Logistics carrier based on adaptive anti-shaking gripper

Abstract

The application provides a logistics carrier based on an adaptive anti-shaking gripper, which comprises a supporting frame, a clamping anti-shaking mechanism, a lifting mechanism, a multi-stage fine adjustment mechanism and a traveling mechanism. The clamping anti-shaking mechanism is used for clamping and preventing goods from shaking. The lifting mechanism is arranged above the supporting frame and is in sliding connection with the clamping anti-shaking mechanism. The lifting mechanism is used for driving the clamping anti-shaking mechanism to lift towards or away from the ground. The multi-stage fine adjustment mechanism is fixed to the upper surface of the supporting frame and is connected with the lifting mechanism. The multi-stage fine adjustment mechanism is used for driving the clamping anti-shaking mechanism to move along a plane parallel to the ground. The traveling mechanism is fixed to the bottom of the supporting frame and is used for driving the supporting frame to walk on the ground. The clamping anti-shaking mechanism further comprises an opening and closing member, a clamping member and an anti-shaking member. The anti-shaking member moves synchronously with the clamping member through the opening and closing member. The application can limit the shaking and shaking of goods, thereby improving the carrying efficiency.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, and in particular to a logistics handling vehicle based on an adaptive anti-sway gripper. Background Technology

[0002] With the rapid development of the logistics industry, many goods need to be transported to logistics nodes such as ports and logistics warehouses. Goods at ports and logistics warehouses also need to be transported to designated stacking points by handling vehicles. During the handling process, goods are often affected by external factors such as wind force and vehicle acceleration and deceleration, which often cause them to sway. This can cause the goods inside containers or parcels to sway, potentially damaging the goods. At the same time, it can also have a certain inertial effect on the handling vehicles, thus affecting the efficiency of handling and even causing safety problems due to the shift of the vehicle's center of gravity.

[0003] Current designs for anti-sway systems on logistics handling vehicles mainly focus on developing a complete anti-sway system. This involves using sensor feedback and adjusting the vehicle's acceleration and deceleration algorithms, but the application cost is relatively high and the system is complex. The gripper has structural limitations, making it suitable only for large-scale, homogeneous batch transport of goods. For different types of goods in smaller batches, logistics handling vehicles of different sizes need to be manufactured.

[0004] Therefore, there is an urgent need for a logistics handling vehicle based on an adaptive anti-sway gripper to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a logistics handling vehicle based on an adaptive anti-sway gripper, which improves the technical problem of shaking in existing logistics handling vehicles during the handling of goods.

[0006] To address the aforementioned technical problems, this invention provides a logistics handling vehicle based on an adaptive anti-sway gripper, comprising a support frame, a gripping anti-sway mechanism, a lifting mechanism, a multi-stage fine-tuning mechanism, and a traveling mechanism. The gripping anti-sway mechanism is used to grip goods and prevent them from swaying. The lifting mechanism is located above the support frame and is slidably connected to the gripping anti-sway mechanism. The lifting mechanism is used to drive the gripping anti-sway mechanism to move up or down in a direction closer to or further from the ground. The multi-stage fine-tuning mechanism is fixed to the upper surface of the support frame and connected to the lifting mechanism. The multi-stage fine-tuning mechanism is used to drive the gripping anti-sway mechanism to move along a plane parallel to the ground. The traveling mechanism is fixed to the bottom of the support frame and is used to drive the support frame to travel on the ground.

[0007] The clamping and anti-sway mechanism includes an opening and closing component, a clamping component, and an anti-sway component, with the anti-sway component moving synchronously with the opening and closing component and the clamping component.

[0008] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the opening and closing components include a support unit, a power unit, a transmission unit and a limiting unit. The support unit includes a support plate, the power unit includes a rudder and a 270° servo motor connected to the rudder, the transmission unit includes a crank rocker, a guide rod and a lifting plate, and the limiting unit includes a guide rod limiting member and a hinge rod.

[0009] The power unit is connected to the support plate; one end of the crank rocker is movably connected to the steering wheel, and the other end of the crank rocker is movably connected to the lifting plate; the first end of the guide rod passes through the support plate, and the other end of the guide rod passes through the lifting plate and is fitted with a guide rod limiting component; one end of the hinge rod is movably connected to the lifting plate, and the other end of the hinge rod is movably connected to the clamping component or the anti-sway component.

[0010] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the clamping component includes at least two clamping hooks distributed diagonally, a hinge joint, and a fixing pin. The clamping hooks are movably connected to the hinge rod through the hinge joint, and the clamping hooks are also movably connected to the support plate through the fixing pin.

[0011] The clamping hook has a first protrusion and a first groove at the end away from the support plate. The first protrusion in one clamping hook is used to cooperate with the corresponding first groove in another clamping hook.

[0012] In the logistics handling vehicle based on adaptive anti-sway gripper provided in the embodiments of the present invention, the anti-sway component includes at least two anti-sway hooks distributed diagonally, and the anti-sway hooks are movably connected to the support plate and the lifting plate respectively.

