Intelligent carrying device with visual identification function

Abstract

The application discloses an intelligent carrying device with visual identification function, which comprises a temporary stabilizing mechanism arranged on side moving plates and core plates, the temporary stabilizing mechanism comprises a plurality of suction cup grooves, a first electric sliding block and a suction cup arranged on the first electric sliding block are slidably arranged in each suction cup groove, and each suction cup is communicated with a gas pump through a gas pipe; the temporary stabilizing mechanism further comprises lifting plates, stabilizing grooves arranged on the side moving plates, sliding rails arranged on the two sides of each stabilizing groove, second electric sliding blocks in sliding connection with the sliding rails, a first motor for driving the lifting plates to move up and down, the first motor is arranged on the second electric sliding blocks, two first distance sensors are fixedly arranged on the two sides of each lifting plate, a pressure sensor is fixedly arranged on the top surface of each lifting plate, and intelligent visual components are further arranged below the side moving plates, so that the problem that objects on the existing carrying trolley cannot be stably carried and are prone to falling due to unbalanced stress is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of carrying device, especially to a smart carrying device with visual recognition function. BACKGROUND

[0002] The carrying device is a device for carrying an object from one place to another, which is commonly used in construction site, wharf, truck unloading and equipment assembly factory. It should be pointed out that the equipment assembly factory has the following characteristics: it is not suitable for planning ground laying magnetic strip AGV; the objects used in assembly are usually placed in several warehouses, which are usually distributed on different floors. Therefore, the object carrying in the equipment assembly factory is usually manually carried by workers, which has certain risk in the carrying process, i.e. the object is easy to be bumped or worn during carrying. Moreover, the manual carrying is low in efficiency due to fatigue and other factors.

[0003] In view of the above problems, some assembly factories develop a carrying device, but the existing carrying device needs to support both sides of the object to push and carry, so as to ensure the balance and stability of the object on the carrying vehicle and avoid the risk of falling of the object from the carrying vehicle. However, due to the different shapes, specifications and surface smoothness of the objects, such as relatively smooth or relatively large objects, the object may fall when passing through a narrow passage or door frame due to unstable force. SUMMARY

[0004] In order to overcome at least one of the defects of the prior art, the present application provides a smart carrying device with visual recognition function, which solves the problem that the object on the existing carrying trolley cannot be stabilized and is easy to fall due to unbalanced force.

[0005] The technical scheme adopted by the present application to solve the problem is:

[0006] A smart carrying device with visual recognition function, comprising a temporary stabilizing mechanism arranged on a side moving plate and a core plate, the temporary stabilizing mechanism being used to stabilize the object according to its structure under a preset condition;

[0007] The temporary stabilizing mechanism comprises a plurality of suction cup grooves arranged uniformly on the side moving plate, a first electric sliding block is slidably arranged in each suction cup groove, a suction cup is arranged on each first electric sliding block, each suction cup is in communication with one end of an air pipe, the other end of the air pipe passes through the first electric sliding block, the side moving plate, the core plate and is in communication with an air pump below the side moving plate;

[0008] The temporary stabilizing mechanism further comprises lifting plates, stabilizing grooves arranged on the side moving plates, sliding rails arranged on both sides of each stabilizing groove, second electric sliding blocks in sliding connection with the sliding rails, a first motor for driving the lifting plates to move up and down, the first motor being arranged on the second electric sliding block, two first distance sensors fixed on both sides of each lifting plate, and a pressure sensor fixed on the top surface of each lifting plate, and a smart vision component arranged below the side moving plates.

[0009] Further, the smart carrying device with visual recognition function further comprises a clamping mechanism arranged on the side moving plates and the core plate, and the clamping mechanism comprises clamping plates, second motors, receiving grooves arranged between the side moving plates and the core plate, and first electric telescopic rods arranged in the receiving grooves.

[0010] The fixed end of each first electric telescopic rod is in fixed connection with the core plate, each core plate is connected with the clamping plate through the second motor, each clamping plate is in the receiving groove in the initial state, a second distance sensor is fixed on each clamping plate, a second electric telescopic rod is arranged below each side moving plate, the fixed end of each second electric telescopic rod is in fixed connection with the corresponding side moving plate, a third motor is fixed on the telescopic end of each second electric telescopic rod, the motor shaft of each third motor is in fixed connection with the corresponding fan-shaped clamping plate, and a third distance sensor is fixed on one side of each fan-shaped clamping plate.

[0011] Further, two motors are fixed on the two sides of the core plate close to the side moving plates, the motor shaft of each motor is in fixed connection with a second screw rod, each second screw rod is in screw transmission with the side moving plate on one side thereof, and two second limit rods are fixed on the two sides of the core plate and in sliding connection with the side moving plates.

[0012] Further, the core plate is in fixed connection with the motor shaft of a fourth motor, the fourth motor is in fixed connection with an air pump, the fourth motor is fixed on a connecting plate, and the connecting plate is in fixed connection with a fixed plate through a lifting module.

