Clamp Car

Abstract

The present invention relates to a clamping vehicle for carrying cylindrical goods, and the clamping vehicle comprises a vehicle body, a clamping arm assembly, a turntable and a first driving member. The turntable is rotatably connected to the vehicle body, the clamping arm assembly is arranged on the turntable, and the clamping arm assembly can rotate relative to the vehicle body around a first axis through the turntable to adjust the placement posture of the cylindrical goods. The first driving member is connected to the turntable to drive the turntable to rotate relative to the vehicle body around the first axis. The cylindrical goods can be clamped by arranging the clamping arm assembly. By arranging a turntable rotatably connected to the vehicle body, and arranging the clamping arm assembly on the turntable, and the clamping arm assembly can rotate relative to the vehicle body around the first axis through the turntable, the placement posture of the cylindrical goods can be adjusted. By arranging the first driving member connected to the turntable, the turntable can be driven to rotate relative to the vehicle body around the first axis, thereby driving the clamping arm assembly to rotate relative to the vehicle body around the first axis, and then adjusting the placement posture of the cylindrical goods.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo handling, in particular to a clamping vehicle. Background Art

[0002] With the development of cargo handling technology, automatic clamping vehicles have emerged. Usually, cargo handling is mainly done by manually operating ordinary forklifts, and the forks of ordinary forklifts are flat and straight. When it comes to the handling of cylindrical cargo in different positions, the forks of ordinary forklifts are not suitable, and manual operation is difficult. Therefore, it is very necessary to design a clamping vehicle that can realize the handling of cylindrical cargo in different positions. Summary of the invention

[0003] Based on this, it is necessary to provide a clamping vehicle that can transport cylindrical goods in different positions, in order to address the problem that the forks of ordinary forklifts are not suitable and manual operation is difficult when transporting cylindrical goods in different positions.

[0004] A clamping vehicle, used for carrying cylindrical goods, comprises:

[0005] Vehicle body;

[0006] A clamp arm assembly, the clamp arm assembly is used to clamp the cylindrical cargo;

[0007] a turntable rotatably connected to the vehicle body, the clamp arm assembly being disposed on the turntable and the clamp arm assembly being capable of rotating relative to the vehicle body around a first axis through the turntable to adjust the placement posture of the cylindrical cargo; and

[0008] The first driving member is connected to the turntable to drive the turntable to rotate around the first axis relative to the vehicle body.

[0009] In one embodiment, the clamping vehicle further includes a controller, the first driving member is electrically connected to the controller, and the controller is used to control the first driving member to drive the turntable to rotate relative to the vehicle body around the first axis.

[0010] In one embodiment, when the clamp arm assembly is in the first state, the clamp arm assembly is in a horizontal state, and when the clamp arm assembly is in the second state, the clamp arm assembly is in a vertical state;

[0011] The turntable drives the clamp arm assembly to switch between the first state and the second state to adjust the placement posture of the cylindrical cargo.

[0012] In one of the embodiments, the clamping vehicle further includes two in-place detection switch assemblies, and the two in-place detection switch assemblies are respectively used to detect the horizontal state and the vertical state of the clamping arm assembly.

[0013] In one embodiment, each of the in-place detection switch assemblies includes a first in-place detection switch disposed on the vehicle body, and a second in-place detection switch disposed on the turntable and corresponding to the first in-place detection switch;

[0014] At least one of the first in-position detection switch and the second in-position detection switch is electrically connected to the controller;

[0015] The controller is configured to control the first driving member to stop operating when the first in-position detection switch and the second in-position detection switch are aligned with each other.

[0016] In one embodiment, the clamp arm assembly includes a first clamp arm and a second clamp arm, the first clamp arm and the second clamp arm are relatively arranged on the turntable, the first clamp arm and the second clamp arm define a clamping space for fixing the cylindrical cargo, and at least one of the first clamp arm and the second clamp arm can rotate relative to the turntable around a second axis perpendicular to the first axis so that the size of the clamping space can be adjusted.

