A cargo pallet virtual rigid connection handling device and method

Abstract

The application discloses a kind of goods foot pad virtual rigid connection handling device and method, entire handling device is made of four handling foot pad, one handling foot pad as control end foot pad as remaining three handling foot pad, each handling foot pad includes load platform, bluetooth module, telescopic spring, bracket and power control end, the load platform is used to place the object needing to be handled;The bluetooth module is arranged in the lower portion of the load platform, for detecting the distance value between itself and other three foot pads and sending control instruction;Telescopic spring one end is fixed on load platform, the other end is fixed to bracket, for the load platform above in the process of handling object Buffering effect, prevent object from sliding and falling when handling;The bracket one end is fixed on load platform, the other end is fixed to wheel;The power control end is arranged in the side of bracket and installed on bracket, for providing direction control and forward power to wheel.

Description

Technical Field

[0001] This invention relates to the field of cargo handling pads, and particularly to a handling device and method for a virtual rigid connection of cargo handling pads. Background Technology

[0002] In handling large goods in both residential and industrial settings, the work is highly dependent on human intervention, requiring at least two people and a certain level of teamwork. Poor teamwork may result in goods tilting or slipping, posing a danger.

[0003] Currently, there are two main types of transport: trailer transport, where people use trailers to move goods, and transport using individual autonomous vehicles. Trailer transport still requires human power, so there are still many inconveniences. Although autonomous vehicles save manpower, they can only move smaller goods. For large goods, autonomous vehicles cannot adapt to the size of the goods due to the limited transport volume. In addition, accidents such as goods falling may occur during the transport process. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a handling device and method with virtual rigid connection of cargo foot pads, which has higher adaptability to the size of the objects being handled and higher safety during the handling process.

[0005] To achieve the aforementioned objectives of the invention, the technical solution adopted to solve its technical problems is as follows:

[0006] This invention discloses a handling device with virtual rigid connection of cargo foot pads. The entire handling device consists of four handling foot pads, one of which serves as the control end foot pad, and the remaining three serve as the servo end foot pads. Each handling foot pad includes a load-bearing platform, a Bluetooth module, a telescopic spring, a bracket, and a power control terminal, wherein:

[0007] The load-bearing platform is used to place objects that need to be moved.

[0008] The Bluetooth module is located at the bottom of the load-bearing platform and is used to detect the distance between itself and the other three foot pads and to send control commands.

[0009] One end of the telescopic spring is fixed to the load-bearing platform and the other end is fixed to the bracket. It is used to buffer the load-bearing platform above during the process of moving objects and prevent objects from slipping and falling during the process.

[0010] One end of the bracket is fixed to the load-bearing platform, and the other end is fixed to the wheel;

[0011] The power control terminal is located on the side of the bracket and mounted on the bracket, and is used to provide directional control and forward power to the wheels.

[0012] Furthermore, the control end foot pad also includes a main control module, which is mounted on the bracket and is used to receive distance data between the four foot pads transmitted by the Bluetooth module and issue control signals for distance adjustment.

[0013] Furthermore, the power control terminal includes a motor, a battery, and a motor drive module. The battery and the motor drive module are fixed on the bracket. The battery is a 24V battery or a battery pack. One end of the motor is fixed to the bracket, and the other end is fixed to the wheel. The motor drive module is used to receive control signals from the Bluetooth module and drive the motor to control the wheel to move forward, backward, or turn.

[0014] Furthermore, the surface of the load-bearing platform uses an anti-slip stabilizing material, which is a magnetic attraction or a rubber pad, and the magnetic attraction or rubber pad is used to apply friction to the object to be moved.

[0015] This invention also discloses a method for handling goods using a virtual rigid connection of cargo foot pads, comprising the following steps:

[0016] Step S1: Place the object to be moved on the load-bearing platform. The Bluetooth module of each foot pad detects the distance between each foot pad at this time and sends it to the main control module of the control terminal. The relative distance at this time is the initial value.

[0017] Step S2: The power control end applies control direction and forward power to the wheels, and the conveying device begins to move the object;

[0018] Step S3: After the transport device starts transporting, the Bluetooth module of each foot pad detects in real time whether the relative distance within the transport device has changed. If the distance between the foot pads changes, the main control module sends a command signal. After receiving the command signal, the power control terminal of the corresponding foot pad performs speed control to restore the relative distance to the initial state; otherwise, the transport continues.