[0013] Further, the lifting module comprises a fifth motor and a plurality of hingedly connected connecting rods, the motor shaft of the fifth motor is in fixed connection with one of the connecting rods, and the fixed plate is in fixed connection with a fixed connecting rod.

[0014] Further, the fixed connecting rod is fixed with an arc-shaped sliding block away from the fixed plate, the arc-shaped sliding block is slidingly arranged in the corresponding arc-shaped sliding groove, the arc-shaped sliding groove is fixedly connected with the corresponding bottom plate, the other side of the arc-shaped sliding block is fixedly connected with the telescopic end of the hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is hingedly connected with the third electric sliding block, the third electric sliding block is slidingly arranged in the second sliding groove, the second sliding groove is arranged in the inclined space arranged on the bottom plate, the fixed end of the hydraulic telescopic rod is also fixedly connected with the hose, the other end of the hose is fixedly connected with the oil cylinder, the oil cylinder is fixedly connected with the inclined space, the oil cylinder is provided with an oil pump, and the intelligent visual component is fixedly arranged on the bottom plate.

[0015] Further, the side moving plate and the core plate are uniformly provided with a first slot on one side, each first slot is fixedly provided with a first cylinder, each side moving plate and the core plate are uniformly provided with a second slot away from the side provided with the first slot, each second slot is uniformly rotatably provided with a wire wheel, and each wire wheel and the second slot are fixedly connected through a torsion spring.

[0016] Further, each wire wheel is wound with a rope, the other end of each rope is fixedly connected with a hook, each second slot is provided with a second cylinder, and each hook can be matched with the second cylinder and the first cylinder.

[0017] Further, the bottom plate is arranged below the side moving plate, the bottom plate is uniformly provided with wheels below, and the bottom plate is further provided with a control terminal below.

[0018] Further, the motor shaft of each first motor is fixedly connected with a first screw rod, each first screw rod is screwingly connected with the lifting plate arranged on the second electric sliding block, each second electric sliding block is further fixedly provided with a first limiting rod, and each first limiting rod is slidingly connected with the corresponding lifting plate.

[0019] In summary, the intelligent carrying device with visual identification function has the following technical effects:

[0020] The present application sets up a temporary stabilizing mechanism, in the case that the normal clamping mechanism is limited by the door frame or is in a narrow lane such as a porch, the left and right clamping mechanisms will be blocked by the door frame or will scratch the two sides of the wall, causing certain influence, at this time, the user needs to drive different stabilizing methods according to the type of the carried object, if the carried object is a surface smooth electric cabinet box, acrylic door plate and the like, the suction cup slider can be driven to lift, so that the suction cup extrudes the surface of the object, and the cooperation of the air pump enables the suction cup to be stably adsorbed on the surface of the object, thereby realizing a temporary stabilizing effect when passing through a narrow lane, and without the interference of serious external force, the object will not fall and cause bumping, if the carried object is a truss structure, the lifting fixing block needs to be started, the position is selected according to the shape of the truss structure object, and the cross beam in the truss structure object is clamped or pulled outwards, so as to keep the stability of the force and keep the temporary stability of the truss structure object, and the intelligent vision component is fixed on one side of the chassis, the intelligent vision component identifies the object through vision and transmits it to the control terminal, so that the chassis carrying the object can effectively avoid the obstacles on the driving road, prevent the chassis from being hit, thereby preventing the object from being damaged, and when encountering pedestrians, the control terminal is driven to make the chassis move and automatically stop. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the first structure diagram of the intelligent carrying device with visual recognition function of the present application.

[0022] Figure 2 It is the second structure diagram of the intelligent carrying device with visual recognition function of the present application.

[0023] Figure 3 It is the third structure diagram of the intelligent carrying device with visual recognition function of the present application.

[0024] Figure 4 It is the fourth structure diagram of the intelligent carrying device with visual recognition function of the present application.

[0025] Figure 5 It is the fifth structure diagram of the intelligent carrying device with visual recognition function of the present application.

[0026] Figure 6 It is Figure 5 It is the local enlarged schematic view of A in the figure.

[0027] Figure 7 It is Figure 5 It is the local enlarged schematic view of B in the figure.

[0028] Figure 8 It is Figure 5 It is the local enlarged schematic view of C in the figure.

[0029] Figure 9The sixth structural diagram of the intelligent carrying device with visual recognition function of the application;

[0030] Figure 10 For Figure 9 The local enlarged schematic view at D in the middle;

[0031] Figure 11 The seventh structural diagram of the intelligent carrying device with visual recognition function of the application;

[0032] Figure 12 For Figure 11 The local enlarged schematic view at E in the middle;

[0033] Figure 13 For Figure 11 The local enlarged schematic view at F in the middle.

