Self-adaptive clamping and embracing device and cargo clamping and embracing method

Abstract

The invention discloses a self-adaptive clamping and embracing device and a cargo clamping and embracing method, and belongs to the technical field of logistics equipment. The clamping and holding method comprises the following steps that S1, the clamping bases are controlled to be close to goods, and the goods are located between the clamping bases arranged in pairs; s2, a plurality of telescopic devices or bag-shaped structures on the clamping base are driven to enable the top ends of the telescopic devices or the bag-shaped structures to actively stretch out or passively retract to be matched with the shape of the goods; s3, the goods are clamped and fixed through supporting force and friction force generated when the telescopic device or the bag-shaped structure makes contact with the goods; s4, when the goods are unloaded, the telescopic device is controlled to actively retract or be away from the goods together with the clamping base; the self-adaptive clamping device can be automatically matched with the shape of the goods, the goods of different types, shapes and sizes can be clamped in a self-adaptive mode, and manual operation is not needed; the cargo transfer device is installed on mobile equipment, is suitable for carrying various cargoes in a mixed mode, is arranged in automatic logistics equipment and systems, can efficiently process large-flow mixed cargo transfer, and can improve production efficiency and save cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a self-adaptive clamping device and a method for clamping goods, and belongs to the technical field of logistics equipment. BACKGROUND

[0002] The commonly used equipment for lifting and transporting goods by using clamping mechanism needs to install special tooling on the clamping mechanism to adapt to the shape, size and other characteristics of the goods, so that the goods can be clamped, fixed, transferred and moved without damage. For example, the clamping accessories used by the forklift and transfer equipment in existing logistics and warehousing applications are generally only suitable for goods with regular shapes such as cuboids and cylinders, or goods with two parallel planes that can be clamped. When clamping goods with special shapes such as curved surfaces or irregular shapes, special clamping accessories that adapt to the shape of the goods or additional tooling need to be customized. However, these clamping accessories can only adapt to one type or shape of goods, and even if the type and shape are the same, they cannot clamp goods with different sizes. For example, the clamping mechanism cannot clamp different sizes of jars with similar shapes because the curvature of the clamping mechanism is not variable. When clamping other goods, different clamping accessories or tooling need to be manually adjusted to adapt to the goods. In production lines or automated warehouses, the equipment needs to be stopped when transferring and transporting different goods. Manual operation is generally required to replace or adjust the tooling that adapts to the goods. This process is complicated, has safety hazards, affects operational efficiency, and is not suitable for inline clamping of multiple goods in a production line. If a separate device is set up for each type of goods, it will cause waste of equipment and capacity, and increase the complexity of the system. SUMMARY

[0003] (I) Technical problems to be solved The technical problem to be solved by the present application is to solve the problem that existing clamping and transporting equipment can only be used for specific goods and cannot adapt to multiple types, shapes and sizes of goods.

[0004] (II) Technical solutions To solve the above technical problems, the present application provides a self-adaptive clamping device, which comprises a clamping base, a telescopic device and a controller, the telescopic device is provided with a telescopic structure (such as a telescopic rod) or a bag-like structure; the clamping base is oppositely arranged in two parts, and the two parts can move reversely, a plurality of telescopic structures or bag-like structures are arranged on the clamping base; the telescopic device is connected with the controller through a non-powered linkage (such as the structure described in Embodiment 2); or, a sensor (such as a pressure sensor, a displacement sensor or a travel switch) for detecting the telescopic state of the telescopic device is arranged on the telescopic device, and the telescopic device and the sensor are respectively electrically connected with the controller (the controller comprises a control system and a control subsystem for controlling the extension or retraction of the telescopic rod, which can be realized by using the existing technology); the telescopic device is driven by a powered device (such as the structures described in other embodiments except Embodiment 2).

[0005] The self-adaptive clamping device of the present application further comprises a clamping driving device, the two clamping bases are installed on the clamping driving device and can be reversely moved by the clamping driving device, and the clamping driving device can be realized by using the existing technology.