[0013] The anti-sway hook has a second protrusion and a second groove at the end away from the support plate. The second protrusion in one anti-sway hook is used to cooperate with the corresponding second groove in another anti-sway hook.

[0014] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the anti-sway component further includes an anti-sway claw, which is movably connected to the support plate and the lifting plate respectively.

[0015] The bottom surface of the anti-swing claw at the end furthest from the support plate is a right-angled triangle.

[0016] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the gripping anti-sway mechanism further includes a rotating component, which includes a 180° servo motor and a gear set. The gear set is disposed on the side of the support plate away from the lifting plate, and the 180° servo motor and the gear set are rotatably connected.

[0017] In the logistics handling vehicle based on adaptive anti-sway gripper provided in the embodiments of the present invention, the lifting mechanism includes a slide rail connector, a guide rail, a slider fixing component, a winch, a first stepper motor, and a reduction component. The winch controls the guide rail to lift or lower in the direction closer to or further away from the ground.

[0018] The guide rail is threadedly connected to the 180° servo motor via a slide rail connector, and the guide rail is also threadedly connected to the micro-adjustment main board in the multi-stage micro-adjustment mechanism via a slider fixing component; the winch, the first stepper motor and the reduction component are sequentially fixed to the surface of the micro-adjustment main board away from the clamping and anti-sway mechanism.

[0019] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the multi-level fine adjustment mechanism includes a lateral fine adjustment component and a longitudinal fine adjustment component. The lateral fine adjustment component is used to control the gripping anti-sway mechanism to move along a first direction in a plane parallel to the ground, and the longitudinal fine adjustment component is used to control the gripping anti-sway mechanism to move along a second direction in a plane parallel to the ground. The first direction is perpendicular to the second direction.

[0020] In the logistics handling vehicle based on the adaptive anti-sway gripper provided in the embodiments of the present invention, the lateral fine-tuning component includes a fine-tuning connecting plate, a lead screw, a lead screw fixing component, and a second stepper motor. The fine-tuning connecting plate is integrally formed with the fine-tuning main plate. The lead screw passes through the fine-tuning connecting plate, and the two ends of the lead screw are fixed to the longitudinal fine-tuning plate in the longitudinal fine-tuning component by the lead screw fixing component. The second stepper motor is used to drive the fine-tuning connecting plate to move along the length direction parallel to the lead screw.

[0021] In the logistics handling vehicle based on an adaptive anti-sway gripper provided in the embodiments of the present invention, the longitudinal fine-tuning component includes two sets of motion systems, a transmission system, and a power system;

[0022] Each motion system includes a longitudinal slide rail and a longitudinal slider. The longitudinal slide rail is fixed to the upper surface of the support frame. One end of the longitudinal slider is threadedly connected to the longitudinal fine-tuning plate, and the other end of the longitudinal slider is slidably connected to the longitudinal slide rail. The transmission system includes a synchronous belt and drive pulleys located at both ends of the synchronous belt. The synchronous belt passes through the longitudinal fine-tuning plate and is fixedly connected to the longitudinal fine-tuning plate. The power system includes a third stepper motor and a coupling. The third stepper motor is rotatably connected to the corresponding drive pulleys in the two motion systems through the coupling.

[0023] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention provides a logistics handling vehicle based on an adaptive anti-sway gripper, including a support frame, a gripping anti-sway mechanism, a lifting mechanism, a multi-stage fine-tuning mechanism, and a traveling mechanism. The gripping anti-sway mechanism is used to grip goods and prevent them from shaking. The lifting mechanism is located above the support frame and slidably connected to the gripping anti-sway mechanism, driving the gripping anti-sway mechanism to move up or down towards or away from the ground. The multi-stage fine-tuning mechanism is fixed to the upper surface of the support frame and connected to the lifting mechanism, driving the gripping anti-sway mechanism to move along a plane parallel to the ground. The traveling mechanism is fixed to the support frame. At the bottom, the traveling mechanism drives the support frame to move on the ground. The clamping and anti-sway mechanism includes an opening and closing component, a clamping component, and an anti-sway component. The anti-sway component moves synchronously with the clamping component through the opening and closing component. This invention, by incorporating an adaptive anti-sway gripper in the logistics handling vehicle to clamp and prevent goods from swaying, and with the anti-sway component moving synchronously with the clamping component through the opening and closing component, limits the swaying and shaking of the goods during handling, protecting the goods themselves and ensuring that the handling vehicle is not affected by the inertia caused by the shift of the goods' center of gravity during normal operation, thereby improving handling efficiency. Simultaneously, combined with the multi-stage fine-tuning mechanism of the logistics handling vehicle itself, the handling and placement of goods are precise, giving the logistics handling vehicle advantages such as low cost, simplicity, modularity, and precision. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the logistics handling vehicle based on the adaptive anti-sway gripper provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the multi-level fine-tuning mechanism in a logistics handling vehicle based on an adaptive anti-sway gripper provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the gripping and anti-sway mechanism in a logistics handling vehicle based on an adaptive anti-sway gripper, provided in an embodiment of the present invention.