[0034] Icon: 11 - chassis, 12 - wheel, 13 - control terminal, 14 - fan-shaped clamping plate, 15 - No. 3 distance sensor, 16 - side moving plate, 17 - core plate, 18 - suction cup, 19 - No. 1 slot, 20 - No. 1 cylinder, 21 - stabilizing groove, 22 - No. 2 electric sliding block, 23 - slide rail, 24 - lifting plate, 25 - clamping plate, 26 - No. 2 distance sensor, 27 - No. 1 electric telescopic rod, 28 - No. 2 motor, 29 - fixed plate, 30 - lifting module, 31 - hydraulic telescopic rod, 32 - arc-shaped sliding groove, 33 - arc-shaped sliding block, 34 - fixed connecting rod, 35 - air pump, 36 - air pipe, 37 - No. 4 motor, 38 - No. 2 slot, 39 - storage slot, 40 - No. 2 screw rod, 41 - No. 2 limiting rod, 42 - connecting plate, 43 - inclined space, 44 - No. 2 sliding groove, 45 - No. 3 electric sliding block, 46 - oil cylinder, 47 - hose, 48 - No. 1 distance sensor, 49 - pressure sensor, 51 - No. 1 screw rod, 52 - No. 1 electric sliding block, 53 - suction cup slot, 54 - No. 2 electric telescopic rod, 55 - No. 3 motor, 56 - connecting rod, 57 - No. 1 sliding groove, 58 - fixed block, 59 - No. 5 motor, 60 - No. 2 cylinder, 61 - clamping hook, 62 - rope belt, 63 - wire wheel, 64 - torsion spring, 65 - No. 1 motor, 66 - intelligent visual component, 71 - temporary stabilizing mechanism, 72 - clamping mechanism. DETAILED DESCRIPTION

[0035] In order to better understand and implement, the technical solutions in the embodiments of the application will be clearly and completely described below in combination with the drawings in the embodiments of the application.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application herein is only for the purpose of describing specific embodiments and is not intended to limit the present application.

[0038] Specifically, please refer to Figure 1 , Figure 3 , Figure 5 , Figure 7 and Figure 11 It is disclosed that a kind of intelligent handling device with visual identification function, including the temporary stabilizing mechanism 71 being arranged in side moving plate 16, core plate 17, temporary stabilizing mechanism 71 is used to be according to the structure of article in the preset condition with firm the article;

[0039] Temporary stabilizing mechanism 71 includes several suction cup grooves 53 evenly arranged in side moving plate 16, core plate 17, each suction cup groove 53 is slidably provided with a first electric sliding block 52, a suction cup 18 is fixedly arranged on each first electric sliding block 52, the suction cup 18 is used to adsorb the article such as electric cabinet box, acrylic door plate with relatively smooth surface, each suction cup 18 is connected with one end of air pipe 36, the other end of air pipe 36 passes through first electric sliding block 52, side moving plate 16, core plate 17 and is connected with the air pump 35 fixedly arranged below side moving plate 16.

[0040] In addition, specifically please refer to Figure 5 , Figure 6 and Figure 13As shown, the temporary stabilizing mechanism 71 further comprises a stabilizing groove 21 provided on each side moving plate 16, two slide rails 23 provided on both sides of each stabilizing groove 21, a second electric sliding block 22 slidingly provided in each slide rail 23, a first motor 65 fixedly provided on each second electric sliding block 22, a first screw rod 51 fixedly connected with the motor shaft of each first motor 65, a lifting plate 24 screwingly driven by the first screw rod 51 provided on each second electric sliding block 22, a first limiting rod 50 fixedly provided on each second electric sliding block 22, the first limiting rod 50 slidingly connected with the corresponding lifting plate 24, two first distance sensors 48 fixedly provided on both sides of each lifting plate 24, each first distance sensor 48 used for detecting the position of the beam of the truss structure, and a pressure sensor 49 fixedly provided on the top surface of each lifting plate 24, a smart vision component 66 provided below the side moving plate 16, the smart vision component 66 used for intelligently identifying different images and making corresponding actions, and each pressure sensor 49 used for detecting whether the lifting plate 24 is in contact with the bottom of the truss structure (the contact surface with the side moving plate 16 and the core plate 17).

[0041] As one of the preferred solutions, in particular in combination with Figure 1 、 Figure 3 、 Figure 5 and Figure 11 As shown, the temporary stabilizing mechanism 71 further comprises a stabilizing groove 21 provided on each side moving plate 16, two slide rails 23 provided on both sides of each stabilizing groove 21, a second electric sliding block 22 slidingly provided in each slide rail 23, a first motor 65 fixedly provided on each second electric sliding block 22, a first screw rod 51 fixedly connected with the motor shaft of each first motor 65, a lifting plate 24 screwingly driven by the first screw rod 51 provided on each second electric sliding block 22, a first limiting rod 50 fixedly provided on each second electric sliding block 22, the first limiting rod 50 slidingly connected with the corresponding lifting plate 24, two first distance sensors 48 fixedly provided on both sides of each lifting plate 24, each first distance sensor 48 used for detecting the position of the beam of the truss structure, and a pressure sensor 49 fixedly provided on the top surface of each lifting plate 24, a smart vision component 66 provided below the side moving plate 16, the smart vision component 66 used for intelligently identifying different images and making corresponding actions, and each pressure sensor 49 used for detecting whether the lifting plate 24 is in contact with the bottom of the truss structure (the contact surface with the side moving plate 16 and the core plate 17).