[0006] The present application further provides a method for clamping goods by using the self-adaptive clamping device, which comprises the following steps: S1, controlling the clamping base to approach the goods so that the goods are located between the oppositely arranged clamping bases; S2, driving the two clamping bases to approach the goods so that the plurality of telescopic structures or bag-like structures on the clamping base contact the goods and are passively retracted under pressure to adapt to the shape of the goods; or, driving the two clamping bases to approach the goods, and then driving the plurality of telescopic structures or bag-like structures on the clamping base to actively extend or passively retract the top end to adapt to the shape of the goods; or, directly driving the plurality of telescopic structures or bag-like structures on the clamping base to actively extend or passively retract the top end to adapt to the shape of the goods; S3, clamping and fixing the goods by the support force and friction force generated by the contact between the telescopic structure or bag-like structure and the goods; S4, when unloading the goods, controlling the telescopic device to actively retract or jointly move away from the goods with the clamping base.

[0007] Further, in step S2, when the active extension mode is adopted, the telescopic rod is initially in the retracted position, is driven by the driving mechanism to extend until it contacts the goods and reaches the set state, and then stops and maintains the extension length; when the passive retraction mode is adopted, the telescopic rod is initially maintained in the extended state, and during the process of the clamping base approaching the goods, the telescopic rod contacting the goods is retracted under the reaction force of the goods or is driven by the driving mechanism to retract until the clamped goods reach the equilibrium state.

[0008] Further, in step S2, the pressure sensor, displacement sensor or travel switch installed on the telescopic rod detects the contact state with the goods and feeds back to the control system.

[0009] Further, the telescopic rods contact the goods, and the signals of the pressure sensor and the displacement sensor are calculated by the control subsystem and compared with the pressure values and displacement amounts measured by other telescopic rods. When the conditions of the control law are met, the position of the telescopic rod is kept unchanged, and the telescopic rod supports and limits the movement of the goods together with other telescopic rods; if the measured values do not meet the set values, the control subsystem controls the telescopic rod to extend or retract to adjust the telescopic rod to a state of compliance, and then clamps the goods for lifting and carrying.

[0010] Further, in step S2, according to the shape data of the goods or the detection of the easily damaged areas of the surface of the goods and the structures affecting loading and unloading, the telescopic devices corresponding to the areas are kept in the retracted state to avoid contact; after the telescopic devices contact the goods, the clamping driving device drives the clamping base to apply pressure, and the telescopic devices jointly fix the goods.

[0011] Further, the method further comprises a pose adjustment step, and the control system dynamically controls part of the telescopic devices to retract and another part to extend according to the shape of the goods, the feedback signals of the sensors and a force model of the goods and the adaptive clamping device; the forces applied to the goods by the telescopic devices cooperate to generate a resultant moment to make the goods displace or rotate, complete the adjustment of the relative position of the goods on the clamping base, and assist in loading and unloading the goods.

[0012] Further, in the pose adjustment step, the control system controls the telescopic devices according to contact areas; the control system dynamically divides the action areas of the telescopic structures according to the instantaneous motion helix of the goods: the telescopic structures in the front area of the motion trend only maintain supporting force, the telescopic structures in the rear area actively clamp the goods and apply a tangential component parallel to the direction of the clamping base to generate a resultant moment on the instantaneous rotation axis and a resultant force in the motion direction, thereby cooperating to rotate and translate the goods.