[0027] Figure 4 This is a flowchart illustrating the operation of a logistics handling vehicle based on an adaptive anti-shake gripper, as provided in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figures 1 to 4 This invention provides a logistics handling vehicle 1000 based on an adaptive anti-sway gripper, including a support frame 10, a gripping anti-sway mechanism 30, a lifting mechanism 20, a multi-stage fine-tuning mechanism 50, and a traveling mechanism 40. The gripping anti-sway mechanism 30 is used to grip goods and prevent them from shaking. The lifting mechanism 20 is disposed above the support frame 10 and slidably connected to the gripping anti-sway mechanism 30. The lifting mechanism 20 is used to drive the gripping anti-sway mechanism 30 to move up or down in a direction closer to or away from the ground. The multi-stage fine-tuning mechanism 50 is fixed to the upper surface of the support frame 10 and connected to the lifting mechanism 20. The multi-stage fine-tuning mechanism 50 is used to drive the gripping anti-sway mechanism 30 to move along a plane parallel to the ground. The traveling mechanism 40 is fixed to the bottom of the support frame 10 and is used to drive the support frame 10 to travel on the ground.

[0030] The clamping anti-sway mechanism 30 also includes an opening and closing component 32, a clamping component 33, and an anti-sway component 34. The anti-sway component 34 moves synchronously with the clamping component 33 through the opening and closing component 32.

[0031] This invention incorporates an adaptive anti-sway gripper 30 within a logistics handling vehicle 1000 to clamp and prevent cargo from swaying. The anti-sway component 34 within this mechanism moves synchronously with the clamping component 33 via an opening / closing component 32. This design limits cargo swaying and vibration during handling, protecting the cargo and ensuring the logistics handling vehicle 1000 is not affected by inertia caused by cargo center of gravity shifts during normal operation, thereby improving handling efficiency. Furthermore, the multi-stage fine-tuning mechanism 50 within the logistics handling vehicle 1000 ensures precise cargo handling and placement, resulting in advantages such as low cost, simplicity, modularity, and precision.

[0032] The technical solution of this application will now be described in conjunction with specific embodiments.

[0033] Please see Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of the logistics handling vehicle 1000 based on the adaptive anti-sway gripper provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the multi-level fine-tuning mechanism 50 in the logistics handling vehicle 1000 based on an adaptive anti-sway gripper provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the gripping and anti-sway mechanism 30 in the logistics handling vehicle 1000 based on an adaptive anti-sway gripper provided in an embodiment of the present invention;

[0034] Specifically, please refer to Figures 1 to 3This invention provides a logistics handling vehicle 1000 based on an adaptive anti-sway gripper, including a support frame 10, a gripping anti-sway mechanism 30, a lifting mechanism 20, a multi-stage fine-tuning mechanism 50, and a traveling mechanism 40. The gripping anti-sway mechanism 30 is used to grip goods and prevent them from shaking. The lifting mechanism 20 is disposed above the support frame 10 and slidably connected to the gripping anti-sway mechanism 30. The lifting mechanism 20 is used to drive the gripping anti-sway mechanism 30 to move up or down in a direction closer to or away from the ground. The multi-stage fine-tuning mechanism 50 is fixed to the upper surface of the support frame 10 and connected to the lifting mechanism 20. The multi-stage fine-tuning mechanism 50 is used to drive the gripping anti-sway mechanism 30 to move along a plane parallel to the ground. The traveling mechanism 40 is fixed to the bottom of the support frame 10 and is used to drive the support frame 10 to travel on the ground.

[0035] The clamping anti-sway mechanism 30 also includes an opening and closing component 32, a clamping component 33, and an anti-sway component 34. The anti-sway component 34 moves synchronously with the clamping component 33 through the opening and closing component 32.

[0036] Please see Figure 1 The support frame 10 is a rectangular frame assembled from multiple horizontal aluminum square tubes 111 and multiple vertical aluminum square tubes 113. Among them, considering that the logistics handling vehicle 1000 needs to ensure the lifting and stability of the goods during the handling process, the vertical force between the vertical aluminum square tubes 113 and the horizontal aluminum square tubes 111 located at the top of the support frame 10 is the greatest. Therefore, the connection between the two adopts two 135° angle steels and triangular brackets.

[0037] The above design uses 135° angle steel and triangular brackets to fix the vertical aluminum square tube 113 and the horizontal aluminum square tube 111 together, which can disperse the vertical force between the vertical aluminum square tube 113 and the horizontal aluminum square tube 111, thereby ensuring the stability of the connection between the vertical aluminum square tube 113 and the horizontal aluminum square tube 111.

