A cargo grabbing device and method

Abstract

The present invention provides a goods grasping device and method, which relates to the field of goods grasping methods. The device includes a connecting housing, and inside the connecting housing, a first hydraulic component, a second hydraulic component, and a third hydraulic component are sequentially arranged in the vertical direction. For this goods grasping method and device, through the precise control of the second hydraulic component, precise clamping of goods by the clamping member is achieved. Driven by the first hydraulic component, the distance between the clamping members can be adjusted in real time according to the size of the goods. According to the working conditions, the vertical lifting or horizontal pushing mode can be selected. Compared with the multi-motor system, the hydraulic system has higher transmission efficiency, can effectively reduce energy consumption, reduce the equipment operation cost, avoid excessive configuration of motors, reduce the equipment cost, and at the same time reduce the influence of overly sensitive motor response on the precision of fine operations.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo grabbing, and in particular to a cargo grabbing device and method. Background Art

[0002] The combination of cargo grabbing devices and AGV carts can build a complete automated material handling system, realizing unmanned operation of the entire process from storage, picking to transportation of goods. In the automated warehouse, the AGV cart equipped with the cargo grabbing device shuttles between the shelves to complete operations such as putting goods on the shelves, unloading goods, replenishing goods, and picking goods. In the manufacturing workshop, the AGV cart cooperates with the cargo grabbing device to accurately transport materials from the material warehouse to the processing station, or transport the finished products from the station to the packaging and warehousing area. In logistics sorting centers such as express delivery and e-commerce, the AGV cart is equipped with a cargo grabbing device to carry out operations such as cargo handling, classification, and packing. The combination of cargo grabbing devices and AGV carts can achieve efficient, accurate, flexible and unmanned material handling, significantly improving the operating efficiency in warehousing logistics, production and manufacturing, reducing labor costs, and enhancing the competitiveness of enterprises. At the same time, this combination also provides strong support for the development of smart logistics and intelligent manufacturing in the future.

[0003] In the existing cargo grabbing device, in order to achieve accurate lifting and unloading of cargo in the vertical and horizontal directions, a collaborative working mode of linkage motor 1, linkage motor 2, adjustment motor, drive motor and push rod motor is adopted. However, in actual applications, the motion control of multiple motors shows a certain degree of time delay and speed mismatch in actual operation, resulting in the overall movement of the grabbing device showing incoordination. This incoordination not only reduces the accuracy of cargo grabbing and placement, but also poses a potential threat to the stability and durability of the equipment, affecting operational efficiency and safety. In addition, the operation of over-configured motors significantly increases energy consumption and raises the operating cost of the equipment. On the other hand, some motors respond too sensitively, which interferes with the accuracy of fine operations and reduces the overall operation quality.

[0004] Therefore, it is necessary to provide a new cargo grabbing method and device to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a cargo grabbing method and device.

[0006] The first aspect of the present application provides a cargo grabbing device that adopts the following technical solution:

[0007] A cargo grabbing device comprises a connecting shell, wherein hydraulic component 1, hydraulic component 2 and hydraulic component 3 are arranged in sequence inside the connecting shell along the vertical direction, the output end of the hydraulic component 2 extends out of the connecting shell and is provided with a clamping piece, the hydraulic component 2 is used to drive the clamping piece to clamp cargo, the output end of the hydraulic component 1 extends through the connecting shell and is provided with an adjusting piece, the hydraulic component 1 is used to drive the adjusting piece to adjust the spacing between the clamping pieces, the output end of the hydraulic component 3 extends through the connecting shell and is provided with a pushing piece, the hydraulic component 3 is used to drive the pushing piece to push out the cargo on the connecting shell.