[0013] More specifically, the adaptive clamping device is installed with several telescopic structures or inflatable and deflatable bag-like structures or similar structures, such as telescopic rods, liquid bags or air bags, etc., on the clamping bases arranged in pairs. The clamping bases are directly installed on the connecting mechanism or installed on the clamping driving device and then connected with the equipment main body through the connecting mechanism. When the goods are between the two clamping bases, the telescopic structures or inflatable and deflatable bag-like structures or similar structures are actively extended or passively retracted to adapt to the shape of the goods, carry and limit the sliding of the goods, and if there is a clamping driving device, the pressure applied by the clamping driving device is added to play a clamping role. The clamping base is installed with telescopic structures and their guiding and limiting mechanisms, reset mechanisms, hydraulic systems, control systems, etc., or installed with independent liquid bags or air bags that are shaped after being filled, hydraulic systems, pneumatic systems, control systems, etc. It can also be installed in parts, and the clamping base is installed with telescopic, liquid bag, air bag, etc. execution mechanism, and the pneumatic, hydraulic, control, etc. auxiliary device is installed on the equipment main body to reduce the weight and volume of the adaptive clamping device. The side of the clamping base facing the goods can be shaped according to the common characteristics of the goods, such as a flat surface or a semi-enclosed type, for example, fixed for clamping various cylindrical goods of different diameters. The clamping base facing the cylinder is arc-shaped and semi-enclosed, and the telescopic structure is also arranged in an arc shape to cooperate with the cylindrical shape of the goods to reduce the telescopic distance and improve the operation speed of the device. The telescopic structure or inflatable and deflatable bag-like structure or similar structure can be densely or arrayed arranged on the clamping base, or it can be adapted to the shape of the goods and arranged locally on the clamping base. For example, the goods to be clamped have a common characteristic of a small plane on the side, and the clamping base region in contact with it is not arranged, and the other regions are densely or arrayed arranged to adapt to the size and shape of the goods. If the clamping base is installed with several telescopic structures, the following is an example of telescopic rods. The telescopic rods are driven to extend or retract by hydraulic cylinders or air cylinders or electric push rods or gear racks, or the clamping driving device drives the clamping base to clamp and is subjected to the reaction force of the goods, causing the telescopic rods to retract. The top ends of the several telescopic rods are in contact with the goods, and their telescopic length is adapted to the shape of the goods. The telescopic rods are tightly pressed against the goods to limit the sliding of the goods and thus clamp and carry the goods. The end of the telescopic rod can be installed with elastic or movable parts or connected and covered with ropes, cloth, etc., to increase the contact area with the goods, increase the friction, reduce the pressure, and be beneficial to fixing and protecting the goods. The end of the telescopic rod can be installed with sensors such as pressure sensors, travel switches, etc. to detect the contact state with the goods. The hydraulic system can also be installed with overflow valves, pressure sensors or circuit systems installed with current sensors, etc. to detect the change of working state and thus detect the contact state with the goods.Its working process is as follows: first, the telescopic rod is driven to extend, the initial telescopic rod is in the retracted position, the device body drives the adaptive clamping device to move or is conveyed by the external device to load the goods into the middle of the clamping base, if there is no clamping driving device, the telescopic rod is driven to extend by a hydraulic cylinder or an electric push rod or a gear and rack device; when the telescopic rod end contacts the goods and reaches the set state (receiving the travel switch trigger or the pressure switch pressure value signal), the telescopic rod stops and keeps the extension length, and the telescopic rods contacting the goods can limit the movement of the goods to be clamped. If there is a clamping driving device, the clamping driving device first drives the clamping bases