[0042] As one of the preferred solutions, in particular in combination with Figure 1 、 Figure 3 、 Figure 5 and Figure 11 As shown, the temporary stabilizing mechanism 71 further comprises a stabilizing groove 21 provided on each side moving plate 16, two slide rails 23 provided on both sides of each stabilizing groove 21, a second electric sliding block 22 slidingly provided in each slide rail 23, a first motor 65 fixedly provided on each second electric sliding block 22, a first screw rod 51 fixedly connected with the motor shaft of each first motor 65, a lifting plate 24 screwingly driven by the first screw rod 51 provided on each second electric sliding block 22, a first limiting rod 50 fixedly provided on each second electric sliding block 22, the first limiting rod 50 slidingly connected with the corresponding lifting plate 24, two first distance sensors 48 fixedly provided on both sides of each lifting plate 24, each first distance sensor 48 used for detecting the position of the beam of the truss structure, and a pressure sensor 49 fixedly provided on the top surface of each lifting plate 24, a smart vision component 66 provided below the side moving plate 16, the smart vision component 66 used for intelligently identifying different images and making corresponding actions, and each pressure sensor 49 used for detecting whether the lifting plate 24 is in contact with the bottom of the truss structure (the contact surface with the side moving plate 16 and the core plate 17).

[0043] As one of the preferred solutions, in particular in combination withFigure 3 and Figure 4 As shown in FIGS. 17 and 18, two motors are fixed on the two sides of the core plate 17 which are close to the side moving plates 16, the motor shaft of each motor is fixedly connected with the second screw rod 40, each second screw rod 40 is in screw transmission with the side moving plate 16 on the side thereof, and the two sides of the core plate 17 are also fixedly provided with the second limiting rods 41, each second limiting rod 41 is in sliding connection with the side moving plate 16, so as to facilitate the outward stretching of the core plate 17, expand the support area of the foundation, and make the object being carried more stable.

[0044] As one of the preferred solutions, in combination with Figure 1 , Figure 2 , Figure 9 and Figure 10 As shown in FIGS. 17 and 18, the core plate 17 is fixedly connected with the motor shaft of the fourth motor 37, the fourth motor 37 is fixedly connected with the air pump 35, and the fourth motor 37 is fixedly arranged on the connecting plate 42, and the connecting plate 42 is fixedly connected with the fixed plate 29 through the lifting module 30.

[0045] Further, according to Figure 10 As shown in FIGS. 17 and 18, the lifting module 30 comprises the fifth motor 59 and a plurality of hingedly connected connecting rods 56, wherein the connecting rods 56 comprise a plurality of first connecting rods which are uniformly arranged from the fixed plate 29 to the connecting plate 42 and a plurality of second connecting rods which are staggered with the first connecting rods, and the two ends of each second connecting rod are connected with the ends of two adjacent first connecting rods in a head-to-tail manner through the fixed blocks 58, so as to achieve the purpose of hingedly connecting the connecting rods 56.

[0046] Further, the first connecting rods close to the fixed plate 29 are connected with the fixed plate 29 through the fixed blocks 58, the first connecting rods close to the connecting plate 42 are connected with the connecting plate 42 through the fixed blocks 58, and the fixed plate 29 and the connecting plate 42 are both provided with the first sliding grooves 57, the fixed block 58 connected with the connecting plate 42 is in sliding cooperation with the first sliding groove 57 on the connecting plate 42, and the fixed block 58 connected with the fixed plate 29 is in sliding cooperation with the first sliding groove 57 on the fixed plate 29. In addition, the fixed block 58 connected with the fixed plate 29 is also provided with the fifth motor 59, the motor shaft of the fifth motor 59 is fixedly connected with one end of one of the connecting rods 56, and the fixed plate 29 is fixedly connected with the fixed connecting rod 34.

