover 1 to be slidable at an upper part of the hanging tool 2 via a slide mechanism 10, wherein the solar panel 4 can move between a shielding position at which the hanging tool 2 is covered with the solar panel 4 to be made impossible to be elevated and an exposure position at which the hanging tool is exposed to be made possible to be elevated by sliding.SELECTED DRAWING: Figure 4

The invention discloses a self-climbing module of a specialized robot. The self-climbing module comprises an irradiation-resistant shell, an adsorption device and a rope climbing device, a propeller device is mounted on the outer side wall of the radiation-resistant shell; the adsorption device comprises a gas control system and a suction cup assembly, the suction cup assembly is installed on the outer side wall, away from the propeller device, of the irradiation-resistant shell, the gas control system is installed in the irradiation-resistant shell, and the gas control system communicates with the suction cup assembly; the rope climbing device comprises a driving assembly, a positioning guide wheel set and a rope coiling winch. The driving assembly is installed in the irradiation-resistant shell, the rope coiling winch is installed at the output end of the driving assembly, and the positioning guide wheel set is rotationally connected into the irradiation-resistant shell. Wherein a traction rope is wound on the rope coiling winch and the positioning guide wheel group. The robot can realize high-precision climbing, positioning and hovering capabilities, can be stably adsorbed on the surface of a wall body in a high-radiation and high-risk environment, and provides efficient and reliable technical support for wall body repairing operation in a nuclear environment.

Disclosed is a top-driven jack, including an outer pipe, an inner pipe, a lead screw, a nut, a fixed part, and a handle; the inner pipe extends into the outer pipe; the nut is fixedly mounted on the inner pipe; the lead screw is movably mounted in the outer pipe through the fixed part and extends into the inner pipe, and is engaged with the nut; the fixed part includes a fixed seat and a movable sleeve; a connecting hole and an accommodating hole are formed in the movable sleeve; a connecting section is arranged at one end of the lead screw; the movable sleeve is movably connected with the fixed seat and embedded into the connecting hole through the connecting section and synchronously moves with the lead screw in the circumferential direction around the central line of the lead screw.

The invention discloses an electromechanical pipeline construction mounting machine and a using method thereof, and relates to the technical field of mechanical arms. The electromechanical pipeline construction mounting machine comprises a basic carrier vehicle, a multi-joint mechanical arm, an arm lifting assembly and an arm head clamping assembly; the arm head clamping assembly comprises a basic carrying plate, a sliding carrying pipe, a combined clamping jaw and a connecting frame. The basic carrier plate is a horizontally-arranged hard plate body, and two guide grooves are formed in the top face of the basic carrier plate. A driving rotating wheel is positioned at the top of the basic carrier plate; the two sliding carrying pipes are vertically arranged and are respectively positioned in the two guide grooves in a sliding manner; the combined clamping jaw comprises two clamping jaws; the clamping jaw comprises a rod-shaped jaw body and a pneumatic soft jaw; the rod-shaped claw body slides in the axial direction of the sliding carrying pipe. The pneumatic soft claw is an arc-shaped bent-rod-shaped air bag soft claw, and the bottom is fixed at the top of the rod-shaped claw body; the electromechanical pipeline construction mounting machine has the technical effects that the use is flexible, the pipeline is not prone to being damaged, the pipeline can still be controlled to flexibly move relative to the clamping component after being clamped, the use process is simple and convenient, and the applicability is high.

The utility model relates to the technical field of battery replacement, and discloses battery replacement equipment which comprises a fixedly arranged supporting frame, a battery replacement main body which is arranged between the supporting frames and can move up and down, and a battery replacement device which is arranged in the battery replacement main body and can telescopically move towards the outside of the supporting frames. The battery replacing main body comprises a compartment body and a moving assembly which is arranged between the supporting frames and can move up and down along the supporting frames, the battery replacing device is arranged in the compartment body, and the compartment body is rotatably connected to the moving assembly so as to adjust the orientation of the battery replacing device. The battery replacing main body can move up and down on the supporting frame, the height of the battery replacing device is adjusted, and battery disassembling and assembling operation on a battery replacing vehicle and battery transferring operation between battery bin positions are achieved. The moving assembly drives the compartment body to move up and down along the supporting frame, the compartment body and the moving assembly are rotatably connected, the angle of the compartment body is convenient to adjust, and when a deflection angle occurs during parking of the battery replacing electric vehicle, the battery replacing device can be accurately positioned and stretch out, and accurate battery replacing is achieved.

A work assist system for an industrial vehicle (10) is provided. The work assist system includes a support structure (80, 82, 84) having a portion (210) including a predetermined cross-sectional shape. The work assist system further includes a clamping member (250) having: a coupling structure (262, 264) for removably coupling the clamping member to the support structure portion; and a mounting structure removably supporting a work assistance item (130) usable by an operator located in an operator cabin (16) of the vehicle.

The utility model discloses a forklift fuel cell system and relates to the field of fuel cells. Comprising a fuel cell system module, a solid-state metal hydrogen storage module and a power cell module, and the fuel cell system module, the solid-state metal hydrogen storage module and the power cell module are all fixed in a forklift box body. According to the utility model, the whole system is divided into three modules, namely the fuel cell system module, the solid metal hydrogen storage module and the power cell module which are mutually independent, clear in boundary and free from mutual influence, so that the whole system can simultaneously take into account a solid metal hydrogen storage form and a gas hydrogen storage bottle form, and meanwhile, the power cell can also take into account various sizes and specifications; therefore, the whole system has a plurality of integration modes and a plurality of application scenes, and the extension and application range is wide.

Systems and methods are disclosed to automatically load packages into containers. In one embodiment, an example system may include a robotic platform configured to elevate and rotate a container to a predetermined orientation, and a robotic manipulator configured to retrieve a first package from a surface and to position the first package inside the container at a predetermined position.