on both sides of the goods to approach the goods, and then the telescopic rod extends or clamps the goods together with the clamping base to adapt to small goods. Second, the telescopic rod is driven to extend, the initial telescopic rod is driven to extend by a hydraulic cylinder or an electric push rod or a gear and rack or spring mechanism, the goods are loaded into the adaptive clamping device, the clamping driving device drives the clamping base and the telescopic rod to approach the goods in the middle, the telescopic rod contacting the goods is retracted under the action of the goods reaction force or controlled retraction under the action of its auxiliary device, until part of the telescopic rod is retracted to the bottom position, the goods reach the balance state, or all the telescopic rods under stress are retracted to the set length and kept, the goods reach the set position state, and the telescopic rods under stress can clamp and fix the goods. If it is a complex goods, the surface of the clamped goods has parts that cannot bear force and are easily damaged (such as glass, thin wall, interface, etc.) or structures that affect loading and fixing (such as grooves, pipe holes, etc.), the device obtains the goods information from the external device, the adaptive clamping device adjusts the telescopic rod of the adaptive clamping device according to the shape of the goods and its expected position on the clamping base, so that the telescopic rod corresponding to the area that cannot bear force and affects the clamping and fixing of the goods keeps retracted state, i.e. bottom position, to protect these areas from being contacted and damaged by the telescopic rod during clamping. The control system adjusts the telescopic rod of the adaptive clamping device according to the shape of the goods and the stress model of the goods and the adaptive clamping device, a part of the telescopic rod is retracted, and the other part is extended, the resultant force or moment of the forces exerted by the telescopic rods on the goods can make the goods displace or rotate, so as to adjust the relative position of the goods in the adaptive clamping device and assist in loading and unloading the goods. If the goods have irregular surfaces such as curved surfaces and inclined surfaces in contact with the telescopic rod, for example, clamping a wine jar, the telescopic rods in contact with the wine jar in each plane parallel to the clamping base are controlled in zones to make the wine jar rotate around an axis perpendicular to the clamping base. In a certain plane parallel to the clamping base, the telescopic rods in the first and third quadrants are retracted to only support the wine jar, i.e. the force balance is achieved at this position, and the resultant force is approximately zero; the telescopic rods in the second and fourth quadrants are extended to exert force on the curved surface of the wine jar, and the force in the direction parallel to the clamping base generates a resultant moment on the rotation axis; the control system controls the telescopic rods in contact with the wine jar according to the above control process, so that the wine jar rotates clockwise, and the pouring or position adjustment is completed.If the load fixing surface of the clamping base is provided with a plurality of independent liquid bags or air bags or the like bag-shaped structures or similar structures, the clamping base or the device body is provided with a pump, valves, pipelines, a control system and the like in a split manner. The surface or the interior of the bag-shaped structures or similar structures and the pipelines are also provided with pressure sensors and other sensors for detecting the contact and stress state of the goods. The shape of the bag-shaped structures or similar structures such as the liquid bags or air bags after being filled is a cuboid or a columnar body, and the working process of actively filling or actively and passively discharging the liquid, gas and the like is similar to the above-mentioned telescopic structure. The goods are clamped and fixed by being matched with the shape of the goods, and the goods are assisted to be loaded and unloaded. When the goods are unloaded, if the self-adaptive clamping device adopts an active extension working mode, the telescopic structure is actively retracted and reduced to move away from the goods; the clamping driving device of the self-adaptive clamping device drives the clamping base to move away from the goods, and the telescopic structure is driven to move away from the goods; and the action of releasing the goods is completed.