[0008] Furthermore, the clamping member includes four fixed brackets fixedly connected to one side of the connecting shell, the four fixed brackets are arranged in a cross, and the fixed brackets are rotatably connected with auxiliary brackets and driven brackets in sequence from the outside to the inside, and the auxiliary bracket and the driven bracket are rotatably connected with the clamping bracket at one end away from the fixed bracket, and the four driven brackets are respectively rotatably connected with a pushing bracket 1 and a connecting member between the output ends of the hydraulic component 2, and the pushing bracket 1 and the connecting member are arranged in a cross.

[0009] Furthermore, the second hydraulic component is a clamping hydraulic rod, which is fixedly connected to the inside of the connecting shell, and the output end of the clamping hydraulic rod is fixedly connected to a connecting push head, and the outer side wall of the connecting push head is rotatably connected to the pushing bracket 1 and the connecting piece respectively.

[0010] Furthermore, the connecting member includes a connecting outer frame rotatably connected to the driven bracket and a connecting inner frame rotatably connected to the connecting push head, and the connecting inner frame is slidably connected in a rectangular slide groove opened in the connecting outer frame, and a connecting column is fixedly connected to the top of the connecting outer frame.

[0011] Furthermore, the first hydraulic component is an adjusting hydraulic rod, the adjusting hydraulic rod is fixedly connected to the inside of the connecting shell, and the output end of the adjusting hydraulic rod is fixedly connected to the adjusting member.

[0012] Furthermore, the adjusting member includes a fixed plate 1 fixedly connected to the output end of the adjusting hydraulic rod, and the two ends of the fixed plate 1 away from the adjusting hydraulic rod are respectively rotatably connected to a pushing bracket 2, and the side of the pushing bracket 2 away from the fixed plate 1 is rotatably connected to the outer surface of the connecting column.

[0013] Furthermore, the hydraulic component three is a pushing hydraulic rod, the pushing hydraulic rod is fixedly connected to the inside of the connecting shell, and the output end of the pushing hydraulic rod is fixedly connected to the pushing member.

[0014] Furthermore, the pushing member includes a fixed plate 2 fixedly connected to the output end of the pushing hydraulic rod, and the end of the fixed plate 2 away from the pushing hydraulic rod is fixedly connected to a pushing block, and the pushing block extends horizontally to a side away from the fixed plate 2 and bends to the center position of the connecting shell.

[0015] The second aspect of the present application provides a cargo grabbing method using the following technical solution:

[0016] The cargo grabbing method comprises the following steps:

[0017] S100, initialization and parameter setting: according to the size, weight and material characteristics of the cargo, set the clamping force and clamping speed of hydraulic component 2, the adjustment range and adjustment speed of hydraulic component 1, and the pushing speed and maximum thrust of hydraulic component 3, and calculate them by the following formula: , where the meanings of each item are as follows:

[0018] u(t) is the control output, e(t) is the error signal, is the proportionality coefficient, \int_{0}^{t} e(\tau)d\tau is the integral term and \frac{de(t)}{dt} is the differential term;

[0019] S200, cargo detection and positioning: The position, size, and posture of the cargo are detected by sensors installed in the working area, and the hydraulic components 1, 2, and 3 calculate the optimal working parameters and action sequence based on the data information collected by the sensors;

[0020] S300, clamping action control: the hydraulic component 2 drives the clamping member to retract toward the adjacent end according to the calculation result until the preset clamping force and clamping position are reached;

[0021] S400, spacing adjustment control: The hydraulic component 1 drives the adjustment member to adjust the spacing of the goods clamped by the clamping member in the horizontal direction according to the calculation result, so as to give the left and right ends of the clamping member a performance that further fits the goods;

[0022] S500, cargo pushing control: after the hydraulic components 1 and 2 perform calculations, the hydraulic component 3 drives the pushing member to push the cargo out of the connection housing according to the calculation results;

[0023] S600, abnormality detection and processing: During the operation of the entire hydraulic component 1, hydraulic component 2 and hydraulic component 3, according to the data fluctuations of excessive clamping force, cargo position deviation and excessive pushing speed fed back by the sensor, measures are taken to reduce the clamping force, reposition and reduce the pushing speed for correction;

[0024] S700, end of operation and reset: After completing the pushing of the cargo, hydraulic component 2 and hydraulic component 3 are reset, hydraulic component 3 drives the pushing member to contract, hydraulic component 2 controls the clamping member to expand away from each other, and prepares for the next round of grasping operation, hydraulic component 1 resets parameters according to the change of cargo size, and resets parameters according to sensor detection data.