[0019] Furthermore, in step S3, the force exerted by the transported object on the load-bearing platform is less than the maximum pressure that the load-bearing platform can withstand, the force exerted by the load-bearing platform on the telescopic spring is less than the maximum limit of the spring, and at the same time, the relative distance between the four foot pads is within the detection range of the Bluetooth module.

[0020] By employing the above technical solutions, this invention has the following advantages and positive effects compared with the prior art:

[0021] The flexible steel connecting device for cargo handling of this invention does not achieve synchronous handling by directly connecting four foot pads together. Instead, it maintains a constant relative distance within the entire handling device during the handling process. If the Bluetooth module detects a change in the distance between the foot pads, the main control module sends a command signal. Upon receiving the command signal, the Bluetooth module transmits it to the power control terminal of the corresponding foot pad for speed control, restoring the relative distance to its initial state. Otherwise, the handling continues. Each foot pad within the handling device is rigidly connected via an electric motor and collaboratively completes the handling task through chip-driven operation, achieving the same effect as a direct connection—closely synchronized movement while maintaining a constant distance between each foot pad, thus achieving synchronous handling. Compared to existing handling technologies, the handling method of this invention significantly improves adaptability to the size of the objects being handled and enhances safety during the handling process. Moreover, this handling device is simple and easy to implement, greatly reducing production and usage costs, and has profound significance for enterprises. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0023] Figure 1 This is a three-dimensional schematic diagram of the adjustment distance process of the flexible steel connection device for cargo handling according to the present invention;

[0024] Figure 2 This is a schematic diagram of the control circuit flow framework of the device of the present invention;

[0025] Figure 3 This is a three-dimensional schematic diagram of the device of the present invention;

[0026] Figure 4 This is a three-dimensional schematic diagram of the foot pad at the control end of the device of the present invention;

[0027] Figure 5 This is a three-dimensional schematic diagram of the servo end foot pad of the device of the present invention;

[0028] Figure 6 This is a front view of the control end foot pad of the device of the present invention;

[0029] Figure 7 This is a side view of the control end foot pad of the device of the present invention;

[0030] Figure 8 This is a top view of the control end foot pad of the device of the present invention;

[0031] Figure 9 This is a mechanical schematic diagram of the handling method of the device of the present invention.

[0032] [Explanation of Key Symbols]

[0033] 1-Control end foot pad; 101-Bearing platform; 102-Bracket; 103-Main control module; 104-Bluetooth module; 105-Motor drive module; 106-Battery; 107-First motor; 108-Wheel; 109-Second motor; 110-Telescopic spring; 111-Anti-slip stabilizing material; 2-Servo end foot pad; 201-Bearing platform; 202-Bracket; 203-Bluetooth module; 204-Motor drive module; 205-Battery; 206-First motor; 207-Wheel; 208-Second motor; 209-Telescopic spring; 210-Anti-slip stabilizing material. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] Example 1

[0038] See Figure 1A handling device with virtual rigid connection of cargo pads is disclosed. The handling pads are placed under each cargo support leg (usually four or more) according to the size of the object to be handled. Relying on the weight of the cargo for balance, the spacing between the pads can be adjusted to accommodate different cargo sizes. During handling, a motor drive achieves a rigid connection between the handling pads. During cargo handling, the four pads, through their respective motor drive control, maintain a constant spacing between each pad while handling the cargo, thus achieving the same stability as a direct connection between the pads.

[0039] Further, see Figure 2 The specific control circuit flow framework describes how the device uses chip control to enable the coordinated movement of the foot pads.

[0040] See Figures 3-8 This invention discloses a handling device with virtual rigid connection of cargo foot pads. The entire handling device consists of four handling foot pads, one of which serves as the control end foot pad, and the remaining three serve as the servo end foot pads. Each handling foot pad includes a load-bearing platform 101 or 201, a Bluetooth module 104 or 203, a telescopic spring 110 or 209, a bracket 102 or 202, and a power control end, wherein:

[0041] The load-bearing platform 101 or 201 is used to place objects that need to be moved.

[0042] The Bluetooth module 104 or 203 is located at the lower part of the load-bearing platform 101 or 201 and is used to detect the distance between itself (1 or 2) and the other three foot pads (2 or 1) and send control commands.

[0043] One end of the telescopic spring 110 or 209 is fixed to the load-bearing platform 101 or 201, and the other end is fixed to the bracket 102 or 202. It is used to buffer the load-bearing platform 101 or 201 above during the process of transporting objects, and prevent objects from slipping and falling during transport.