[0014] (III) Beneficial Effects The above technical solutions of the present application have the following advantages: The present application can automatically match the shape of the goods, and adaptively clamp different types, shapes and sizes of goods without manual operation. The present application installed on a mobile device is suitable for mixed handling of various goods, and can be configured in an automatic logistics device and system to efficiently handle large flow of mixed goods, thereby improving production efficiency and saving cost.

[0015] In addition to the above-described technical problems solved by the present application, technical features of the technical solutions and advantages brought by the technical features, other technical features of the present application and advantages brought by the technical features will be further described with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other accompanying drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 : Schematic diagram of self-adaptive clamping device clamping wine jar; Figure 2 : Schematic diagram of telescopic rod hydraulic system; Figure 3 : Simplified schematic diagram of telescopic rod driving wine jar to rotate clockwise; Figure 4 : Schematic diagram of Y-Z plane telescopic rod torque analysis on wine jar; Figure 5: Schematic diagram of the process of the telescopic rod driving the wine jar to rotate clockwise to pour the contents; Figure 6 Schematic diagram of ratchet mechanism telescopic rod; Figure 7 Schematic diagram of a high-outrigger adaptive gripping automated guided vehicle; Figure 8 Schematic diagram of an adaptive clamping fork-type automated guided vehicle; In the diagram: 1. Clamping base; 2. Telescopic rod; 3. Wine jar; 4. Pressure sensor; 5. Two-way hydraulic cylinder; 6. Hydraulic pressure sensor; 7. Relief valve 1; 8. Extension reversing solenoid valve; 9. Throttle valve; 10. Relief valve 2; 11. Oil pump; 12. Oil tank; 13. Retraction reversing solenoid valve; 14. Spring; 15. Retraction locking pawl; 16. Ratchet; 17. Locking wedge; 18. Extension locking pawl; 19. Rack; 20. Guide groove; 21. Lifting beam mechanism; 22. Outrigger; 22.1. Differential steering drive wheel; 23. Upper structure; 24. Rotating mechanism; 25. Clamping drive device base; 26. Lifting base; 27. Mast; 28. Forklift automated guided vehicle body; 29. ​​Wheel. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1 like Figure 1 As shown, an adaptive clamping device is used to clamp goods, such as wine jars. This device is installed on a device (or a clamping drive device that can move the clamping base 1, or the adaptive clamping device includes a clamping drive device). The adaptive clamping device consists of two clamping bases 1 and several telescopic rods 2 (i.e., telescopic devices) arranged in a matrix perpendicular to the clamping bases 1. The telescopic rods 2 that contact the wine jar 3 are retracted or extended to a certain length to support and restrict its sliding, thus achieving a clamping and fixing effect.