[0047] As one of the preferred solutions, in combination with Figure 2 and Figure 3As shown, each fixed connecting rod 34 is fixed with an arc-shaped sliding block 33 on the side away from the fixed plate 29, each arc-shaped sliding block 33 is slidingly arranged in the corresponding arc-shaped sliding groove 32, each arc-shaped sliding groove 32 is fixedly connected with the corresponding chassis 11, the other side of each arc-shaped sliding block 33 is fixedly connected with the telescopic end of the hydraulic telescopic rod 31, the fixed end of each hydraulic telescopic rod 31 is hingedly connected with the third electric sliding block 45, each third electric sliding block 45 is slidingly arranged in the second sliding groove 44, each second sliding groove 44 is arranged in the inclined space 43 provided on the chassis 11, the fixed end of the hydraulic telescopic rod 31 is also fixedly communicated with the hose 47, the other end of each hose 47 is fixedly connected with the oil cylinder 46, the oil cylinder 46 is fixedly connected with the inclined space 43, the oil cylinder 46 is provided with an oil pump for outputting oil, and the intelligent visual component 66 is fixedly arranged on the chassis 11.

[0048] As one of the preferred solutions, in particular in combination with Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 11 and Figure 12 , one side of each of the side moving plate 16 and the core plate 17 is uniformly provided with a first slot 19, each first slot 19 is fixedly provided with a first cylinder 20, each side moving plate 16 and the core plate 17 away from the side provided with the first slot 19 is uniformly provided with a second slot 38, each second slot 38 is uniformly rotatably provided with a wire wheel 63, each wire wheel 63 and the second slot 38 are fixedly connected through a torsion spring 64, each wire wheel 63 is wound with a rope 62, the other end of each rope 62 is fixedly connected with a hook 61, each second slot 38 is provided with a second cylinder 60, and each hook 61 can cooperate with the second cylinder 60 and the first cylinder 20 to complete the fixation.

[0049] Further, in particular in combination with Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 9 and Figure 11 , the chassis 11 is arranged below the side moving plate 16, and the chassis 11 is uniformly provided with wheels 12 below, which are used to enable the intelligent carrying device to normally travel, one of the wheels 12 is controlled by a motor to freely move the chassis 11, and the chassis 11 is further provided with a control terminal 13 below, which is used to control all motors, electric sliding blocks and sensors.

[0050] In combination with the above structure and connection relationship, the use method of the intelligent carrying device with visual recognition function is as follows:

[0051] Initial state: each suction cup 18 does not exceed the surface of the side moving plate 16 and the core plate 17, the second electric sliding block 22 is located at the center of the sliding rail 23, the lifting plate 24 is attached to the second electric sliding block 22, each first electric telescopic rod 27 is in a retracted state, the clamping plate 25 is retracted into the storage slot 39, the lifting module 30 is in a retracted state, the side moving plate 16 and the core plate 17 are parallel to the bottom plate 11, the third electric sliding block 45 is at the center of the second sliding slot 44, the hydraulic telescopic rod 31 is in a retracted state, the arc-shaped sliding block 33 is at the center of the arc-shaped sliding slot 32, the second electric telescopic rod 54 is in a retracted state, the torsion spring 64 is in a compressed state, the rope belt 62 is in a straightened state, the clamping hook 61 is buckled on the second cylinder 60, and before use, the user needs to determine whether the object to be carried is a truss structure at the control terminal 13, and if it is a truss structure, the user needs to press the independent button at the control terminal 13 in advance.

[0052] When the present application needs to be used, before the object is carried to the side moving plate 16 and the core plate 17, the user needs to first drive the second motor 28 through the control terminal 13, and the second motor 28 drives the clamping plate 25 to rotate, so as to rotate the clamping plate 25 out of the storage slot 39, and further drive the first electric telescopic rod 27 and the second electric telescopic rod 54 to extend, until the first electric telescopic rod 27 and the second electric telescopic rod 54 are in a fully extended state, so as to facilitate subsequent object fixation, after the first electric telescopic rod 27 and the second electric telescopic rod 54 are fully extended, the user needs to drive the motor in the core plate 17 through the control terminal 13 in advance, so that the motor shaft drives the second screw rod 40 to rotate, so that the side moving plate 16 extends to both sides along the center line direction of the second screw rod 40, and the extension distance is controlled by the user according to the shape size of the object to be carried, so as to improve the support of the object and make the whole more stable, after the adjustment is completed, the user can carry the object to be carried to the side moving plate 16 and the core plate 17, if the object is a cabinet, an acrylic door plate or the like, the user needs to lay down the object, and the back or side surface (as the case may be) of the object is attached to the side moving plate 16 and the core plate 17, and the long and short edges of the object are placed corresponding to the long and short edges of the whole side moving plate 16 and the core plate 17, if it is a truss structure object, the large side of the truss structure object also needs to be placed on the side moving plate 16 and the core plate 17, so that they are attached, and the long and short edges also need to be placed corresponding to the long and short edges of the whole side moving plate 16 and the core plate 17, and the length and width of the truss structure object will be greater than the overall size of the side moving plate 16 and the core plate 17.

[0053] After the object is confirmed to be placed stably, the user needs to drive the third motor 55 to start through the control terminal 13. After the third motor 55 starts, the motor shaft will drive the fan-shaped clamping plate 14 to rotate, so that the wide surface of the fan-shaped clamping plate 14 faces upward. At the same time, the first electric telescopic rod 27 and the second electric telescopic rod 54 are driven to retract through the control terminal 13, until the clamping plate 25 and the fan-shaped clamping plate 14 clamp the object.