[0017] In one embodiment, the clamping vehicle further includes a second driving member, which is connected to at least one of the first clamping arm and the second clamping arm to drive at least one of the first clamping arm and the second clamping arm connected to the second driving member to rotate relative to the turntable around the second axis, so that the size of the clamping space can be adjusted.

[0018] In one embodiment, the clamping vehicle further includes a first laser sensor and a first reflector and a second reflector respectively disposed on the first clamping arm and the second clamping arm;

[0019] The first laser sensor is capable of detecting a distance between the first laser sensor and the first reflector, and a distance between the first laser sensor and the second reflector;

[0020] The controller can determine the distance between the first reflector and the second reflector based on the distance between the first laser sensor and the first reflector fed back by the first laser sensor, and the distance between the first laser sensor and the second reflector in combination with a preset algorithm, and can determine the size of the clamping space based on the distance between the first reflector and the second reflector in combination with another preset algorithm, and the controller can also control the second driving member to drive the first clamping arm and / or the second clamping arm to rotate around the second axis relative to the vehicle body according to the size of the clamping space to adjust the size of the clamping space.

[0021] In one embodiment, the vehicle body includes a gantry, the gantry is liftably connected to the vehicle body, and the turntable is connected to a side of the gantry facing away from the vehicle body.

[0022] In one of the embodiments, the clamping vehicle further includes a second laser sensor disposed on the vehicle body, and the second laser sensor is used to obtain the position and size of the cylindrical cargo. The controller can determine the lifting height of the clamping arm assembly based on the detection result of the second laser sensor, thereby issuing a control instruction to control the clamping arm assembly to be lifted and lowered to a specified height in the vertical direction relative to the vehicle body.

[0023] The clamping vehicle comprises a vehicle body, a clamping arm assembly, a turntable and a first driving member. The clamping arm assembly is provided so as to be able to clamp cylindrical cargo. By providing a turntable rotatably connected to the vehicle body, and arranging the clamping arm assembly on the turntable, and the clamping arm assembly can rotate relative to the vehicle body around a first axis through the turntable, the placement posture of the cylindrical cargo can be adjusted. By providing a first driving member connected to the turntable, the turntable can be driven to rotate relative to the vehicle body around the first axis, thereby driving the clamping arm assembly to rotate relative to the vehicle body around the first axis, thereby adjusting the placement posture of the cylindrical cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the use of the clamping vehicle in one embodiment of the present application;

[0025] Figure 2 for Figure 1 A schematic structural diagram of the clamping vehicle in the illustrated embodiment;

[0026] Figure 3 This is a schematic diagram of the assembly of the clamp arm assembly and the drive assembly in one embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of the assembly of the clamp arm assembly, the turntable and the mounting frame in one embodiment of the present application;

[0028] Figure 5 for Figure 1 A schematic structural diagram of the clamping vehicle in another perspective in the illustrated embodiment;

[0029] Figure 6 for Figure 1 A schematic structural diagram of the clamping vehicle in another perspective in the illustrated embodiment;

[0030] Figure 7 for Figure 1 A partial top view of the clamping vehicle in the illustrated embodiment;

[0031] Figure 8 for Figure 1 A schematic diagram of the structure of the camera and obstacle avoidance module in the illustrated embodiment.

[0032] Description of reference numerals:

[0033] 1. Cylindrical cargo; 10. Vehicle body; 20. Clamp arm assembly; 21. First clamp arm; 22. Second clamp arm; 30. First driving member; 40. First sensor; 50. Mounting frame; 60. First clamp plate; 70. Second clamp plate; 80. Controller; 90. First reflector; 100. Second reflector; 110. Second laser sensor; 120. Camera; 130. Fill light assembly; 131. Fill light; 140. Turntable; 150. Traveling mechanism; 151. Driving wheel; 152. Load-bearing wheel; 160. Obstacle avoidance module; 170. In-place detection switch; a. Second axis; b. First axis; A. Vertical direction. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0040] See also Figure 1 , Figure 1This is a schematic diagram of the use of a clamping vehicle in an embodiment of the present application. An embodiment of the present invention provides a clamping vehicle 100, which is used to carry cylindrical cargo. The clamping vehicle 100 includes a vehicle body 10, a clamping arm assembly 20, a turntable 140, and a first driving member 30. The clamping arm assembly 20 is used to clamp cylindrical cargo. The turntable 140 is rotatably connected to the vehicle body 10, and the clamping arm assembly 20 is disposed on the turntable 140. The clamping arm assembly 20 can rotate around the first axis b relative to the vehicle body 10 through the turntable 140 to adjust the placement posture of the cylindrical cargo. The first driving member 30 is connected to the turntable 140 to drive the turntable 140 to rotate around the first axis b relative to the vehicle body 10.

[0041] The clamping vehicle can clamp cylindrical goods by providing a clamping arm assembly 20. By providing a turntable 140 rotatably connected to the vehicle body 10, and arranging the clamping arm assembly 20 on the turntable 140, and the clamping arm assembly 20 can rotate around the first axis b relative to the vehicle body 10 through the turntable 140, the placement posture of the cylindrical goods can be adjusted. By providing a first driving member 30 connected to the turntable 140, the turntable 140 can be driven to rotate around the first axis b relative to the vehicle body 10, thereby driving the clamping arm assembly 20 to rotate around the first axis b relative to the vehicle body 10, thereby adjusting the placement posture of the cylindrical goods.

[0042] In some embodiments, the turntable 140 can drive the clamp arm assembly 20 to rotate relative to the vehicle body 10 around the second axis b, so that the clamp arm assembly 20 switches between the first state and the second state. When the clamp arm assembly 20 is in the first state, the cylindrical cargo 1 is placed horizontally, and when the clamp arm assembly 20 is in the second state, the cylindrical cargo 1 is placed vertically. In this way, by setting the clamp arm assembly 20 to have the first state and the second state, the cylindrical cargo 1 is placed horizontally or vertically, so that the placement posture of the cylindrical cargo 1 corresponds to different usage needs.

[0043] Specifically, the turntable 140 drives the clamp arm assembly 20 to rotate 90 degrees around the second axis b relative to the vehicle body 10, so that the clamp arm assembly 20 switches between the first state and the second state.

[0044] In some embodiments, the clamping vehicle includes a first driving member 30 connected to the turntable 140 , and the first driving member 30 is used to drive the turntable 140 to rotate around the first axis b relative to the vehicle body 10 .

[0045] In some embodiments, the clamp arm assembly 20 can move in a vertical direction relative to the vehicle body 10 to clamp the cylindrical cargo 1 at different heights, and the clamp arm assembly 20 can place the clamped cylindrical cargo 1 at different heights.

[0046] In some embodiments, Figure 2-4As shown, the clamping vehicle further includes a mounting frame 50 connected to the vehicle body 10, and a turntable 140 is connected to the vehicle body 10 by means of the mounting frame 50, and the turntable 140 can rotate relative to the mounting frame 50 about the first axis b. The mounting frame 50 is configured to be able to move in a vertical direction relative to the vehicle body 10, so as to drive the clamping arm assembly 20 to rise and fall relative to the vehicle body 10 by means of the turntable 140.

[0047] Specifically, Figure 3 As shown, the first driving member 30 is disposed on one side where the turntable 140 is connected to the mounting bracket 50 .

[0048] In some embodiments, the clamping vehicle includes a second driving member (not shown) connected to the first clamping arm 21, and the second driving member is used to drive the first clamping arm 21 to rotate relative to the vehicle body 10 around the second axis a, so that the first clamping arm 21 is close to or away from the second clamping arm 22, so that the size of the clamping space is changed, thereby clamping cylindrical goods 1 of different diameters, and making the clamping vehicle have a small number of parts and a simple structure.