[0020] like Figure 2As shown, the single telescopic rod 2 is controlled to extend and retract by the hydraulic system using the bidirectional hydraulic cylinder 5. The telescopic rod 2 is connected to or integrated with the piston of the bidirectional hydraulic cylinder 5. Before clamping the wine bottle 3, all telescopic rods 2 are kept in the retracted state and work in the active extension mode. When the size of the wine bottle is small, the clamping drive device drives the clamping base 1 to approach the wine bottle 3, and drives the telescopic rods 2 to approach the wine bottle 3, so that the stroke of the telescopic rod 2 is adapted to the wine bottle. Initially, the oil pump 11 is started, the hydraulic oil is pumped from the oil tank 12, the control subsystem of the hydraulic system controls the three-position three-way extension reversing electromagnetic valve 8 to switch from the middle closed position to the left side up channel, and the three-position three-way retraction reversing electromagnetic valve 13 on the other side of the piston is switched from the middle closed position to the right side down channel, the pressure oil enters the hydraulic cylinder 5 to push the piston and the telescopic rod 2 to extend, and at the same time the hydraulic oil on the other side of the piston flows back to the oil tank 12 from the hydraulic cylinder 5. The throttle valve 9 is used to adjust the flow to control the extension speed of the telescopic rod 2, the overflow valve 10 is used to set the maximum pressure to protect the hydraulic system, and the overflow valve 7 is used to separately set the pressure limit protection of the bidirectional hydraulic cylinder 5 and the pipeline. The pressure sensor 4 is installed to measure the contact pressure of the telescopic rod 2 and the wine bottle 3, and the hydraulic pressure sensor 6 is installed to measure the pressure of the pipeline and the bidirectional hydraulic cylinder 5. A displacement sensor can also be installed to measure the extension length of the telescopic rod 2, and the sensor signals are fed back to the control subsystem. In order to prevent the extension length of the telescopic rod 2 from not matching the shape of the wine bottle 3, causing local stress concentration of the wine bottle 3 and damage, when the pressure of the bidirectional hydraulic cylinder 5 and the pipeline exceeds the set value of the overflow valve 7, the pressure oil is discharged back to the oil tank, and the telescopic rod 2 stops extending to avoid damage to the wine bottle 3. When the telescopic rod 2 contacts the wine bottle 3, the signals of the pressure sensor 4, the hydraulic pressure sensor 6 and the displacement sensor are calculated by the control subsystem and compared with the pressure values and displacement amounts measured by other telescopic rods. When the conditions of the control law are met, the oil pump 11 is stopped by the control subsystem, the extension reversing electromagnetic valve 8 and the retraction reversing electromagnetic valve 13 are switched back to the middle closed position, the hydraulic cylinder 5 is locked, the position of the telescopic rod 2 is kept unchanged, and the telescopic rod 2 supports and limits the movement of the wine bottle 3 together with other telescopic rods, thereby playing a clamping and fixing role; if the measured pressure exceeds the set value, the control subsystem controls the extension reversing electromagnetic valve 8 to switch to the right side down channel, and the telescopic rod 2 retracts to an appropriate length, so that the contact pressure of the telescopic rod 2 and the wine bottle 3 is within an appropriate range. The control subsystem controls the extension length of each telescopic rod 2 in contact with the wine bottle 3, so that the gravity of the wine bottle 3 is reasonably distributed on each telescopic rod 2, and each telescopic rod 2 is adapted to the shape of the wine bottle 3, and each telescopic rod 2 clamps and fixes the wine bottle 3. The device (with a clamping drive device) can drive the self-adaptive clamping device and the wine bottle 3 to lift and transport.When unloading the wine jar 3, the oil pump 11 starts, and hydraulic oil is pumped into the oil tank 12. The control subsystem of the hydraulic system controls the three-position three-way retraction solenoid valve 13 to switch from the middle closed position to the left upward channel. The three-position three-way extension solenoid valve 8 on the other side of the piston switches from the middle closed position to the right downward channel. The pressurized oil enters the hydraulic cylinder 5 to push the piston and the telescopic rod 2 to retract. At the same time, the hydraulic oil on the other side of the piston flows back to the oil tank 12 from the hydraulic cylinder 5. At the same time, the clamping drive device drives the clamping base 1 away from the wine jar 3, which together drives each telescopic rod 2 away from the wine jar 3, completing the release action. Another working mode of the adaptive clamping device described in this embodiment is the passive retraction working mode. In this mode, the telescopic rod 2 is passively retracted. Before clamping the wine jar 3, the telescopic rod 2 in this embodiment remains in the extended state. Figure 2 As shown, the single telescopic rod 2 is controlled by the control subsystem to extend to its maximum length via the oil pump 11, the extension reversing solenoid valve 8, and the retraction reversing solenoid valve 13. The retraction reversing solenoid valve 13 then switches back to the neutral closed position. The bidirectional hydraulic cylinder 5 is equivalent to a unidirectional driven hydraulic cylinder. The clamping drive device of the adaptive clamping device drives the clamping base 1 to move towards the wine jar 3, causing each telescopic rod 2 to move towards the wine jar 3. The telescopic rod 2 that contacts the wine jar 3 is controlled by the control subsystem to switch the extension reversing solenoid valve 8 to the right-side descending channel, where it receives the reaction force from the wine jar 3. The piston retracts under force, causing the hydraulic oil in the bidirectional hydraulic cylinder 5 to flow back to the oil tank 12 of the hydraulic system. The throttle valve on the circuit is used to adjust the retraction speed of the telescopic rods. Each telescopic rod 2 retracts to fit the shape of the wine jar 3. The wine jar 3 is in contact with or at a certain distance from the clamping base 1. The signals from the pressure sensor 4, hydraulic pressure sensor 6, and displacement sensor are calculated by the control subsystem and compared with the pressure and displacement values ​​measured by other telescopic rods. When the conditions of the control law are met, the extension reversing solenoid valve 8 is closed, and the telescopic rod 2 maintains its current extension length. Each telescopic rod 2 in contact with the wine jar 3 synchronously completes the above control process, jointly supporting and clamping the wine jar 3. The telescopic rods around the wine jar 3 that are not in contact with it block the wine jar 3, and the wine jar 3 is well clamped and fixed. The equipment can then drive the adaptive clamping device and the wine jar 3 to lift and transport. When unloading the wine jar 3, the clamping drive device of the adaptive clamping device drives the clamping base 1 away from the wine jar 3, driving each telescopic rod 2 away from the wine jar 3, completing the release action.