[0054] After the user determines that the object is clamped stably, the user can stop the continuous retraction of the first electric telescopic rod 27 and the second electric telescopic rod 54 through the control terminal 13, so as to ensure that the object is clamped stably and does not cause damage to the surface. At the same time, the user can manually pull the hook 61, so that the hook 61 is no longer buckled with the second cylinder 60, and drives the hook 61 to move to the other side of the first slot 19 on the surface of the object. The rope 62 is pulled out, and the torsion spring 64 is deformed. When the hook 61 is pulled to the first slot 19, the user manually buckles the hook 61 to the first cylinder 20, so as to ensure that the hook 61 is stably buckled, and the purpose of further stabilizing the object is achieved.

[0055] After the object is fixed, the user can drive the intelligent carrying device to move through the control terminal 13. During the movement of the intelligent carrying device, the intelligent vision component 66 will be activated under the driving of the user to visually identify the front. When it is identified that there is an obstacle in front that can affect the intelligent carrying device, it will automatically avoid to the side to pass through the obstacle, so as to prevent the obstacle from affecting the movement of the intelligent carrying device. If the intelligent vision component 66 finds that there is a pedestrian in front, it will feed back to the control terminal 13, and the intelligent carrying device will automatically stop through the control terminal 13, so as to avoid the risk of collision with the pedestrian. After the pedestrian walks out of the detection range of the intelligent vision component 66, the intelligent carrying device will automatically start again to drive the intelligent carrying device to continue driving.

[0056] If the intelligent carrying device carries the object to ride the elevator, the user needs to drive the motor shaft of the fourth motor 37 through the control terminal 13 to rotate the core plate 17, and the rotation of the core plate 17 will drive the side moving plate 16 to rotate, thereby driving the clamped object to move together. Meanwhile, the fifth motor 59 is driven under the action of the control terminal 13, the motor shaft of the fifth motor 59 drives the connecting rod 56 to rotate, so that part of the fixed block 58 slides in the first sliding groove 57, so that the lifting module 30 is stretched, thereby lifting the connecting plate 42, and further lifting the side moving plate 16, the core plate 17 and the object. At the same time, the user needs to actively select the inclined side direction, and controls the third electric sliding block 45 to slide to one side through the control terminal 13, so that the hydraulic telescopic rod 31 is inclined, and the oil pump in the oil cylinder 46 is driven through the control terminal 13, so that the oil in the oil cylinder 46 is injected into the hydraulic telescopic rod 31 through the hose 47, so that the hydraulic telescopic rod 31 is stretched, thereby driving the arc-shaped sliding block 33 to slide on the arc-shaped sliding groove 32, so that the core plate 17, the side moving plate 16 and the object are arranged in an inclined manner, achieving the purpose of the intelligent carrying device and the object entering the freight elevator. The inclination angle can be controlled through the control terminal 13. After the user ends the ride with the object, the oil in the hydraulic telescopic rod 31 can be pumped back through the oil pump in the oil cylinder 46 through the control terminal 13, so that the hydraulic telescopic rod 31 is reset, thereby driving the side moving plate 16 and the core plate 17 to reset to a non-inclined state, and the side moving plate 16 and the core plate 17 are rotated and reset through the control terminal 13, and the lifting module 30 is further driven to reset through the fifth motor 59, thereby facilitating the next use.

[0057] If the intelligent carrying device carrying the object reaches the door of the assembly workshop, when the width of the object is small, the intelligent carrying device can enter normally in the clamped state, and when the width of the object is large (i.e. the width of the object is not greater than the width of the door frame), the intelligent carrying device continues to carry the object into the door frame, the third distance sensor 15 located at the most front side will detect the position of the door frame and send a signal to the control terminal 13, and the control terminal 13 will send a control instruction to drive the third motor 55 after receiving the signal, to drive the sector-shaped clamping plate 14 to rotate until the sector-shaped clamping plate 14 no longer clamps the object, and the control terminal 13 further drives the second electric telescopic rod 54 on the side to retract by a width of the sector-shaped clamping plate 14, so that the width of the side is smaller than the width of the object, thereby ensuring that the intelligent carrying device continues to pass through the door frame.

[0058] When the intelligent carrying device passes through the door frame, the second distance sensor 26 will detect the door frame and send a signal to the control terminal 13. After receiving the signal, the control terminal 13 will drive the second motor 28 to rotate the clamping plate 25, so that the clamping plate 25 no longer clamps the object, and the control terminal 13 further drives the first electric telescopic rod 27 to retract to less than the width of the object. The fan-shaped clamping plate 14 on the other side is driven in the same way as the previous fan-shaped clamping plate 14, and the first third distance sensor 15 detects the door frame.

