Automatic intelligent identification anti-swing grabbing trolley

Abstract

The invention relates to an automatic intelligent identification anti-swing grabbing trolley in the technical field of hoisting equipment. The automatic intelligent identification anti-swing grabbing trolley comprises a base, and walking mechanisms are arranged at the four corners of the lower portion of the base; stand columns are vertically arranged at the four corners of the upper portion of the base, a lifting device is arranged on the upper portion of the base, a balance beam assembly is arranged on the upper portion of the lifting device, longitudinal beams are connected to the two ends of the balance beam assembly, the longitudinal beams are in sliding fit with the two stand columns on the same side through sliding pieces, beam boxes are connected to the ends, on the same side, of the two longitudinal beams, and the beam boxes are provided with mechanical claws and anti-swing assemblies. The lower part of the base is provided with a tracking module, and the working site is provided with a black tracking adhesive tape for the tracking module to identify; the height difference of the two longitudinal beams is adjusted through the balance beam assembly, and therefore swinging of the beam box is achieved. Goods can be grabbed and prevented from swinging, the gravity center of the goods is changed, the overall balance of the trolley is better facilitated, safe operation is ensured, intelligent recognition and tracking operation can be achieved, and automatic operation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of lifting equipment, in particular to an automatic intelligent identification anti-sway grab trolley. Background Art

[0002] In modern industry, lifting machinery plays a vital role. They not only improve the efficiency of material handling and reduce labor intensity, but also play an important role in ensuring operational safety and improving production efficiency. The application fields of lifting machinery are very wide, such as tower cranes in the construction field, bridge cranes used in the manufacturing field and food field, gantry cranes in the port logistics field, and truck cranes and belt cranes in the wind power generation field. In recent years, the development trend of lifting machinery has been directed towards higher automation, intelligence, lightweight and integration. The application of intelligent control and identification technology has realized the automated handling of lifting machinery.

[0003] When existing transport carts are clamping and lifting materials, they are prone to swaying and shaking, creating safety hazards. Especially when transporting non-standard materials, since the center of gravity of the materials and the cart as a whole are not in the same plane, the cart may overturn and cause a safety accident. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide an automatic intelligent recognition anti-sway grabbing trolley, which can grab goods and prevent the goods from swaying, change the center of gravity of the goods, and be more conducive to the overall balance of the trolley, ensuring safe operation. It can intelligently recognize and track operation to realize automated operation, which can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic intelligent identification anti-sway grabbing trolley, comprising a base, wherein the four lower corners of the base are provided with walking mechanisms; the four upper corners of the base are vertically provided with columns, the upper part of the base is provided with a lifting device, the upper part of the lifting device is provided with a balance beam assembly, both ends of the balance beam assembly are connected with longitudinal beams, the longitudinal beams are slidably matched with two columns on the same side through sliding members, the same-side ends of the two longitudinal beams are connected with beam boxes, the lower center of the beam box is provided with a mechanical claw for grabbing goods, both ends of the beam box are provided with anti-sway assemblies that conflict with the goods, and the other side of the upper part of the base away from the beam box is provided with a counterweight; a tracking module is also provided on one side of the lower part of the base, and a black tracking tape for identification by the tracking module is provided on the work site; The balance beam assembly includes a support column, which is connected to a lifting device. A connecting beam is hinged on the upper end of the support column, and the connecting beam is symmetrical about a hinge point. A hydraulic cylinder is hinged on one side of the support column, and a cylinder end of the hydraulic cylinder is hinged to the support column. The telescopic end of the hydraulic cylinder is hinged to the lower part of the connecting beam, and the telescopic end of the hydraulic cylinder is close to the end of the connecting beam. The end of the connecting beam is connected to the longitudinal beam through a connecting plate, and the connecting plate is an L-shaped plate. The lower side plate of the connecting plate is connected to the longitudinal beam through bolts, and the upper side plate of the connecting plate is provided with an arc groove, and the center of the circle where the arc groove is located coincides with the rotation center of the connecting beam. A connecting shaft is provided at the end of the connecting beam, and the connecting shaft is adapted to be in the arc groove, and a nut is threadedly connected to the end of the connecting shaft.