[0021] Each telescopic rod 2 of the adaptive clamping device can be individually controlled by the control subsystem for its extension and retraction, such as Figure 2As shown, a set of extending reversing solenoid valves 8 and pipeline control is used; alternatively, branch oil pipes can be grouped or connected in series and parallel with other telescopic rods, bidirectional hydraulic cylinders 5 and relief valves 7 can be added, along with pressure balancing valves or electro-hydraulic proportional valves, etc., using mechanical or electronic pressure and speed regulation methods, with a set of extending reversing solenoid valves 8 and pipelines to uniformly control the extension and retraction of all telescopic rods 2; various mature hydraulic systems can be used to implement the technical solution of this invention, and the extension and retraction of the telescopic rods can also be achieved by electric push rods and other devices; these will not be elaborated here. With proper arrangement of the equipment and the space of the adaptive clamping device, multiple goods can be clamped and fixed according to the above process.

[0022] like Figure 1 As shown, in this embodiment, after the adaptive clamping device clamps the wine jar 3 on the ground, the connected equipment lifts the adaptive clamping device along with the wine jar 3 to a certain height. The control system dynamically adjusts the telescopic rods 2 of the adaptive clamping device according to the shape of the goods, the force model of the goods and the adaptive clamping device. The combined torque generated by the forces exerted by several telescopic rods 2 on the goods can cause the wine jar 3 to rotate. Specifically, the telescopic rods 2 on the clamping bases 1 on both sides are symmetrically installed and numbered as follows: row A to row B, row C to row D, row E to row F, row G to row H, row I to row J. Each row has 9 telescopic rods 2 numbered 1 to 9. For example, A1 and B1 are symmetrically installed, and I9 and J9 are symmetrically installed. Figure 3 As shown, for ease of explanation, Figure 1 The simplified state of the telescopic rod array 2 clamping the wine jar 3 is as follows: the adaptive clamping device clamps the upper and lower ends of the wine jar 3 through telescopic rods A2-A8 and symmetrically arranged B2-B8, I3-I7 and J3-J7. To make the wine jar 3 rotate clockwise (or tilt) around a certain X-axis perpendicular to the clamping base, the control system performs zoned control on each telescopic rod 2 in contact with the wine jar 3. The telescopic rods 2 numbered A2-A5 and symmetrically arranged B2-B5, I5-I7 and J5-J7 are as follows: Figure 3 The arrows extend in the direction of the center arrow (or all extend towards the wine jar), applying force to the wine jar 3; the telescopic rods 2, numbered A6~A8 and symmetrically arranged B6~B8, I3~I4 and symmetrically arranged J3~J4, are as follows: Figure 3 The indentation in the direction of the middle arrow (or in other words, the indentation all facing away from the wine jar) only needs to maintain the balance between the force applied and the component of the three-fold weight of the wine jar it supports. For example... Figure 4As shown, the local moment analysis is made in a Y-Z plane parallel to the clamping base, with the rotation axis X as the coordinate origin. The first quadrant A8 and the third quadrant I3 telescopic rods 2 are retracted, only maintaining the support for the wine jar, i.e. the force balance with the gravity component at this position; the second quadrant A2 and the fourth quadrant I7 telescopic rods are extended, exerting force on the curved surface of the wine jar, the force components F1 and F2 in the direction parallel to the clamping base generate the resultant moment on the rotation axis X; the symmetric B8 and J3 telescopic rods are retracted, and the B2 and J7 telescopic rods are extended, the force components on the wine jar 3 also generate the resultant moment on the rotation axis X, while balancing the force components exerted by the symmetric telescopic rods on the wine jar 3 in the direction perpendicular to the clamping base. As shown in Figure 5 As shown, the control system continues to control each telescopic rod in contact with the wine jar according to the above control process, so that the wine jar 3 rotates clockwise around the X axis, completing the pouring or pose adjustment. In summary, the control system dynamically adjusts the telescopic rods of the adaptive clamping device according to the shape of the cargo, and uses the signals of the sensors installed at the end of the telescopic rods, moving parts, and hydraulic, electrical, and other subsystems and components as feedback, continuously controls a part of the telescopic rods to retract and another part of the telescopic rods to extend according to the control law, and the resultant force or moment of the force components exerted by the telescopic rods on the cargo can make the cargo produce displacement or rotation, complete the adjustment of its relative position on the adaptive clamping device, and assist in loading and unloading the cargo.

[0023] Obviously, the adaptive clamping device of the embodiment can automatically adapt to clamp various types, specifications, shapes, and other diverse objects without the need for replacing parts and manual adjustment, and can be applied to mobile devices such as manual forklifts and automatic guided vehicles, and devices and occasions that need to clamp and fix objects, thereby improving production efficiency and saving costs. Embodiment 2 As shown in Figure 6 As shown in Figure 1As shown, the wine bottle 3 is loaded into the adaptive clamping device composed of clamping drive, clamping base 1 and several telescopic rods 2 and their accessories. The retraction locking pawl 15 is rotated counterclockwise away from the ratchet wheel 16 under the drive of electromagnet or rotary motor, etc. The clamping drive drives the pair of clamping bases 1 to close to the wine bottle 3. The telescopic rods 2 in contact with the wine bottle 3 are retracted under the reaction force of the wine bottle 3. The spring 14 is stretched to generate damping force. The extension locking pawl 18 can also be rotated counterclockwise to contact the ratchet wheel 16 under the drive of electromagnet or rotary motor, etc. The extension locking pawl 18 and the ratchet wheel 16, rack 19 generate additional damping force effect. The telescopic rods 2 are stably retracted. When the wine bottle 3 contacts enough telescopic rods 2 and is in a stable state, the frictional force between the wine bottle 3 and the telescopic rods 2 in contact is greater than or equal to the weight of the wine bottle 3. The retraction locking pawl 15 and the extension locking pawl 18 of all telescopic rod 2 accessories are rotated to contact the ratchet wheel 16 under the drive of electromagnet or rotary motor, etc. Each telescopic rod 2 is locked, supporting and clamping the wine bottle 3 together. The wine bottle 3 is well clamped and fixed. The equipment can be lifted and transported the wine bottle 3. When unloading the wine bottle 3, the clamping drive of the adaptive clamping device drives the clamping base 1 away from the wine bottle 3, driving each telescopic rod 2 away from the wine bottle 3, completing the release action. Another locking method, without installing the retraction locking pawl 15 and the extension locking pawl 18, when the wine bottle 3 contacts enough telescopic rods 2 and is in a stable state, the locking wedge 17 of each telescopic rod 2 moves downward to contact and engage with the ratchet wheel 16 under the drive of electromagnet or electric push rod, locking each telescopic rod 2. When unloading the wine bottle 3, the clamping drive of the adaptive clamping device drives the clamping base 1 away from the wine bottle 3, driving each telescopic rod 2 away from the wine bottle 3, completing the release action.