[0049] In some embodiments, the clamping vehicle further includes a third driving member (not shown) connected to the second clamping arm 22, and the third driving member is used to drive the second clamping arm 22 to rotate relative to the vehicle body 10 around the second axis a. In this way, the first clamping arm 21 and the second clamping arm 22 are driven by the second driving member and the third driving member respectively to clamp cylindrical goods 1 of different diameters, and the first clamping arm 21 and the second clamping arm 22 can move simultaneously to approach or move away from each other, so that the clamping arm assembly 20 is more flexible when clamping the cylindrical goods 1.

[0050] Figure 5 for Figure 1 A schematic diagram of the structure of the clamping vehicle in the illustrated embodiment from another perspective.

[0051] In some embodiments, Figure 5 As shown, the clamping vehicle further includes a controller 80 electrically connected to the second driving member, and the controller 80 is used to control the second driving member to drive at least one of the first clamping arm 21 and the second clamping arm 22 connected to the second driving member to rotate relative to the vehicle body 10 around the second axis a, so as to be able to clamp cylindrical goods 1 of different diameters. Therefore, by setting the controller 80, the cylindrical goods 1 can be automatically clamped.

[0052] In one embodiment, the controller 80 is electrically connected to the second driving member and the third driving member respectively. The controller 80 is used to control the second driving member to drive the first clamping arm 21 to rotate around the second axis a relative to the vehicle body 10, and is used to control the third driving member to drive the second clamping arm 22 to rotate around the second axis a relative to the vehicle body 10.

[0053] In some embodiments, the controller 80 is also electrically connected to the first driving member, and the controller 80 is used to control the first driving member to drive the turntable 140 to rotate.

[0054] In some embodiments, Figure 4 As shown, the clamping vehicle further includes two in-place detection switches 170 respectively arranged on the turntable 140, and the two in-place detection switches 170 are respectively used to detect whether the clamping arm assembly 20 is in the first state or the second state. The controller 80 is electrically connected to the two in-place detection switches 170 respectively, so that when one of the in-place detection switches 170 detects that the clamping arm assembly 20 is in the first state, or when the other in-place detection switch 170 detects that the clamping arm assembly 20 is in the second state, the controller 80 can control the first driving member to stop driving. In this way, by setting two in-place detection switches 170 to detect whether the clamping arm assembly 20 has rotated to the first state or the second state, when the clamping arm assembly 20 is in the first state or the second state, the controller 80 can control the third driving member to stop driving, thereby realizing the automatic switching of the clamping arm assembly 20 between the first state and the second state.

[0055] In some embodiments, Figure 2 and Figure 4-5 As shown, the clamping vehicle further includes a first reflector 90, a second reflector 100, and a first laser sensor 40 electrically connected to the controller 80. The first reflector 90 is disposed on the first clamping arm 21, the second reflector 100 is disposed on the second clamping arm 22, and the first laser sensor 40 is disposed on the vehicle body. The first laser sensor 40 can detect the distance between the first laser sensor 40 and the first reflector 90, and the distance between the first laser sensor 40 and the second reflector 100. The controller 80 can determine the distance between the first reflector 90 and the second reflector 100 based on the distance between the first laser sensor 40 and the first reflector 90, and the distance between the first laser sensor 40 and the second reflector 100 fed back by the first laser sensor 40, and in combination with a preset algorithm. The controller 80 can also determine the size of the clamping space according to the distance between the first reflector 90 and the second reflector 100 and in combination with another preset algorithm, and can also control the second driving member to drive the first clamping arm 21 and the second clamping arm 22 to rotate around the second axis a relative to the vehicle body 10 according to the size of the clamping space. In this way, the clamping arm assembly 20 can automatically clamp the cylindrical cargo 1, and avoid the cylindrical cargo 1 being damaged due to excessive clamping force or being unable to clamp the cylindrical cargo 1 due to insufficient clamping force.