[0038] Furthermore, the vertical aluminum square tube 113 and the horizontal aluminum square tube 111 located at the bottom of the support frame 10 are connected by a 45° angle steel 112.

[0039] Please see Figure 1 The logistics handling vehicle 1000 also includes a traveling mechanism 40 disposed at the bottom of the support frame 10. The traveling mechanism 40 is used to drive the support frame 10 to move on the ground. The traveling mechanism 40 includes at least four traveling components. Each traveling component includes a traveling wheel 411 and a traveling motor 412. The traveling wheels 411 are spaced apart and are all installed at the bottom of the support frame 10. Each traveling motor 412 is fixed to the side corresponding to the traveling wheel 411. The traveling motor 412 drives the traveling wheel 411 to rotate, thereby supporting the frame 10 to move on the ground.

[0040] Furthermore, the traveling wheel 411 is a Mecanum wheel, which can move in any direction, such as rotating 360 degrees in place or moving horizontally; the traveling motor 412 is a brushless DC motor; the traveling wheel 411 and the traveling motor 412 are connected by six threaded connectors-bolts using the motor mounting bracket of the traveling motor 412.

[0041] Furthermore, the traveling mechanism 40 also includes a wheel leg fixing member 413 fixed on the vertical aluminum square tube 113, and the motor mounting base of the traveling motor 412 and the wheel leg fixing member 413 are also fixed by threaded connectors-bolts.

[0042] Furthermore, the wheel leg fixing component 413 has a built-in hydraulic shock absorber, which can reduce the damage to goods caused by vibration due to uneven roads during transportation at logistics nodes.

[0043] In this embodiment of the invention, the connection between the vertical aluminum square tube 113 and the walking motor 412 mainly relies on the motor connector. The motor connector and the vertical aluminum square tube 113 are fitted with an interference fit. At the same time, the connection between the two mainly relies on the threaded connection between the boat nut and the bolt.

[0044] Please continue reading. Figure 1 The logistics handling vehicle 1000 based on the adaptive anti-sway gripper provided in this embodiment of the invention also includes a lifting mechanism 20. The lifting mechanism 20 serves as a fine adjustment in the vertical direction (z direction) and is used to drive the gripping anti-sway mechanism 30 to move up or down in a direction closer to or further away from the ground.

[0045] Specifically, the lifting mechanism 20 includes a slide rail connector 211, a guide rail 212, a slider fixing component 213, a winch 214, a first stepper motor 215, and a reduction component 216. The first stepper motor 215 drives the winch 214 to rotate, and the winch 214 controls the guide rail 212 to move up or down in the direction closer to or away from the ground. The reduction component 216 is used to adjust the rotation speed of the winch 214.

[0046] The guide rail 212 is threadedly connected to the 180° servo motor 311 via the slide rail connector 211. The guide rail 212 is also threadedly connected to the micro-adjustment main board 511 in the multi-stage micro-adjustment mechanism 50 via the slider fixing part 213. The winch 214, the first stepper motor 215 and the deceleration component 216 are sequentially fixed to the surface of the micro-adjustment main board 511 away from the clamping anti-sway mechanism 30.

[0047] Please continue reading. Figures 1 to 2The logistics handling vehicle 1000 based on the adaptive anti-sway gripper provided in this embodiment of the invention also includes a multi-level fine-tuning mechanism 50. The multi-level fine-tuning mechanism 50 is fixed to the upper surface of the support frame 10 and connected to the lifting mechanism 20. The multi-level fine-tuning mechanism 50 is used to drive the gripping anti-sway mechanism 30 to move along a plane parallel to the ground.

[0048] Specifically, the multi-level fine-tuning mechanism 50 includes a lateral fine-tuning component and a longitudinal fine-tuning component. The lateral fine-tuning component is used to control the clamping anti-sway mechanism 30 to move along a first direction (x direction) in a plane parallel to the ground (the plane parallel to the longitudinal fine-tuning plate 512). The longitudinal fine-tuning component is used to control the clamping anti-sway mechanism 30 to move along a second direction (y direction) in a plane parallel to the ground. The first direction and the second direction are perpendicular.

[0049] Specifically, the multi-level fine-tuning mechanism 50 constructs a planar rectangular coordinate system based on the longitudinal fine-tuning plate 512. The connection between the lateral fine-tuning component and the lifting mechanism 20 is achieved by bolts and nuts in the x-direction, while the connection between the longitudinal slide rail 521 and the lifting mechanism 20 is achieved by bolts and nuts in the y-direction.

[0050] Furthermore, the lateral fine-tuning component includes a fine-tuning connecting plate, a trapezoidal lead screw 552, a lead screw fixing assembly (including a first lead screw fixing component 553 and a second lead screw fixing component 554), and a second stepper motor 551. The fine-tuning connecting plate is integrally formed with the fine-tuning main plate 511 and is parallel to the z-axis direction. The lead screw 552 passes through the fine-tuning connecting plate, and both ends of the lead screw 552 are fixed to the longitudinal fine-tuning plate 512 in the longitudinal fine-tuning component through the first lead screw fixing component 553 and the second lead screw fixing component 554, respectively. The second stepper motor 551 is used to drive the fine-tuning connecting plate to move along the length direction parallel to the lead screw 552.