[0006] Preferably, the tracking module comprises a light shielding box, in which a plurality of groups of grayscale line-following sensors are arranged, a controller and a battery are arranged on the upper part of the base, and the grayscale line-following sensors feed back signals to the controller.

[0007] Preferably, the walking mechanism includes an encoder motor, the encoder motor is connected to a Mecanum wheel, and the controller controls the movement of the encoder motor through a motor drive module.

[0008] Preferably, the anti-sway assembly includes a steering gear, which is arranged inside the beam box, and an output shaft of the steering gear extends out of the beam box and is connected to a rocker arm.

[0009] Preferably, the mechanical claw includes a rotating motor, which is arranged inside the beam box. The output shaft of the rotating motor extends out of the beam box and is connected to a shell. The shell is rotatably connected to two relatively arranged claw arms. Two servo motors driving the corresponding claw arms to swing are arranged on the side of the shell. The two servo motors drive the two claw arms to open and close.

[0010] Preferably, the lifting device is located at the center of the base, and a laser rangefinder for detecting the presence of cargo is also provided on the side of the lifting device.

[0011] Preferably, the sliding member comprises a connecting plate, and at least two guide wheels are symmetrically provided on the plate surface of the connecting plate, and the guide wheels are adapted to the guide grooves on the columns.

[0012] Preferably, a buffer is hinged on the other side of the support column, the cylinder end of the buffer is hinged to the support column, the telescopic end of the buffer is hinged to the lower part of the connecting beam, and the telescopic end of the buffer is close to the other end of the connecting beam.

[0013] Preferably, the ends of the two longitudinal beams are provided with connecting seats, and the connecting seats are rotatably connected to the beam box.

[0014] Preferably, the lifting device is an electric push rod or a hydraulic cylinder.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the two longitudinal beams can be raised and lowered by the lifting device, and the mechanical claw can be raised and lowered. The mechanical claw grabs the goods and fastens the goods by the action of the anti-sway component to prevent the goods from swaying; the height difference between the two longitudinal beams is adjusted by setting a balance beam component, that is, the hydraulic cylinder is actuated to increase the longitudinal beam on one side and lower the longitudinal beam on the other side, thereby realizing the adjustment of the beam box and changing the center of gravity of the goods under the mechanical claw, which is more conducive to the overall balance of the trolley and ensures safe operation; by setting a tracking module, a controller and a walking mechanism, etc., it can intelligently identify and track the operation to realize automated operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 The local structure of the present invention is shown in FIG. Figure 1 ; Figure 3 It is a structural schematic diagram of the balance beam assembly of the present invention; Figure 4 The local structure of the present invention is shown in FIG. Figure 2 ; Figure 5 A top view of the present invention; Figure 6 Schematic diagram of the operation path of the present invention.

[0017] In the figure: 1 balance beam assembly, 1.1 connecting beam, 1.2 hydraulic cylinder, 1.3 support column, 1.4 connecting plate, 1.41 arc groove, 1.5 buffer, 2 longitudinal beam, 3 column, 4 walking mechanism, 4.1 encoder motor, 4.2 Mecanum wheel, 5 base, 5.1 counterweight, 5.2 battery, 5.3 controller, 6 lifting device, 7 anti-sway assembly, 7.1 steering gear, 7.2 rocker arm, 8 mechanical claw, 8.1 rotating motor, 8.2 servo motor, 8.3 claw arm, 9 beam box, 10 sliding part, 10.1 connecting plate, 10.2 guide wheel, 11 tracking module. DETAILED DESCRIPTION