[0044] One end of the bracket 102 or 202 is fixed to the load-bearing platform 101 or 201, and the other end is fixed to the wheel 108 or 207.

[0045] The power control terminal is located on the side of the bracket 102 or 202 and mounted on the bracket 102 or 202, and is used to provide directional control and forward power to the wheels 108 or 207.

[0046] Further, see Figure 2-6Compared with the servo foot pad 2, the control end foot pad 1 has a main control module 103 installed on the support 102, in addition to the load-bearing platform 101, Bluetooth module 104, bracket 102 and power control end. This module is used to receive the distance data between the four foot pads transmitted by the Bluetooth module 104 and send control signals for distance adjustment.

[0047] Furthermore, the telescopic spring 110 or 209 is a model with a large radius and a small height, requiring the spring to have a high elastic coefficient k, and its height is guaranteed to be within the range of 10mm to 30mm. The telescopic spring 110 or 209 plays a buffering role on the load-bearing platform 101 or 201 above during the process of transporting objects, preventing objects from slipping and falling during transport.

[0048] Furthermore, the power control terminal includes a first motor 107 or 206 (a second motor 109 or 208), a battery 106 or 205, and a motor drive module 105 or 204. The battery 106 or 205 and the motor drive module 105 or 204 are fixed on the bracket 102 or 202. The battery 106 or 205 is a 24V battery or battery pack. One end of the first motor 107 or 206 (the second motor 109 or 208) is fixed to the bracket 102 or 202, and the other end is fixed to the wheel 108 or 207. The motor drive module 105 or 204 is used to receive control signals from the Bluetooth module 104 or 203, drive the first motor 107 or 206 (the second motor 109 or 208), and control the wheel 108 or 207 to move forward, backward, or turn.

[0049] Furthermore, a portion of the surface of the load-bearing platform 101 or 201 is covered with an anti-slip stabilizing material 111 or 210, which is a magnetic attraction or a rubber pad. The magnetic attraction or rubber pad is used to apply friction to the object to be moved.

[0050] Furthermore, each foot pad 1 or 2 of the conveying device can be placed arbitrarily according to the size of the object to be conveyed, and the spacing between them can be adjusted to adapt to the size of the goods. This method simplifies the process of conveying goods and reduces the difficulty of conveying. During conveying, the foot pads are prevented from stopping or detaching from the goods according to the actual situation. For this process, each foot pad in the conveying device is rigidly connected by an electric motor and collaboratively completes the conveying task through chip drive, which has the same effect as a direct connection, that is, conveying goods while maintaining a constant spacing between each foot pad.

[0051] Example 2

[0052] This invention also discloses a method for handling goods using a virtual rigid connection of cargo foot pads, comprising the following steps:

[0053] Step S1: Place the object to be moved on the load-bearing platform 101 or 201. The Bluetooth module 104 or 203 of each foot pad detects the distance value between each foot pad at this time and sends it to the main control module 103 of the control terminal. The relative distance at this time is the initial value.

[0054] Step S2: The power control end applies control direction and forward power to the wheels 108 or 207, and the conveying device begins to move the object;

[0055] Step S3: After the transport device starts transporting, the Bluetooth module 104 or 203 of each foot pad detects in real time whether the relative distance within the transport device has changed. If the distance between the foot pads changes, the main control module 103 sends a command signal. After receiving the command signal, the power control terminal of the corresponding foot pad performs speed control to restore the relative distance to the initial state; otherwise, the transport continues.

[0056] Furthermore, in step S3, the force exerted by the transported object on the load-bearing platform 101 or 201 is less than the maximum pressure that the load-bearing platform 101 or 201 can withstand, the force exerted by the load-bearing platform 101 or 201 on the telescopic spring 110 or 209 is less than the maximum limit of the spring, and at the same time, the relative distance between the four foot pads is within the detection range of the Bluetooth module 104 or 203.

[0057] See Figure 2 and Figure 9 The handling method using the above-mentioned device is as follows:

[0058] Step 1: Place the object to be moved on the load-bearing platform 101 or 201. The anti-slip stabilizing material 111 or 210 on the platform surface contacts the object to ensure sufficient friction during the moving process. The Bluetooth module 104 or 203 of each foot pad 1 or 2 detects the distance value a or b between each foot pad 1 or 2 at this time and sends it to the main control module 103 of the control terminal foot pad 1. The relative distance a or b at this time is the initial value.