[0051] Furthermore, the longitudinal fine-tuning component includes two motion systems 52, a transmission system 53, and a power system 54;

[0052] Each motion system 52 includes a longitudinal slide rail 521 and a longitudinal slider 522. The longitudinal slide rail 521 is fixed to the upper surface of the support frame 10. One end of the longitudinal slider 522 is threadedly connected to the longitudinal fine-tuning plate 512, and the other end of the longitudinal slider 522 is slidably connected to the longitudinal slide rail 521. The transmission system 53 includes a synchronous belt 532 and drive wheels 533 located at both ends of the synchronous belt 532. The synchronous belt 532 passes through the longitudinal fine-tuning plate 512 and is fixedly connected to the longitudinal fine-tuning plate 512. The power system 54 includes a stepper motor fixing component 541, a third stepper motor 543, a coupling 542, and a transmission rod 544. The third stepper motor 543 is fixed to the support frame 10 through the stepper motor fixing component 541. The third stepper motor 543 is rotatably connected to the corresponding drive wheels 533 in the two motion systems 52 through the coupling 542 and the transmission rod 544.

[0053] Furthermore, the longitudinal slider 522 adopts a built-in ball bearing slide rail, which helps to reduce the friction generated during the lifting of goods; the connection between the longitudinal slider 522 and the longitudinal fine-tuning plate 512 is made of four sets of bolts and nuts, and the connection between the lead screw 552 and the fine-tuning connecting plate is made of five sets of bolts and nuts.

[0054] In this embodiment of the invention, the fine-tuning main board 511 serves as the main load-bearing plate, and the second stepper motor 551 and the drum of the winch 214 are fixed to the machine's mounting base and wound on the fine-tuning main board 511; wherein, the second stepper motor 551 and the lead screw 552 are connected by a coupling 542.

[0055] In this embodiment of the invention, the motion system 52 consists of a longitudinal slide rail 521 and a longitudinal slider 522, the transmission system 53 consists of a pulley fixing member 531, a synchronous belt 532, a drive wheel 533 and a fixed angle steel 534, and the power system 54 consists of a stepper motor fixing member 541, a coupling 542, a third stepper motor 543 and a transmission rod 544; wherein, the connection between the fixed angle steel 534 and the horizontal aluminum square tube 111 and the vertical aluminum square tube 113 is a boat-shaped nut connection.

[0056] Please continue reading. Figure 1 as well as Figure 3 The logistics handling vehicle 1000 based on the adaptive anti-sway gripper provided by the present invention also includes a clamping anti-sway mechanism 30, which is used to clamp the goods and prevent the goods from shaking; the clamping anti-sway mechanism 30 also includes an opening and closing component 32, a clamping component 33 and an anti-sway component 34, and the anti-sway component 34 moves synchronously with the clamping component 33 through the opening and closing component 32.

[0057] The support unit is used to support the clamping member 33 and the anti-sway member 34, the power unit is used to provide power to the clamping member 33 and the anti-sway member 34, the transmission unit is used to transmit the motion of the power unit to the clamping member 33 and the anti-sway member 34, and the limiting unit is used to limit the motion trajectory of the clamping member 33 and the anti-sway member 34.

[0058] Specifically, the opening and closing component 32 includes a support unit, a power unit, a transmission unit, and a limiting unit. The support unit includes a support plate 325, the power unit includes a rudder disk 322 and a 270° servo motor 323 connected to the rudder disk 322, the transmission unit includes a crank rocker arm 321, a guide rod 324, and a lifting plate 326, and the limiting unit includes a guide rod limiting member 327 and a hinge rod 328.

[0059] The power unit is connected to the support plate 325; one end of the crank rocker arm 321 is movably connected to the rudder disk 322, and the other end of the crank rocker arm 321 is movably connected to the lifting plate 326; the first end of the guide rod 324 passes through the support plate 325, and the other end of the guide rod 324 passes through the lifting plate 326 and is fitted with a guide rod limiting member 327; one end of the hinge rod 328 is movably connected to the lifting plate 326, and the other end of the hinge rod 328 is movably connected to the clamping member 33 or the anti-sway member 34.

[0060] Specifically, the clamping member 33 includes at least two clamping hooks arranged diagonally, a hinge joint 333, and a fixing pin 334. The clamping hooks are movably connected to the hinge rod 328 through the hinge joint 333, and the clamping hooks are also movably connected to the support plate 325 through the fixing pin 334.

[0061] The end of the clamping hook away from the support plate 325 is provided with a first protrusion 331 and a first groove 332. The first protrusion 331 in one clamping hook is used to cooperate with the corresponding first groove 332 in another clamping hook.