[0018] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0019] See also Figure 1-6The present invention provides a technical solution: an automatic intelligent identification anti-sway grabbing trolley, comprising a base 5, wherein the four lower corners of the base 5 are provided with a walking mechanism 4; the four upper corners of the base 5 are vertically provided with columns 3, the upper part of the base 5 is provided with a lifting device 6, the upper part of the lifting device 6 is provided with a balance beam assembly 1, both ends of the balance beam assembly 1 are connected with longitudinal beams 2, the longitudinal beams 2 are slidably matched with the two columns 3 on the same side through a sliding member 10, the same side ends of the two longitudinal beams 2 are connected with beam boxes 9, the lower center of the beam box 9 is provided with a mechanical claw 8 for grabbing goods, both ends of the beam box 9 are provided with anti-sway assemblies 7 that conflict with the goods, and the other side of the upper part of the base 5 away from the beam box 9 is provided with a counterweight 5.1; a tracking module 11 is also provided on one side of the lower part of the base 5, and a black tracking tape for identification by the tracking module 11 is provided on the work site; The lifting device 6 drives the two longitudinal beams 2 to rise and fall along the four columns 3 through the balance beam assembly 1, and the beam box 9 drives the mechanical claw 8 to rise and fall to realize the grabbing, lifting or lowering of the goods. When the mechanical claw 8 grabs the goods, the anti-swaying components 7 at both ends of the beam box 9 clamp the goods to prevent them from swaying during the lifting process. By setting the tracking module 11 to identify the black tracking tape, it can walk along the preset path to realize automated operation; The balance beam assembly 1 includes a support column 1.3, which is connected to a lifting device 6. A connecting beam 1.1 is hinged on the upper end of the support column 1.3. The connecting beam 1.1 is symmetrical about the hinge point. A hydraulic cylinder 1.2 is hinged on one side of the support column 1.3. The cylinder end of the hydraulic cylinder 1.2 is hinged to the support column 1.3. The telescopic end of the hydraulic cylinder 1.2 is hinged to the lower part of the connecting beam 1.1, and the telescopic end of the hydraulic cylinder 1.2 is close to the end of the connecting beam 1.1; the end of the connecting beam 1.1 is connected to the longitudinal beam 2 through a connecting plate 1.4, and the connecting plate 1.4 is an L-shaped plate. The lower side plate of the connecting plate 1.4 is connected to the longitudinal beam 2 through bolts. The upper side plate of the connecting plate 1.4 is provided with an arc groove 1.41. The center of the circle where the arc groove 1.41 is located coincides with the rotation center of the connecting beam 1.1. A connecting shaft is provided at the end of the connecting beam 1.1. The connecting shaft is adapted to be in the arc groove 1.41, and a nut is threadedly connected to the end of the connecting shaft; It can be understood that the mechanical claw 8 is located at the lower center of the beam box 9. For generally regular goods, their center of gravity is generally below the center of the beam box 9. When the goods are irregular, the center of gravity is offset. At this time, it is necessary to adjust the position of the mechanical claw 8 to change the center of gravity, that is, the hydraulic cylinder 1.2 is actuated, and the hydraulic cylinder 1.2 drives the connecting beam 1.1 to swing. The connecting shaft at one end of the connecting beam 1.1 slides in the circular arc groove 1.41 of the corresponding connecting plate 1.4, and after reaching the final position in the circular arc groove 1.41, it drives the corresponding longitudinal beam 2 on one side to rise, and at the same time, the connecting beam 1.1 drives the longitudinal beam 2 on the other side to move downward, the longitudinal beam 2 on one side is raised, and the longitudinal beam 2 on the other side is lowered, thereby realizing the swing of the beam box 9, changing the center of gravity of the goods in the vertical direction, and then changing the center of gravity of the goods by rotating the mechanical claw, so that the center of gravity area of ​​the goods is balanced, which is more conducive to the overall balance of the trolley, avoiding tipping caused by the center of gravity of the goods, and ensuring safe operation; Furthermore, the tracking module 11 includes a shading box, in which a plurality of grayscale line patrol sensors are arranged, a controller 5.3 and a battery 5.2 are arranged on the upper part of the base 5, and the grayscale line patrol sensor feeds back a signal to the controller 5.3; the walking mechanism 4 includes an encoder motor 4.1, the encoder motor 4.1 is connected to a Mecanum wheel 4.2, and the controller 5.3 controls the movement of the encoder motor 4.1 through a motor drive module; the route recognition and planning of the trolley are realized by adopting grayscale line patrol sensors and black tracking tapes, that is, the tracking module 11 recognizes the black tracking tape and feeds back a signal to the controller 5.3, and the controller 5.3 controls the operation of the encoder motor 4.1 through the motor drive module, implements functions such as walking, turning, and retreating, and turns over the goods; Furthermore, the anti-sway component 7 includes a steering gear 7.1, which is arranged inside the beam box 9. The output shaft of the steering gear 7.1 extends out of the beam box 9 and is connected to a rocker arm 7.2. The steering gear 7.1 drives the rocker arm 7.2 to swing, and the two rocker arms 7.2 move relative to each other and clamp the cargo to prevent the cargo from swinging. Furthermore, the mechanical claw 8 includes a rotating motor 8.1, which is arranged inside the beam box 9. The output shaft of the rotating motor 8.1 extends out of the beam box 9 and is connected to a housing. The housing is rotatably connected to two claw arms 8.3 arranged opposite to each other. Two servo motors 8.2 for driving the corresponding claw arms 8.3 to swing are arranged on the side of the housing. The two servo motors 8.2 drive the two claw arms 8.3 to open and close. The two servo motors 8.2 are used to grab the goods, and the rotating motor 8.1 is used to turn the goods. Furthermore, the lifting device 6 is located at the center of the base 5, and a laser rangefinder for detecting the presence of goods is also provided on the side of the lifting device 6 to determine whether there are goods in the cargo area and perform corresponding actions; Furthermore, the sliding member 10 comprises a connecting plate 10.1, and at least two guide wheels 10.2 are symmetrically arranged on the plate surface of the connecting plate 10.1, and the guide wheels 10.2 are adapted to the guide grooves on the column 3 to ensure that the longitudinal beam 2 moves vertically along the column 3; Furthermore, a buffer 1.5 is hingedly connected to the other side of the support column 1.3. The cylinder end of the buffer 1.5 is hingedly connected to the support column 1.3. The telescopic end of the buffer 1.5 is hingedly connected to the lower part of the connecting beam 1.1. The telescopic end of the buffer 1.5 is close to the other end of the connecting beam 1.1. The buffer 1.5 mainly plays the role of buffering and protecting the connecting shaft to prevent the connecting shaft from being damaged by rapid collision when the hydraulic cylinder 1.2 fails. In addition, the ends of the two longitudinal beams 2 are provided with connecting seats, which are rotatably connected to the beam box 9 to ensure that the longitudinal beam 2 and the beam box 9 can rotate; the lifting device 6 is one of an electric push rod or a hydraulic cylinder.