[0056] It is understandable that if Figure 4As shown, the first laser reflector 40 is not coaxially arranged with the second axis a, so that when at least one of the first clamp arm 21 and the second clamp arm 22 rotates relative to the vehicle body 10, the distance between the first laser reflector 40 changes, so that the distance between the first laser sensor 40 and the first clamp arm 21 or the second clamp arm 22 obtained by the first laser sensor 40 corresponds to the different positions of the first clamp arm 21 or the second clamp arm 22 relative to the vehicle body 10.

[0057] Specifically, the first reflective member 90 is disposed on a side of the first clamping arm 21 away from the vehicle body 10, the second reflective member 100 is disposed on a side of the second clamping arm 22 away from the vehicle body 10, and the first laser sensor 40 is disposed on a side where the vehicle body and the clamping arm assembly 20 are connected, so that the first laser sensor 40 can emit laser to the first reflective member 90 and the second reflective member 100 or receive reflected laser.

[0058] Alternatively, if Figure 2 and Figure 4 As shown, the first reflective member 90 is disposed on a side of the first clamping arm 21 close to the first laser sensor 40, and the first reflective member 90 extends in a direction parallel to the second axis a, and the second reflective member 100 is disposed on a side of the second clamping arm 22 close to the first laser sensor 40, and the second reflective member 100 extends in a direction parallel to the second axis a, so that the first laser sensor 40 is respectively arranged opposite to the first reflective member 90 and the second reflective member 100, so as to avoid interference from other parts during the process of the first laser sensor 40 emitting laser or receiving reflected laser.

[0059] In one embodiment, Figure 2 and Figure 4 As shown, the first reflector 90 and the second reflector 100 are respectively configured to be cylindrical. In other embodiments, the first reflector 90 and the second reflector 100 may also be configured to be other shapes, such as a cuboid, a flat plate, etc., which are not limited here.

[0060] Figure 6 for Figure 1 A schematic diagram of the structure of the clamping vehicle in the illustrated embodiment from another perspective.

[0061] In order to obtain the size of the cylindrical cargo 1, in some embodiments, as Figure 6As shown, the clamping vehicle further includes a second laser sensor 110 disposed on the vehicle body 10, the second laser sensor 110 is electrically connected to the controller 80, and the second laser sensor 110 is used to detect the size of the cylindrical cargo 1. The controller 80 can control the second driving member to drive at least one of the first clamping arm 21 and the second clamping arm 22 connected to the second driving member to rotate relative to the vehicle body 10 around the second axis a according to the size of the cylindrical cargo 1 fed back by the second laser sensor 110, so that the size of the clamping space is adapted to the size of the cylindrical cargo 1. In this way, by setting the second laser sensor 110 to obtain the size of the cylindrical cargo 1, there is no need to use manual measurement and other methods, thereby improving the efficiency of clamping the cylindrical cargo 1 and the degree of automation of the clamping vehicle.

[0062] Specifically, the second laser sensor 110 is disposed on a side where the vehicle body 10 is connected to the clamp arm assembly 20 .

[0063] In some embodiments, Figure 6 As shown, the second laser sensor 110 is also used to detect the position of the cylindrical cargo 1. The clamping vehicle also includes a traveling mechanism 150 connected to the vehicle body 10, and the controller 80 is electrically connected to the traveling mechanism 150. The controller 80 can control the traveling mechanism 150 to drive the clamping vehicle to move to the position of the cylindrical cargo 1 according to the position of the cylindrical cargo 1 fed back by the second laser sensor 110, and the controller 80 can also control the traveling mechanism 150 to drive the clamping vehicle to move to the cargo release position according to the preset trajectory stored in itself. In this way, the clamping vehicle can automatically move to the position of the cylindrical cargo 1 to pick up the cargo, and can automatically transport the cylindrical cargo 1 to the cargo release position after picking up the cargo.