[0062] Furthermore, in order to accommodate the different postures of the goods, the gripping hooks are arranged diagonally. This ensures that the gripping hooks can grasp the object through diagonal engagement, regardless of whether the goods are placed horizontally or vertically.

[0063] To ensure the reliability and efficiency of gripping when the gripping hooks are diagonally distributed, the gripping hooks are designed with a claw mechanism in which the claws are interlocked and the convex and concave fit together. This not only increases the force-bearing surface of the gripping hooks, but also increases the friction between the claws, preventing the claws from opening due to excessive weight of the goods.

[0064] Specifically, in order to prevent the goods from shaking due to excessive speed during the rapid transportation of goods by the logistics handling vehicle 1000, which may affect the running track and stability of the logistics handling vehicle 1000, the anti-shaking mechanism 30 of the clamping device is further provided with an anti-shaking component 34. The anti-shaking component 34 is composed of an anti-shaking claw 341 and an anti-shaking hook 342. The power of the anti-shaking component 34 still comes from the 270° servo motor 323 in the opening and closing component 32. At the same time, the movement of the anti-shaking claw 341 comes from the same transmission device, so as to ensure the real-time synchronization of the anti-shaking component 34 and the opening and closing component 32, thereby realizing linkage.

[0065] Specifically, the anti-shaking component 34 includes at least two anti-shaking hooks 342 distributed diagonally. The anti-shaking hooks 342 are respectively movably connected to the support plate 325 and the lifting plate 326;

[0066] Among them, a second protrusion and a second groove are provided at one end of the anti-shaking hook 342 away from the support plate 325. The second protrusion in one anti-shaking hook 342 is used to cooperate with the corresponding second groove in the other anti-shaking hook 342.

[0067] Furthermore, the anti-shaking component 34 further includes an anti-shaking claw 341. The anti-shaking claw 341 is respectively movably connected to the support plate 325 and the lifting plate 326.

[0068] Specifically, in order to ensure that the logistics handling vehicle 1000 can achieve adaptive anti-shaking of the goods regardless of whether the goods are placed horizontally or vertically, through the research on the shape and structure of the anti-shaking claw 341, it is found that when the shape of the anti-shaking claw 341 is designed as a right triangle, the effect of adaptive anti-shaking can be achieved. In order to ensure the reliability and efficiency of anti-shaking, we use the right triangle anti-shaking claw 341 and the synchronous opening and closing component 32 to ensure that the entire anti-shaking mechanism can achieve clamping anti-shaking and limit anti-shaking. Thus, a good anti-shaking effect is achieved.

[0069] In the logistics handling vehicle 1000 based on the adaptive anti-shaking gripper provided in the embodiment of the present invention, in order to facilitate the goods to change their posture during the placement process, the clamping anti-shaking mechanism 30 further includes a rotary component 31. The rotary component 31 includes a 180° servo motor 311 and a gear set 312 (gear meshing plus power device). The gear set 312 is arranged on the side of the support plate 325 away from the lifting plate 326, and the 180° servo motor 311 is rotationally connected to the gear set 312.

[0070] Please refer to Figures 1 to 4 , Figure 4 which is the operation flow chart of the logistics handling vehicle 1000 based on the adaptive anti-shaking gripper provided in the embodiment of the present invention; specifically, after the power supply starts the logistics handling vehicle 1000, the specific working process of the embodiment of the present invention is as follows:

[0071] The first step is for the microprocessor chip in the logistics handling vehicle 1000 to determine whether the movement signal of the logistics handling vehicle 1000 is detected. If the microprocessor chip does not detect the movement signal, the microprocessor chip inputs the first operation instruction to the control module of the logistics handling vehicle 1000. The control module drives the logistics handling vehicle 1000 to make the first fine adjustment, so that the microprocessor chip detects the movement signal and proceeds to the next operation.

[0072] The second step involves using a microprocessor chip to determine whether the built-in travel program of the logistics transport vehicle 1000 conforms to the travel rules. If it does not conform to the travel rules, the microprocessor chip inputs a second operation instruction to the control module of the logistics transport vehicle 1000. The control module then drives the logistics transport vehicle 1000 to make a second fine adjustment so that the built-in travel program of the logistics transport vehicle 1000 conforms to the travel rules, thereby causing the travel mechanism 40 to move and proceed to the next step.

[0073] The third step is to determine whether the logistics handling vehicle 1000 has detected a deceleration signal when it approaches the goods to be picked up by the microprocessor chip. If the deceleration signal is not detected, the microprocessor chip inputs a third operation instruction to the control module of the logistics handling vehicle 1000. The control module drives the logistics handling vehicle 1000 to make a third fine adjustment, thereby driving the traveling mechanism 40 to stop moving and proceeding to the next operation.