[0059] Step 2: The motor drive module 105 or 204 sends a control signal to the first motor 107 or 206 (the second motor 109 or 208). The first motor 107 or 206 (the second motor 109 or 208) uses the battery 106 or 205 as power to apply control direction and forward force to the wheel 108 or 207, and the conveying device begins to move the object.

[0060] Step 3: After the transport device starts transporting, the Bluetooth module 104 or 203 of each foot pad 1 or 2 detects in real time whether the relative distance a or b within the transport device changes. Let the change be Δa or Δb. If the distance between the foot pads changes by Δa or Δb, the main control module 103 sends a command signal. After receiving the command signal, the power control terminal of the corresponding foot pad performs speed control to reduce the relative distance by Δa or Δb back to the initial state a or b. The entire recovery process does not rely on a direct connection, but uses Bluetooth technology to receive distance information and further control it, so that the four foot pads, which are physically separated, are tightly maintained at a relative distance a or b, which is a kind of interactive "rigid force" to constrain the distance between them. If the distance between the foot pads does not change by Δa or Δb, the transport continues.

[0061] Wherein, the force F exerted by the transported object on the load-bearing platform 101 or 201 is less than the maximum withstand pressure F of the load-bearing platform. max The spring has a high elastic coefficient k, and the height of the telescopic spring is guaranteed to be within the range of 10mm to 30mm. This ensures that the force applied by the load-bearing platform to the telescopic spring is less than the maximum limit of the spring within a small deformation range. At the same time, the relative distance a or b between the four feet is within the detection range of the Bluetooth module 104 or 203.

[0062] The initial relative distance a or b of the foot pads 1 or 2 of the device is generally obtained based on the object to be moved. That is, the initial relative distance a or b is determined by adapting to the volume of the object before moving it. It needs to be obtained by estimation or measurement before moving it.

[0063] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A handling device with virtual rigid connection of cargo foot pads, characterized in that, The entire handling device consists of four handling feet, one of which serves as the control foot and the remaining three as the servo feet. Each handling foot includes a load-bearing platform, a Bluetooth module, a telescopic spring, a bracket, and a power control unit. The load-bearing platform is used to place objects that need to be moved. The Bluetooth module is located at the bottom of the load-bearing platform and is used to detect the distance between itself and the other three foot pads and to send control commands. One end of the telescopic spring is fixed to the load-bearing platform and the other end is fixed to the bracket. It is used to buffer the load-bearing platform above during the process of moving objects and prevent objects from slipping and falling during the process. One end of the bracket is fixed to the load-bearing platform, and the other end is fixed to the wheel; The power control terminal is located on the side of the bracket and mounted on the bracket, and is used to provide directional control and forward power to the wheels; The control terminal foot pad also includes a main control module, which is mounted on the bracket and is used to receive distance data between the four foot pads transmitted by the Bluetooth module and send control signals for distance adjustment. The power control unit includes a motor, a battery, and a motor drive module. The battery and the motor drive module are fixed on the bracket. The battery is a 24V battery or a battery pack. One end of the motor is fixed to the bracket, and the other end is fixed to the wheel. The motor drive module is used to receive control signals sent by the Bluetooth module and drive the motor to control the wheel to move forward, backward, or turn. The surface of the load-bearing platform is made of an anti-slip and stabilizing material, which is either a magnetic attraction or a rubber pad. The magnetic attraction or rubber pad is used to apply friction to the object to be moved.

2. A method for handling goods with virtual rigid connections for foot pads, characterized in that, The method of transporting using the transport device according to claim 1 includes the following steps: Step S1: Place the object to be moved on the load-bearing platform. The Bluetooth module of each foot pad detects the distance between each foot pad at this time and sends it to the main control module of the control terminal. The relative distance at this time is the initial value. Step S2: The power control end applies control direction and forward power to the wheels, and the conveying device begins to move the object; Step S3: After the transport device starts transporting, the Bluetooth module of each foot pad detects in real time whether the relative distance within the transport device has changed. If the distance between the foot pads changes, the main control module sends a command signal. After receiving the command signal, the power control terminal of the corresponding foot pad performs speed control to restore the relative distance to the initial state; otherwise, the transport continues.

3. The handling method for a virtual rigid connection of cargo foot pads according to claim 2, characterized in that, In step S3, the force exerted by the transported object on the load-bearing platform is less than the maximum pressure that the load-bearing platform can withstand, the force exerted by the load-bearing platform on the telescopic spring is less than the maximum limit of the spring, and at the same time, the relative distance between the four foot pads is within the detection range of the Bluetooth module.

Images