[0064] In actual use, the controller 80 controls the traveling mechanism 150 to drive the clamping vehicle to move to the position of the cylindrical cargo 1 according to the position of the cylindrical cargo 1 fed back by the second laser sensor 110, and controls the second driving member to drive at least one of the first clamping arm 21 and the second clamping arm 22 to rotate relative to the vehicle body 10 to clamp the cylindrical cargo 1. After clamping the cylindrical cargo 1, the controller 80 controls the traveling mechanism 150 to drive the clamping vehicle to move to the cargo release position according to the preset trajectory stored in the controller 80, and controls the second driving member to drive at least one of the first clamping arm 21 and the second clamping arm 22 to rotate relative to the vehicle body 10 to release the cylindrical cargo 1 and place the cylindrical cargo 1 at the cargo release position.

[0065] In some embodiments, Figure 6 As shown, the traveling mechanism 150 includes a driving wheel 151 rotatably disposed on the vehicle body 10 , and the controller 80 is electrically connected to the driving wheel 151 . The controller 80 can control the driving wheel 151 to rotate relative to the vehicle body 10 to drive the clamping vehicle to move.

[0066] Furthermore, if Figure 6As shown, the traveling mechanism 150 further includes a plurality of sets of load-bearing wheels 152 rotatably disposed on the vehicle body 10 .

[0067] In one embodiment, Figure 6 As shown, there are three groups of load-bearing wheels 152 , and the three groups of load-bearing wheels 152 and the driving wheels 151 are respectively disposed at the four corners of the vehicle body 10 .

[0068] In some embodiments, Figure 2 As shown, the clamping vehicle also includes a camera 120 disposed on the vehicle body 10, and the camera 120 is electrically connected to the controller 80. The camera 120 is used to collect image information of the object corresponding to the position of the clamping vehicle, and the controller 80 is used to position the clamping vehicle according to the image information of the object collected by the camera 120. In this way, by setting the camera 120 to obtain image information in the environment where the clamping vehicle is located, the controller 80 can position the clamping vehicle, so that the clamping vehicle can move to the position of the cylindrical cargo 1 to clamp the cylindrical cargo 1, and after clamping the cylindrical cargo 1, the clamped cylindrical cargo 1 can be transported to the cargo release position. Compared with the traditional laser positioning method, the camera 120 has a strong anti-interference ability to interference factors such as light, and the positioning error is small, thereby improving the positioning accuracy of the clamping vehicle.

[0069] It should be noted that, in actual use, the object may be a QR code located in the cargo hold, the QR code recording position information corresponding to the posture of the clamping vehicle, and the camera 120 determines the posture of the clamping vehicle by photographing the QR code.

[0070] Figure 7 for Figure 1 A partial top view of the gripper vehicle in the illustrated embodiment.

[0071] Furthermore, if Figure 2 and Figure 7 As shown, the clamping vehicle further includes a fill light assembly 130, which is disposed around the camera 120 to provide fill light for the camera 120, thereby facilitating the camera 120 to obtain image information of the object.

[0072] In one embodiment, Figure 7 As shown, the fill light assembly 130 includes two fill light pieces 131, which are respectively connected to the vehicle body 10 and respectively located on both sides of the camera 120 to provide relatively uniform illumination to different sides of the camera 120. In other embodiments, the number and arrangement of the fill light pieces 131 may also be configured in other ways according to usage requirements, as long as they can effectively fill light for the camera 120 so that the camera 120 can accurately obtain image information of the object being photographed, and this is not limited here.

[0073] Figure 8 for Figure 1A schematic diagram of the structure of the camera and obstacle avoidance module in the illustrated embodiment.

[0074] In some embodiments, Figure 8 As shown, the clamping vehicle further includes an obstacle avoidance module 160 disposed on the vehicle body 10, the obstacle avoidance module 160 is electrically connected to the controller 80, and the obstacle avoidance module 160 is used to transmit a signal to sense an obstacle. In this way, the controller 80 can control the walking mechanism 150 to drive the clamping vehicle to avoid the obstacle according to the obstacle information fed back by the obstacle avoidance module 160.

[0075] Optionally, the obstacle avoidance module 160 may adopt an ultrasonic obstacle avoidance module to send ultrasonic signals and feed back the collected signals reflected by the obstacle to the controller 80 so that the controller 80 can obtain the distance between the obstacle and the clamping vehicle.