[0059] It should be noted that the control terminal 13 can drive different modules in combination with the judgment of whether the object is a truss structure. If the object is not a truss structure, it will be defaulted as an electrical cabinet box, an acrylic door plate, and other smooth-surfaced objects. At this time, the control terminal 13 will drive the first electric telescopic rod 27 to rise a certain distance when the first third distance sensor 15 detects the door frame, so that the suction cup 18 extrudes the surface of the object, and further drives the air pump 35. After the air pump 35 is driven, it will suck out the air between the suction cup 18 and the inside of the object, so that the suction cup 18 is more stable and adsorbed on the object, so that the object will not easily shake and fall under the action of external force after the clamping mechanism 72 stops working, ensuring that the intelligent carrying device and the object pass through the narrow road, the entrance and the door frame more stably.

[0060] When the object being carried is a truss structure, the suction cup 18 will not start, and when the first third distance sensor 15 detects the door frame, the control terminal 13 will drive the first motor 65, so that the first motor shaft drives the first screw rod 51 to rotate, thereby driving the lifting plate 24 to rise. At this time, if the outer part of the truss structure object is wrapped with a stretch film as a barrier, the stretch film will be deformed by the lifting plate 24 due to its certain toughness until the pressure sensor 49 reaches a certain pressure and sends a signal to the control terminal 13, so that the control terminal 13 stops driving the first motor 65, and the lifting plate 24 stops rising. If the outer part of the truss structure object is not wrapped with a stretch film, the first motor 65 will stop after the lifting plate 24 rises to a certain height.

[0061] In addition, the first distance sensor 48 on the lifting plate 24 can detect the crossbeam at the bottom of the truss object, and the sofa has a plurality of supports at the bottom for stabilizing the overall frame, and the number of supports depends on the length of the truss object. The first distance sensor 48 will detect the nearest supports on both sides of the lifting plate 24 and send signals to the control terminal 13, and the second electric sliding block 22 is driven by the control terminal 13 to move, so that the lifting plate 24 clamps or exerts force on the crossbeam at the bottom of the truss object, thereby keeping the truss object stable, so that the intelligent carrying device and the carried object can stably pass through the narrow passage, the entrance, and the door frame. If it is necessary to continue to move after passing through these scenes, the user needs to drive the suction cup 18 and the lifting plate 24 to reset through the control terminal 13, so that the object is no longer temporarily stabilized, and at the same time, the clamping mechanism 72 is driven to reset, so that the sector-shaped clamping plate 14 and the clamping plate 25 clamp the object, facilitating continuous movement, until the intelligent carrying device and the object reach the designated location.

[0062] After reaching the designated location, the user drives the clamping mechanism 72 to retract through the control terminal 13, manually removes the catch 61, so that it is no longer buckled with the first cylinder 20, and buckles back to the second cylinder 60. The rope belt 62 is automatically retracted into the wire wheel 63 under the action of the torsion spring 64, so as to facilitate the next use. At this time, the user can unload the object from the intelligent carrying device.

[0063] The technical means disclosed in the present application scheme is not limited to the technical means disclosed in the above-mentioned embodiments, but also includes the technical solutions composed of any combination of the above technical features. It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements are also considered to be within the scope of protection of the present application.