[0074] The fourth step involves detecting the picking signal via a microprocessor chip to determine whether the picking of goods has been completed. If the picking of goods has not been completed, the camera on the logistics transport vehicle 1000 reads a frame of photo and converts it into a binary image. The image processor then processes the binary image (diffraction and erosion noise reduction, edge detection, and contour processing) to obtain image information. This information is then sent to the host computer for analysis, enabling the host computer to obtain the position information of the goods to be picked up. Based on this position information, the microprocessor chip inputs a fourth operation command to the control module of the logistics transport vehicle 1000. The control module then drives the logistics transport vehicle 1000 to perform a fourth fine-tuning (fine-tuning of the gripping anti-sway mechanism 30 and the traveling mechanism 40), thereby driving the logistics transport vehicle 1000 to complete the picking of goods and proceed to the next step.

[0075] Fifth step: Repeat steps one through three, using the logistics handling vehicle 1000 to move the goods toward the target location;

[0076] The sixth step involves detecting the delivery signal using a microprocessor chip to determine whether the logistics vehicle 1000 has reached the target location. If it has not reached the target location, the microprocessor chip inputs the fifth operation instruction to the control module of the logistics vehicle 1000 based on the aforementioned location information. The control module then drives the logistics vehicle 1000 to decelerate and adjust, so that the microprocessor chip can detect the delivery signal, thereby driving the logistics vehicle 1000 to stop moving and place the goods, thus ending the process.

[0077] In the above embodiments of the present invention, the logistics handling vehicle 1000 uses a single-chip microcomputer and a machine vision module OpenMV to form an intelligent vehicle system. Based on the road image information extracted by the camera, the system uses a threshold method and a robust linear regression algorithm to extract road guide lines, and uses a multi-template matching method to extract obstacle information. Combined with traditional PID control technology (proportional-integral-derivative control technology) and fuzzy control technology, the system realizes the automatic tracking of guide lines and obstacle avoidance functions of the intelligent vehicle system.

[0078] Specifically, the present invention uses the machine vision module OpenMV as the image processing part. The machine vision module sends the processed image information to the microprocessor chip through serial port data. The microprocessor chip parses and utilizes the processed image data and controls the speed and direction of the logistics handling vehicle 1000 through the traveling mechanism 40.

[0079] This invention simplifies and strengthens the overall frame structure while ensuring the functionality of the logistics handling vehicle 1000, resulting in high structural strength and light weight. The invention features an adaptive anti-sway gripper, enabling multi-directional gripping of different goods and preventing shaking during gripping, transportation, and placement. The gripping and anti-sway functions are linked, protecting the goods and ensuring the handling vehicle is not affected by inertia caused by the shift in the center of gravity of the goods during normal operation. This improves the efficiency of cargo handling in logistics nodes such as ports and warehouses.

[0080] Compared with the prior art, the beneficial effects of the present invention include:

[0081] First, goods may shake and sway during transportation due to the operation and adjustment of conventionally designed logistics handling vehicles 1000, which would slow down the working speed of the handling vehicle. The logistics handling vehicle 1000 with an adaptive anti-sway gripper device designed in this invention can link the clamping component 33 and the anti-sway component 34 together, which not only ensures the stability of goods handling, but also improves the overall operating efficiency of the logistics handling vehicle 1000 and saves manpower and material resources.

[0082] Secondly, in actual work, there are many types of goods, and the gripping methods for different goods are also different. For traditional two-finger grippers, multiple rotations are required to meet the gripping requirements. The clamping component 33 of this invention is designed with a 45° gripping hook, which can greatly save gripping time, achieve omnidirectional gripping, and, together with the multi-level fine adjustment mechanism 50, can achieve all-round adjustment in the horizontal plane, which greatly ensures the accuracy of gripping and improves gripping efficiency.

[0083] Third, while ensuring that the logistics handling vehicle 1000 can complete its own functions, the overall frame structure of the logistics handling vehicle 1000 has been simplified and strengthened. It has high structural strength and light weight, and can complete the handling work with low energy consumption.

[0084] Fourth, compared with the traditional method of controlling the movement and tracking direction of the logistics handling vehicle 1000 through charge-coupled devices and grayscale sensors, this invention adopts OpenMV machine vision tracking. This method can track colored tracking strips, which can greatly simplify the tracking route and improve work efficiency. At the same time, it also uses machine vision to identify goods, which is accurate and can identify a variety of goods, making it easier for the port handling vehicle to adapt to different scenarios.