[0020] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the content of the present invention.

Claims

1. An automatic intelligent identification anti-sway grabbing trolley, comprising a base (5), characterized in that: a walking mechanism (4) is provided at the four lower corners of the base (5); columns (3) are vertically provided at the four upper corners of the base (5); a lifting device (6) is provided at the upper part of the base (5); a balance beam assembly (1) is provided at the upper part of the lifting device (6); both ends of the balance beam assembly (1) are connected to longitudinal beams (2); the longitudinal beams (2) are slidably matched with two columns (3) on the same side through a sliding member (10); the same side ends of the two longitudinal beams (2) are connected to beam boxes (9); a mechanical claw (8) for grabbing goods is provided at the lower center of the beam box (9); both ends of the beam box (9) are provided with anti-sway assemblies (7) that collide with the goods; a counterweight (5.1) is provided on the other side of the upper part of the base (5) away from the beam box (9); a tracking module (11) is also provided on one side of the lower part of the base (5); a black tracking tape for identification by the tracking module (11) is provided on the working site; The balance beam assembly (1) comprises a support column (1.3), the support column (1.3) is connected to a lifting device (6), the upper end of the support column (1.3) is hinged with a connecting beam (1.1), the connecting beam (1.1) is symmetrical about the hinge point, one side of the support column (1.3) is hinged with a hydraulic cylinder (1.2), the cylinder end of the hydraulic cylinder (1.2) is hinged with the support column (1.3), the telescopic end of the hydraulic cylinder (1.2) is hinged with the lower part of the connecting beam (1.1), and the telescopic end of the hydraulic cylinder (1.2) is close to the support column (1.3). near the end of the connecting beam (1.1); the end of the connecting beam (1.1) is connected to the longitudinal beam (2) via a connecting plate (1.4); the connecting plate (1.4) is an L-shaped plate; the lower side plate of the connecting plate (1.4) is connected to the longitudinal beam (2) via bolts; the upper side plate of the connecting plate (1.4) is provided with an arc groove (1.41); the center of the circle where the arc groove (1.41) is located coincides with the rotation center of the connecting beam (1.1); the end of the connecting beam (1.1) is provided with a connecting shaft, which is adapted to the arc groove ( 1.41), and the end of the connecting shaft is threaded with a nut.