[0025] Compared with the related art, the cargo grabbing method and device provided by the present invention have the following beneficial effects:

[0026] 1. The cargo grabbing method and device realizes precise clamping of cargo by the clamping parts through precise control of hydraulic component 2. Driven by hydraulic component 1, the spacing of the clamping parts can be adjusted in real time according to the size of the cargo. Vertical lifting or horizontal pushing can be selected according to working conditions. Compared with multi-motor systems, hydraulic systems have higher transmission efficiency, can effectively reduce energy consumption, reduce equipment operating costs, avoid excessive configuration of motors, reduce equipment costs, and reduce the impact of overly sensitive motor responses on fine operation accuracy.

[0027] 2. The cargo grabbing method and device, through the drive of the hydraulic component 1, can change the relative distance between the clamping parts, realize flexible adjustment of the distance between the clamping parts to adapt to cargo of different widths or thicknesses, ensure that the clamping parts can tightly and stably wrap cargo of different sizes and shapes, and improve the grabbing stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the overall structure of the cargo grabbing method and device provided by the present invention;

[0029] Figure 2 Another perspective structural diagram of the cargo grabbing method and device provided by the present invention Figure 1 ;

[0030] Figure 3 Another perspective structural diagram of the cargo grabbing method and device provided by the present invention Figure 2 ;

[0031] Figure 4 A schematic diagram of the structure of the adjusting member and the pushing member provided by the present invention;

[0032] Figure 5 A schematic diagram of the structure of the adjusting member and the pushing member provided by the present invention;

[0033] Figure 6 A schematic diagram of the structure of the adjusting member provided by the present invention;

[0034] Figure 7 A schematic diagram of the state structure of the adjusting member provided by the present invention;

[0035] Figure 8 A schematic diagram of the structure of the auxiliary bracket and the driven bracket provided by the present invention;

[0036] Fig. 9 This is a schematic structural diagram of the pushing member provided by the present invention.

[0037] Numbers in the figure: 1. Connecting shell; 2. Clamping hydraulic rod; 3. Connecting pushing head; 4. Pushing bracket 1; 5. Fixed bracket; 6. Auxiliary bracket; 7. Driven bracket; 8. Clamping bracket; 9. Adjusting hydraulic rod; 10. Fixed plate 1; 11. Connecting inner frame; 12. Connecting outer frame; 13. Connecting column; 14. Pushing bracket 2; 15. Pushing hydraulic rod; 16. Fixed plate 2; 17. Pushing block. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0039] The first aspect of the present application provides a cargo grabbing device that adopts the following technical solution:

[0040] In the specific implementation process, Figures 1 to 9 As shown, a cargo grabbing device comprises a connecting shell 1, wherein a hydraulic component 1, a hydraulic component 2 and a hydraulic component 3 are sequentially arranged inside the connecting shell 1 along a vertical direction;

[0041] Hydraulic component 2: drives the clamping parts to perform clamping or loosening actions to ensure that the goods are clamped stably and firmly;

[0042] Hydraulic component 1: adjust the spacing and angle parameters of the clamping parts to adapt to goods of different sizes or shapes, ensuring the adaptability and flexibility of the grabbing;

[0043] Hydraulic component three: After the cargo is firmly clamped, it provides power to push the cargo out of the grabbing device to realize the cargo unloading operation.