[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A clamping vehicle for carrying cylindrical goods, characterized in that: include: Vehicle body; A clamp arm assembly, the clamp arm assembly is used to clamp the cylindrical cargo, and the clamp arm assembly can move in a vertical direction relative to the vehicle body; a turntable rotatably connected to the vehicle body, the clamp arm assembly being disposed on the turntable and the clamp arm assembly being capable of rotating relative to the vehicle body around a first axis through the turntable to adjust the placement posture of the cylindrical cargo; and a first driving member connected to the turntable to drive the turntable to rotate relative to the vehicle body around the first axis; The clamping vehicle further includes a controller, the first driving member is electrically connected to the controller, and the controller is used to control the first driving member to drive the turntable to rotate relative to the vehicle body around the first axis; The clamp arm assembly comprises a first clamp arm and a second clamp arm, the first clamp arm and the second clamp arm are arranged on the turntable opposite to each other, the first clamp arm and the second clamp arm define a clamping space for fixing the cylindrical cargo, and at least one of the first clamp arm and the second clamp arm can rotate relative to the turntable around a second axis perpendicular to the first axis, so that the size of the clamping space is adjustable; The clamping vehicle further comprises a second driving member, which is connected to at least one of the first clamping arm and the second clamping arm to drive at least one of the first clamping arm and the second clamping arm connected to the second driving member to rotate relative to the turntable around the second axis, so that the size of the clamping space can be adjusted; The clamping vehicle further comprises a first laser sensor and a first reflector and a second reflector respectively arranged on the first clamping arm and the second clamping arm; The first laser sensor is capable of detecting a distance between the first laser sensor and the first reflector, and a distance between the first laser sensor and the second reflector; The controller can determine the distance between the first reflector and the second reflector based on the distance between the first laser sensor and the first reflector fed back by the first laser sensor, and the distance between the first laser sensor and the second reflector in combination with a preset algorithm, and can determine the size of the clamping space based on the distance between the first reflector and the second reflector in combination with another preset algorithm, and the controller can also control the second driving member to drive the first clamping arm and / or the second clamping arm to rotate around the second axis relative to the vehicle body according to the size of the clamping space to adjust the size of the clamping space.

2. The clamping vehicle according to claim 1, characterized in that: When the clamp arm assembly is in a first state, the clamp arm assembly is in a horizontal state, and when the clamp arm assembly is in a second state, the clamp arm assembly is in a vertical state; The turntable drives the clamp arm assembly to switch between the first state and the second state to adjust the placement posture of the cylindrical cargo.

3. The clamping vehicle according to claim 2, characterized in that: The clamping vehicle further comprises two in-place detection switch assemblies, and the two in-place detection switch assemblies are respectively used to detect the horizontal state and the vertical state of the clamping arm assembly.

4. The clamping vehicle according to claim 3, characterized in that: Each of the in-place detection switch assemblies comprises a first in-place detection switch disposed on the vehicle body, and a second in-place detection switch disposed on the turntable and corresponding to the first in-place detection switch; At least one of the first in-position detection switch and the second in-position detection switch is electrically connected to the controller; The controller is configured to control the first driving member to stop operating when the first in-position detection switch and the second in-position detection switch are aligned with each other.

5. The clamping vehicle according to claim 1, characterized in that: The vehicle body comprises a door frame, the door frame is connected to the vehicle body in a liftable manner, and the turntable is connected to a side of the door frame away from the vehicle body.

6. The clamping vehicle according to claim 5, characterized in that: The clamping vehicle also includes a second laser sensor arranged on the vehicle body, and the second laser sensor is used to obtain the position and size of the cylindrical cargo. The controller can determine the lifting height of the clamping arm assembly based on the detection result of the second laser sensor, thereby issuing a control instruction to control the clamping arm assembly to be lifted and lowered to a specified height in the vertical direction relative to the vehicle body.

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