2. According to claim 1, the automatic intelligent identification anti-sway grabbing trolley is characterized by: The tracking module (11) comprises a light shielding box, in which a plurality of groups of grayscale line patrol sensors are arranged, and a controller (5.3) and a storage battery (5.2) are arranged on the upper part of the base (5), and the grayscale line patrol sensors feed back signals to the controller (5.3).

3. The automatic intelligent identification anti-sway grabbing trolley according to claim 2 is characterized by: The walking mechanism (4) comprises an encoder motor (4.1), the encoder motor (4.1) is connected to a Mecanum wheel (4.2), and the controller (5.3) controls the movement of the encoder motor (4.1) through a motor drive module.

4. The automatic intelligent identification anti-sway grabbing trolley according to claim 1 is characterized by: The anti-sway component (7) comprises a steering gear (7.1), the steering gear (7.1) being arranged inside the beam box (9), and the output shaft of the steering gear (7.1) extending out of the beam box (9) and connected to a rocker arm (7.2).

5. The automatic intelligent identification anti-sway grabbing trolley according to claim 1 is characterized by: The mechanical claw (8) comprises a rotating motor (8.1), the rotating motor (8.1) being arranged inside a beam box (9), the output shaft of the rotating motor (8.1) extending out of the beam box (9) and being connected to a housing, the housing being rotatably connected to two claw arms (8.3) arranged opposite to each other, two servo motors (8.2) being arranged on the side of the housing for driving the corresponding claw arms (8.3) to swing, the two servo motors (8.2) driving the two claw arms (8.3) to open and close.

6. The automatic intelligent identification anti-sway grabbing trolley according to claim 1 is characterized by: The lifting device (6) is located at the center of the base (5), and a laser rangefinder for detecting the presence of goods is also provided on the side of the lifting device (6).

7. The automatic intelligent identification anti-sway grabbing trolley according to claim 1 is characterized by: The sliding member (10) comprises a connecting plate (10.1), the plate surface of the connecting plate (10.1) being symmetrically provided with at least two guide wheels (10.2), the guide wheels (10.2) being adapted to guide grooves on the upright posts (3).

8. The automatic intelligent identification anti-sway grabbing trolley according to claim 1 is characterized by: A buffer (1.5) is also hingedly connected to the other side of the support column (1.3); a cylinder end of the buffer (1.5) is hingedly connected to the support column (1.3); a telescopic end of the buffer (1.5) is hingedly connected to the lower part of the connecting beam (1.1); and the telescopic end of the buffer (1.5) is close to the other end of the connecting beam (1.1).

9. The automatic intelligent identification anti-sway grabbing trolley according to claim 1, characterized in that: The ends of the two longitudinal beams (2) are each provided with a connecting seat, and the connecting seat is rotatably connected to the beam box (9).

10. The automatic intelligent identification anti-sway grabbing trolley according to claim 1, characterized in that: The lifting device (6) is one of an electric push rod and a hydraulic cylinder.

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