[0044] like Figures 1 to 3As shown, the output end of the hydraulic component 2 extends out of the connection housing 1 and is provided with a clamping member. The hydraulic component 2 is used to drive the clamping member to clamp the goods. The clamping member includes four fixed brackets 5 fixedly connected to one side of the connection housing 1. The four fixed brackets 5 are arranged in a cross. The fixed brackets 5 are rotatably connected to the auxiliary bracket 6 and the driven bracket 7 from the outside to the inside in sequence. The auxiliary bracket 6 and the driven bracket 7 are rotatably connected to the clamping bracket 8 at one end away from the fixed bracket 5. The four driven brackets 7 are respectively rotatably connected to the push bracket 1 4 and the connecting member between the output end of the hydraulic component 2. The bracket 1 4 and the connecting piece are arranged in a cross shape, the hydraulic component 2 is a clamping hydraulic rod 2, the clamping hydraulic rod 2 is fixedly connected to the inside of the connecting shell 1, the output end of the clamping hydraulic rod 2 is fixedly connected to the connecting push head 3, the outer side walls of the connecting push head 3 are respectively rotatably connected to the pushing bracket 1 4 and the connecting piece, the connecting piece includes a connecting outer frame 12 rotatably connected to the driven bracket 7 and a connecting inner frame 11 rotatably connected to the connecting push head 3, and the connecting inner frame 11 is slidably connected to the rectangular slide groove opened in the connecting outer frame 12, and the top of the connecting outer frame 12 is fixedly connected to a connecting column 13;

[0045] It should be understood from the above scheme that when the system receives the command to clamp the cargo, the clamping hydraulic rod 2 starts to work, and the hydraulic power source provides pressure oil to the clamping hydraulic rod 2, so that its piston rod extends outward, and transmits thrust through the connecting push head 3, driving the pushing bracket 1 4 and the connecting piece to open outward, pushing the bracket 1 4 and the connecting piece to push the driven bracket 7 to rotate on the fixed bracket 5, and the clamping bracket 8 rotates synchronously with the driven bracket 7 on the fixed bracket 5. During the movement of the clamping bracket 8, since there is a mechanical connection between it and the auxiliary bracket 6 parallel to the driven bracket 7, the auxiliary bracket 6 follows the clamping bracket 8 to maintain linear motion, so that the clamping bracket 8 is in the expansion process. The straight line track is always maintained in the process, ensuring the accuracy of the clamping action. The clamping bracket 8 surrounds the goods under the continuous action of the hydraulic rod. The four clamping brackets 8 are gradually expanded under the drive of the above-mentioned linkage mechanism and are evenly distributed on the outside of the goods, ensuring that the clamping bracket 8 fully surrounds the goods. Then the clamping hydraulic rod 2 is controlled to start to shrink. The piston rod is retracted inward under the action of the hydraulic circuit. Through the transmission path connecting the push head 3, the push bracket 1 4, the connecting piece and the fixed bracket 5, the four clamping brackets 8 are driven inward synchronously in the opposite direction. During the shrinking process, the clamping bracket 8 gradually approaches and finally contacts closely with the outside of the goods, exerts appropriate clamping force, and completes the fixation of the goods.

[0046] Thus, by adopting the above arrangement, the clamping process of the cargo grabbing system utilizes the telescopic drive of the clamping hydraulic rod 2. Through a precise mechanical linkage mechanism, the four clamping brackets 8 can be synchronously and accurately expanded and contracted to adapt to the shape of the cargo and achieve firm clamping. The whole process embodies good design integration and control accuracy, ensuring the safety and efficiency of cargo handling.

[0047] like Figures 4 to 7 As shown, the output end of the hydraulic component 1 extends through the connection housing 1 and is provided with an adjusting member. The hydraulic component 1 is used to drive the adjusting member to adjust the spacing of the clamping members. The hydraulic component 1 is an adjusting hydraulic rod 9. The adjusting hydraulic rod 9 is fixedly connected to the inside of the connection housing 1. The output end of the adjusting hydraulic rod 9 is fixedly connected to the adjusting member. The adjusting member includes a fixing plate 10 fixedly connected to the output end of the adjusting hydraulic rod 9. The two ends of the fixing plate 10 away from the adjusting hydraulic rod 9 are rotatably connected to the pushing bracket 2 14 respectively. The pushing bracket 2 14 is rotatably connected to the outer surface of the connecting column 13 on the side away from the fixing plate 10.