Claims

1. A smart carrying device with visual recognition function, comprising a temporary stabilizing mechanism (71) arranged on a side moving plate (16) and a core plate (17), characterized in that: The temporary stabilizing mechanism (71) is used to stabilize the object under preset conditions according to the structure of the object; The temporary stabilizing mechanism (71) comprises a plurality of suction cup grooves (53) uniformly arranged on the side moving plate (16), each of the suction cup grooves (53) is slidably provided with a first electric sliding block (52), each of the first electric sliding blocks (52) is provided with a suction cup (18), each of the suction cups (18) is connected with one end of an air pipe (36), the other end of the air pipe (36) penetrates through the first electric sliding block (52), the side moving plate (16), the core plate (17) and is connected with an air pump (35) below the side moving plate (16); The temporary stabilizing mechanism (71) further comprises a lifting plate (24), a stabilizing groove (21) arranged on the side moving plate (16), a sliding rail (23) arranged on both sides of each of the stabilizing grooves (21), a second electric sliding block (22) in sliding connection with the sliding rail (23), a first motor (65) for driving the lifting plate (24) to move up and down, the first motor (65) is arranged on the second electric sliding block (22), and two first distance sensors (48) are fixedly arranged on both sides of each of the lifting plates (24), a pressure sensor (49) is fixedly arranged on the top surface of each of the lifting plates (24), and an intelligent vision component (66) is further arranged below the side moving plate (16); The core plate (17) is fixedly connected with a motor shaft of a fourth motor (37), the fourth motor (37) is fixedly connected with the air pump (35), the fourth motor (37) is fixedly arranged on a connecting plate (42), and the connecting plate (42) is fixedly connected with a fixed plate (29) through a lifting module (30); The fixed plate (29) is fixedly connected with a fixed connecting rod (34), each of the fixed connecting rods (34) is fixedly provided with an arc-shaped sliding block (33) away from the fixed plate (29), each of the arc-shaped sliding blocks (33) is slidably arranged in an arc-shaped sliding groove (32) corresponding thereto, each of the arc-shaped sliding grooves (32) is fixedly connected with a corresponding bottom plate (11), the other side of each of the arc-shaped sliding blocks (33) is fixedly connected with a telescopic end of a hydraulic telescopic rod (31), the fixed end of each of the hydraulic telescopic rods (31) is hingedly connected with a third electric sliding block (45), each of the third electric sliding blocks (45) is slidably arranged in a second sliding groove (44), each of the second sliding grooves (44) is arranged in an inclined space (43) provided on the bottom plate (11), the fixed end of the hydraulic telescopic rod (31) is also fixedly connected with a hose (47), the other end of each of the hoses (47) is fixedly connected with a hydraulic cylinder (46), the hydraulic cylinder (46) is fixedly connected with the inclined space (43), the hydraulic cylinder (46) is provided with an oil pump, and the intelligent vision component (66) is fixedly arranged on the bottom plate (11). 2.The intelligent carrying device with visual identification function according to claim 1, characterized in that: Also include clamping mechanism (72), clamping mechanism (72) is arranged on the side of the moving plate (16) and the core plate (17), and the clamping mechanism (72) includes clamping plate (25), No. 2 motor (28), is arranged between the side of the moving plate (16) and the core plate (17) receiving groove (39), and the receiving groove (39) is provided with No. 1 electric telescopic rod (27); The fixed end of each No. 1 electric telescopic rod (27) is fixedly connected with the core plate (17), each core plate (17) is connected with the clamping plate (25) through the No. 2 motor (28), each clamping plate (25) is in the initial state in the receiving groove (39), and a No. 2 distance sensor (26) is fixedly arranged on each clamping plate (25), a No. 2 electric telescopic rod (54) is uniformly arranged below each side moving plate (16), the fixed end of each No. 2 electric telescopic rod (54) is fixedly connected with the corresponding side moving plate (16), a No. 3 motor (55) is fixedly arranged on the telescopic end of each No. 2 electric telescopic rod (54), the motor shaft of each No. 3 motor (55) is fixedly connected with the corresponding sector clamping plate (14), and a No. 3 distance sensor (15) is fixedly arranged on one side of each sector clamping plate (14). 3.The intelligent carrying device with visual identification function according to claim 2, characterized in that: The two sides of the core plate (17) fixedly provided with motors are attached to the side moving plate (16), the motor shaft of each motor is fixedly connected with a No. 2 screw rod (40), each No. 2 screw rod (40) is screw driven with the side moving plate (16) on one side thereof, and the two sides of the core plate (17) are further fixedly provided with a No. 2 limiting rod (41), each No. 2 limiting rod (41) is slidably connected with the side moving plate (16).

4. The intelligent carrying device with visual identification function according to any one of claims 1-3, characterized in that: The lifting module (30) comprises a No. 5 motor (59) and a plurality of hingedly connected connecting rods (56), and the motor shaft of the No. 5 motor (59) is fixedly connected with one of the connecting rods (56). 5.The intelligent carrying device with visual identification function according to claim 4, characterized in that: One side of the side moving plate (16) and the core plate (17) is uniformly provided with a No. 1 slot (19), a No. 1 cylinder (20) is fixedly arranged in each No. 1 slot (19), and a No. 2 slot (38) is uniformly arranged on the side of each side moving plate (16) and the core plate (17) away from the No. 1 slot (19), a wire wheel (63) is rotatably arranged in each No. 2 slot (38), and the wire wheel (63) and the No. 2 slot (38) are fixedly connected by a torsion spring (64). 6.The intelligent carrying device with visual identification function according to claim 5, characterized in that: A rope belt (62) is wound around each wire wheel (63), the other end of each rope belt (62) is fixedly connected with a hook (61), a No. 2 cylinder (60) is arranged in each No. 2 slot (38), and each hook (61) can cooperate with the No. 2 cylinder (60) and the No. 1 cylinder (20). 7.The smart carrying device with visual identification function of claim 1, wherein: The bottom disc (11) is arranged below the side moving plate (16), uniformly provided with wheels (12) below, and further provided with a control terminal (13) below. 8.The smart carrying device with visual identification function of claim 1, wherein: The motor shaft of each first motor (65) is fixedly connected with a first screw rod (51), each first screw rod (51) is in screw transmission with the lifting plate (24) provided on the second electric sliding block (22), and a first limiting rod (50) is further fixedly arranged on each second electric sliding block (22), and each first limiting rod (50) is in sliding connection with the corresponding lifting plate (24).

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