[0085] It should be noted that all the above embodiments belong to the same inventive concept, and the descriptions of each embodiment have different focuses. Where the description in a particular embodiment is not exhaustive, please refer to the descriptions in other embodiments. The above embodiments only illustrate the implementation of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A logistics handling vehicle based on an adaptive anti-sway gripper, characterized in that, include: Support frame; A clamping and anti-swaying mechanism is used to clamp the goods and prevent them from shaking. A lifting mechanism is disposed above the support frame and slidably connected to the clamping and anti-sway mechanism. The lifting mechanism is used to drive the clamping and anti-sway mechanism to move up or down in a direction closer to or away from the ground. A multi-stage fine-tuning mechanism is fixed to the upper surface of the support frame and connected to the lifting mechanism. The multi-stage fine-tuning mechanism is used to drive the clamping anti-sway mechanism to move along a plane parallel to the ground. as well as A traveling mechanism is fixed to the bottom of the support frame, and the traveling mechanism is used to drive the support frame to move on the ground; The clamping and anti-sway mechanism further includes an opening and closing component, a clamping component, and an anti-sway component. The anti-sway component moves synchronously with the clamping component through the opening and closing component. The opening and closing component includes a support unit, a power unit, a transmission unit, and a limiting unit. The support unit includes a support plate. The power unit includes a rudder and a 270° servo motor connected to the rudder. The transmission unit includes a crank rocker, a guide rod, and a lifting plate. The limiting unit includes a guide rod limiting component and a hinge rod. The power unit is connected to the support plate; one end of the crank rocker arm is movably connected to the steering wheel, and the other end of the crank rocker arm is movably connected to the lifting plate; the first end of the guide rod passes through the support plate, and the other end of the guide rod passes through the lifting plate and is fitted with the guide rod limiting member; one end of the hinge rod is movably connected to the lifting plate, and the other end of the hinge rod is movably connected to the clamping member or the anti-sway member.

2. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 1, characterized in that, The clamping component includes at least two clamping hooks arranged diagonally, a hinge joint, and a fixing pin. The clamping hooks are movably connected to the hinge rod via the hinge joint, and the clamping hooks are also movably connected to the support plate via the fixing pin. The clamping hook has a first protrusion and a first groove at one end away from the support plate. The first protrusion in one clamping hook is used to cooperate with the corresponding first groove in the other clamping hook.

3. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 1, characterized in that, The anti-sway component includes at least two anti-sway hooks arranged diagonally, and the anti-sway hooks are movably connected to the support plate and the lifting plate, respectively. The anti-sway hook has a second protrusion and a second groove at one end away from the support plate, and the second protrusion in one anti-sway hook is used to cooperate with the corresponding second groove in the other anti-sway hook.

4. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 3, characterized in that, The anti-sway component also includes an anti-sway claw, which is movably connected to the support plate and the lifting plate respectively; The bottom surface of the anti-swing claw at the end furthest from the support plate is a right-angled triangle.

5. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 1, characterized in that, The clamping anti-sway mechanism also includes a rotating component, which includes a 180° servo motor and a gear set. The gear set is located on the side of the support plate away from the lifting plate, and the 180° servo motor is rotatably connected to the gear set.

6. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 5, characterized in that, The lifting mechanism includes a slide rail connector, a guide rail, a slider fixing component, a winch, a first stepper motor, and a reduction component. The winch controls the guide rail to lift or lower in a direction closer to or further from the ground. The guide rail is threadedly connected to the 180° servo motor via the slide rail connector, and the guide rail is also threadedly connected to the micro-adjustment main board in the multi-stage micro-adjustment mechanism via the slider fixing component; the winch, the first stepper motor and the deceleration component are sequentially fixed to the surface of the micro-adjustment main board away from the clamping and anti-sway mechanism.

7. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 6, characterized in that, The multi-level fine-tuning mechanism includes a lateral fine-tuning component and a longitudinal fine-tuning component. The lateral fine-tuning component is used to control the gripping anti-sway mechanism to move along a first direction in a plane parallel to the ground. The longitudinal fine-tuning component is used to control the gripping anti-sway mechanism to move along a second direction in a plane parallel to the ground. The first direction is perpendicular to the second direction.

8. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 7, characterized in that, The lateral fine-tuning component includes a fine-tuning connecting plate, a lead screw, a lead screw fixing component, and a second stepper motor. The fine-tuning connecting plate is integrally formed with the fine-tuning main plate. The lead screw passes through the fine-tuning connecting plate, and both ends of the lead screw are fixed to the longitudinal fine-tuning plate in the longitudinal fine-tuning component by the lead screw fixing component. The second stepper motor is used to drive the fine-tuning connecting plate to move along the length direction parallel to the lead screw.

9. The logistics handling vehicle based on an adaptive anti-sway gripper according to claim 8, characterized in that, The longitudinal fine-tuning component includes two sets of motion systems, transmission systems, and power systems; Each set of motion systems includes a longitudinal slide rail and a longitudinal slider. The longitudinal slide rail is fixed to the upper surface of the support frame. One end of the longitudinal slider is threadedly connected to the longitudinal fine-tuning plate, and the other end of the longitudinal slider is slidably connected to the longitudinal slide rail. The transmission system includes a synchronous belt and drive pulleys located at both ends of the synchronous belt. The synchronous belt passes through the longitudinal fine-tuning plate and is fixedly connected to the longitudinal fine-tuning plate. The power system includes a third stepper motor and a coupling. The third stepper motor is rotatably connected to the corresponding drive pulleys in the two sets of motion systems through the coupling.

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