[0048] It should be understood from the above scheme that after the system receives the adjustment command, the adjustment hydraulic rod 9 starts to work according to the command, and its internal hydraulic system generates thrust, so that the piston rod of the adjustment hydraulic rod 9 moves forward, driving the fixed plate 10 to move forward, and the movement of the fixed plate 10 will synchronously drive the two pushing brackets 2 14 to move forward along a predetermined trajectory. In the process of pushing the bracket 2 14 to move forward, it is connected to one end of the connecting column 13, and the other end of the connecting column 13 is connected to the connecting outer frame 12. Therefore, the movement of the pushing bracket 2 14 transmits the thrust to the connecting outer frame 12 through the connecting column 13, and the connecting outer frame 12 is slidably connected to the connecting inner frame 11 through a rectangular slide groove. When the connecting column 1 When the thrust transmitted by 3 acts on the connecting outer frame 12, the connecting outer frame 12 slides outward along the rectangular slide groove of the connecting inner frame 11, so that the sliding of the connecting outer frame 12 will drive the clamping bracket 8 to change the spacing accordingly. As the connecting outer frame 12 slides on the connecting inner frame 11, the distance between the two clamping brackets 8 can be adjusted to adapt to goods of different sizes and shapes. When the piston rod of the adjusting hydraulic rod 9 reaches the predetermined position and the spacing of the clamping brackets 8 reaches the set value, it is confirmed according to the feedback signal that the clamping spacing has reached the target value. At this time, the system takes locking measures to ensure that in the subsequent clamping and handling process, the spacing of the clamping brackets 8 remains stable, ensuring that the goods are fully and stably surrounded;

[0049] In this way, by adopting the above arrangement, by controlling and adjusting the linkage between the hydraulic rod 9, the fixed plate 10, the pushing bracket 2 14, the connecting column 13, the connecting outer frame 12 and the clamping bracket 8, the precise adjustment of the spacing between the clamping brackets 8 is achieved, ensuring that the cargo grabbing device can adapt to cargoes of different sizes and shapes, achieving comprehensive and stable encirclement, reflecting good design integration and control accuracy, ensuring the safety and efficiency of cargo handling, and making it possible to flexibly choose vertical lifting and unloading or horizontal unloading according to working conditions.

[0050] It should be noted that the adjusting hydraulic rod 9 continuously adjusts its output force and stroke according to the system instructions and feedback information, thereby changing the relative position between the connecting outer frame 12 and the connecting inner frame 11, ensuring that the distance between the connecting outer frame 12 and the connecting inner frame 11 always matches the current cargo size, and maintaining the stable clamping of the cargo by the clamping parts. During the clamping process, the cargo may be slightly deformed or shaken due to its own material characteristics, uneven weight distribution, external force disturbance, etc. The following sensors can sense these changes in real time, and by adjusting the distance between the connecting outer frame 12 and the connecting inner frame 11, automatically compensate for the effects of cargo deformation and shaking, maintain the stability of the clamping force, and prevent cargo from slipping or being damaged. Different cargo may have different requirements for clamping force, clamping position, etc. The adjusting hydraulic rod 9 can accurately adjust the distance between the connecting outer frame 12 and the connecting inner frame 11 according to the preset clamping strategy or the cargo information received in real time to meet the clamping requirements of different cargo.

[0051] like Fig. 9 As shown, the output end of hydraulic component three extends through the connection shell 1 and is provided with a pushing member. Hydraulic component three is used to drive the pushing member to push out the goods on the connection shell 1. Hydraulic component three is a pushing hydraulic rod 15. The pushing hydraulic rod 15 is fixedly connected to the inside of the connection shell 1. The output end of the pushing hydraulic rod 15 is fixedly connected to the pushing member. The pushing member includes a fixed plate 2 16 fixedly connected to the output end of the pushing hydraulic rod 15. The end of the fixed plate 2 16 away from the pushing hydraulic rod 15 is fixedly connected with a pushing block 17. The pushing block 17 extends horizontally to the side away from the fixed plate 2 16 and bends to the center position of the connection shell 1.

[0052] It should be understood from the above scheme that when the system receives the adjustment instruction, it sends a start signal to the pushing hydraulic rod 15 according to the preset parameters. After the pushing hydraulic rod 15 receives the start signal, its internal hydraulic system generates thrust, driving the piston rod of the pushing hydraulic rod 15 to move forward. The movement of the piston rod is transmitted through the fixedly connected fixed plate 16, so that the fixed plate 16 and the pushing block 17 connected thereto move forward together. When the pushing block 17 moves forward, its front end contacts the goods and applies thrust. As the pushing block 17 continues to move forward, the thrust gradually increases until it is sufficient to overcome the friction and other resistances between the goods and the connecting shell 1, so that the goods begin to move in a predetermined direction. In the process of the pushing hydraulic rod 15 continuously applying thrust, the goods gradually leave the connecting shell 1 and are successfully pushed out. During the entire pushing process, the output of the pushing hydraulic rod 15 is precisely controlled by real-time monitoring of the data fed back by the sensor to ensure a smooth and safe pushing process. When the goods completely leave the connecting shell 1 and reach a predetermined position or speed, the PLC controller sends a stop signal to the pushing hydraulic rod 15, the pushing hydraulic rod 15 stops working, and the pushing block 17 stops moving forward, completing the pushing action of the goods.

[0053] In this way, by adopting the above arrangement, the hydraulic rod 15 is controlled to start, and the hydraulic rod 15 drives the fixed plate 2 16 and the pushing block 17 to move forward, so that the pushing block 17 pushes out the goods located in the connecting shell 1, which reflects the automated control capability of the cargo grabbing system and the precise control of the cargo handling process.

[0054] The second aspect of the present application provides a cargo grabbing method using the following technical solution:

[0055] The cargo grabbing method, applied to the cargo grabbing device, comprises the following steps:

[0056] S100, initialization and parameter setting: according to the size, weight and material characteristics of the cargo, set the clamping force and clamping speed of the clamping hydraulic rod 2, adjust the adjustment range and adjustment speed of the hydraulic rod 9, and the pushing speed and maximum thrust parameters of the hydraulic rod 15, which are calculated by the following formula: , where the meanings of each item are as follows:

[0057] is the proportionality coefficient, \int_{0}^{t} e(\tau)d\tau is the integral term and \frac{de(t)}{dt} is the differential term;

[0058] u(t): control output. In the cargo grabbing device, it is the control variable for clamping hydraulic rod 2, adjusting hydraulic rod 9, and pushing hydraulic rod 15. It is calculated based on the current error signal and is used to drive the hydraulic system to perform corresponding actions to adjust the actual working state.

[0059] e(t): Error signal, which indicates the difference between the current actual value and the target value during the cargo grabbing process. According to the difference between the actual value and the set value of the clamping force, the difference between the actual value and the set value of the clamping parts spacing, and the difference between the actual value and the set value of the pushing speed, the error signal reflects the degree of deviation between the current state of the system and the expected state.

[0060] : Proportional coefficient, which reflects the strength of proportional control. When an error signal appears, the proportional term directly adjusts the control output proportionally. That is, the larger the error, the larger the adjustment range of the control output. The size of the proportional coefficient determines the sensitivity and response speed to the error signal.

[0061] \int_{0}^{t} e(\tau)d\tau: Integral term, reflecting the integral control effect, is the result of the accumulation of the error signal over time, that is, the size of the error signal area from the initial moment to the current moment. When there is a persistent error, the integral term will cause the control output to continue to increase or decrease until the error is eliminated. Integral control helps to eliminate static errors;

[0062] \frac{de(t)}{dt} is the differential term: The differential term reflects the differential control effect and is the rate of change of the error signal, that is, the instantaneous change of the error signal over time. The differential control helps to predict and offset the future deviation of the system, which helps to improve the response speed of the system and suppress overshoot;

[0063] S200, cargo detection and positioning: The position, size, and posture of the cargo are detected by sensors installed in the working area, and the hydraulic components 1, 2, and 3 calculate the optimal working parameters and action sequence based on the data information collected by the sensors;

[0064] S300, clamping action control: Hydraulic component 2 drives the clamping parts to retract toward the adjacent ends according to the calculation results until the preset clamping force and clamping position are reached. At the same time, the clamping process is monitored through the feedback sensor to ensure that the clamping force is moderate to prevent the goods from being clamped or the clamping is unstable;

[0065] S400, spacing adjustment control: Hydraulic component 1 drives the adjustment part to adjust the spacing of the clamping parts horizontally clamping the goods according to the calculation results, so as to make the left and right ends of the clamping parts more suitable for the goods. The adjustment process is monitored in real time by sensors to ensure that the spacing of the clamping parts is accurate.

[0066] S500, cargo pushing control: after the hydraulic components 1 and 2 perform the calculation, the hydraulic component 3 drives the pushing member to push the cargo out of the connection housing 1 according to the calculation result, and monitors the pushing speed through the sensor to ensure that the cargo leaves the grabbing device smoothly and safely;

[0067] S600, abnormality detection and processing: During the operation of the entire hydraulic component 1, hydraulic component 2 and hydraulic component 3, according to the data fluctuations of excessive clamping force, cargo position deviation and excessive pushing speed fed back by the sensor, measures are taken to reduce the clamping force, reposition and reduce the pushing speed to ensure the safety of the operation;

[0068] S700, end of operation and reset: After completing the pushing of the cargo, hydraulic component 2 and hydraulic component 3 are reset, hydraulic component 3 drives the pushing member to contract, hydraulic component 2 controls the clamping member to expand away from each other, and prepares for the next round of grasping operation, hydraulic component 1 resets parameters according to the change of cargo size, and resets parameters according to sensor detection data.

[0069] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A cargo grabbing device, characterized in that: It comprises a connecting shell (1), a hydraulic component 1, a hydraulic component 2 and a hydraulic component 3 which are arranged in sequence inside the connecting shell (1) along a vertical direction; The output end of the second hydraulic component extends out of the connection housing (1) and is connected to the clamping member, and the second hydraulic component is used to drive the clamping member to clamp the goods; An output end of the hydraulic component extends through the connection housing (1) and is connected to the adjusting member, and the hydraulic component is used to drive the adjusting member to adjust the distance between the clamping members; The output end of the hydraulic component 3 extends through the connection housing (1) and is connected to the pusher, and the hydraulic component 3 is used to drive the pusher to push out the grabbed goods; The clamping member comprises four fixed brackets (5) fixedly connected to one side of the connecting housing (1), the four fixed brackets (5) being arranged in a cross shape, the fixed brackets (5) being rotatably connected to auxiliary brackets (6) and driven brackets (7) in sequence from the outside to the inside, the auxiliary brackets (6) and driven brackets (7) being rotatably connected to the clamping bracket (8) at one end away from the fixed bracket (5), the four driven brackets (7) being rotatably connected to the second output end of the hydraulic component respectively, and the pushing brackets (4) and the connecting members being arranged in a cross shape; The first hydraulic component is an adjusting hydraulic rod (9), the adjusting hydraulic rod (9) is fixedly connected to the inside of the connecting housing (1), and the output end of the adjusting hydraulic rod (9) is fixedly connected to the adjusting member; The second hydraulic component is a clamping hydraulic rod (2), the clamping hydraulic rod (2) is fixedly connected to the inside of the connecting shell (1), the output end of the clamping hydraulic rod (2) is fixedly connected to a connecting push head (3), the outer side walls of the connecting push head (3) are respectively rotatably connected to a pushing bracket (4) and a connecting member, the connecting member comprises a connecting outer frame (12) rotatably connected to the driven bracket (7) and a connecting inner frame (11) rotatably connected to the connecting push head (3), and the connecting inner frame (11) is slidably connected to a rectangular slide groove provided in the connecting outer frame (12), and a connecting column (13) is fixedly connected to the top of the connecting outer frame (12); the adjusting member comprises a fixing plate (10) fixedly connected to the output end of the adjusting hydraulic rod (9), the two ends of the fixing plate (10) on a side away from the adjusting hydraulic rod (9) are respectively rotatably connected to a pushing bracket (14), and the side of the pushing bracket (14) away from the fixing plate (10) is rotatably connected to the outer surface of the connecting column (13); The hydraulic component three is a pushing hydraulic rod (15), the pushing hydraulic rod (15) is fixedly connected to the inside of the connecting housing (1), and the output end of the pushing hydraulic rod (15) is fixedly connected to the pushing member.

2. The cargo grabbing device according to claim 1, characterized in that: The pushing member comprises a second fixing plate (16) fixedly connected to the output end of the pushing hydraulic rod (15); an end of the second fixing plate (16) away from the pushing hydraulic rod (15) is fixedly connected to a pushing block (17); the pushing block (17) extends horizontally to a side away from the second fixing plate (16) and is bent to the center position of the connection housing (1).

3. A cargo grabbing method according to the cargo grabbing device according to any one of claims 1-2, characterized in that: The steps include: S100, initialization and parameter setting: setting the clamping force and clamping speed of hydraulic component 2, the adjustment range and adjustment speed of hydraulic component 1, and the pushing speed and maximum thrust parameters of hydraulic component 3; S200, cargo detection and positioning: The position, size and posture data of the cargo are detected by sensors, and the hydraulic components 1, 2 and 3 calculate the optimal working parameters and action sequence based on the data information collected by the sensors; S300, clamping action control: the hydraulic component 2 drives the clamping member to retract toward the adjacent end according to the calculation result until the preset clamping force and clamping position are reached; S400, spacing adjustment control: The hydraulic component 1 drives the adjustment member to adjust the spacing of the goods clamped by the clamping member in the horizontal direction according to the calculation result, so as to give the left and right ends of the clamping member a performance that further fits the goods; S500, cargo pushing control: after the hydraulic components 1 and 2 perform calculations, the hydraulic component 3 drives the pushing member to push the cargo out from the inside out according to the calculation results; S600, abnormality detection and processing: During the operation of the entire hydraulic component 1, hydraulic component 2 and hydraulic component 3, according to the data fluctuations of excessive clamping force, cargo position deviation and excessive pushing speed fed back by the sensor, measures are taken to reduce the clamping force, reposition and reduce the pushing speed for correction; S700, end of operation and reset: After completing the pushing of the cargo, hydraulic component 2 and hydraulic component 3 are reset, hydraulic component 3 drives the pushing member to contract, hydraulic component 2 controls the clamping member to expand away from each other, and prepares for the next round of grasping operation, hydraulic component 1 resets parameters according to the change of cargo size, and resets parameters according to sensor detection data.

4. The cargo grabbing method according to claim 3, characterized in that: In step S100, the parameters of the clamping force and clamping speed of the hydraulic component 2, the adjustment range and adjustment speed of the hydraulic component 1, and the pushing speed and maximum thrust of the hydraulic component 3 are set and calculated by the following formula: in, To control the output, is the error signal, is the proportionality coefficient, is the integral term, is the differential term.

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