[0024] If the spring 14, the retraction locking pawl 15 and the extension locking pawl 18 are cancelled, a rotary motor is connected to the ratchet wheel 16 with a rack 19, that is, the gear and rack mechanism drives the telescopic rod 2 to extend and retract. After the telescopic rod 2 is extended and retracted to the position, the locking wedge 17 moves downward to contact and engage with the ratchet wheel 16 under the drive of electromagnet or electric push rod, locking each telescopic rod 2. Configuring a control system and various sensors, the active extension and passive retraction working mode of embodiment 1 can also be achieved to clamp and fix and move goods. Obviously, the telescopic device composed of telescopic rods with air pressure jack mechanism or hydraulic spring mechanism and electrically controlled telescopic locking mechanism, and the telescopic device composed of hydraulic cylinders or hydraulic capsules controlled by simple hydraulic system of energy accumulator and electromagnetic valve can also achieve the above functions.

[0025] Embodiment 3 As Figure 7As shown, the high (here, high specifically refers to the height of the bottle 3 lifted by the guide vehicle, and the bottle 3 lifted can be higher than the upper end surface of the bottle 3 on the ground shelf, so as to complete the carrying of the bottle 3) leg self-adapting clamping automatic guide vehicle carries the bottle 3, which is composed of four legs 22, an upper structure 23, a transfer device, a control system and the like. A plurality of high leg self-adapting clamping automatic guide vehicles of the embodiment and a set of upper system are configured for an automatic storage warehouse in the wine industry. The shelves of the warehouse are arranged on the ground in a matrix manner, the bottles 3 are placed on the shelves, and gaps are left between the shelves for the legs 22 of the high leg self-adapting clamping automatic guide vehicle to pass through, and the high leg self-adapting clamping automatic guide vehicle drives above the shelves. The yard can be completely arranged as a shelf according to its shape and area, without leaving a passageway. All shelves are accessible, and goods can be taken and placed on any shelf, fully utilizing the site. The high leg self-adapting clamping automatic guide vehicle can clamp and carry bottles of multiple specifications or other goods. A set of system can cover multiple warehouses, which can improve the carrying efficiency and equipment utilization rate, and save costs.

[0026] The high leg self-adapting clamping automatic guide vehicle of the embodiment is powered by electricity or hydraulic pressure and arranged in a unit driving structure. Four-wheel drive mode is adopted. Each of the lower parts of the four legs 22 is provided with a differential steering drive wheel 22.1 adopting a differential driving unit. Under the control of the control system, the high leg self-adapting clamping automatic guide vehicle of the embodiment has omnidirectional movement capability and can complete forward movement, backward movement, lateral movement, turning, spinning and other movement modes. The upper parts of the legs 22 are connected with the upper structure 23, and the four legs 22 and the upper structure 23 constitute a vehicle body, which straddles a shelf. The frame type upper structure 23 supported by the four legs 22 is higher than the upper plane of the bottle 3 on the shelf. The spacing between each leg is greater than the outer dimension of the bottle 3. That is, the bottle 3 is taken as a reference, the four legs are located outside the bottle 3, and the longitudinal and lateral spacings between the two are greater than the maximum cross-sectional diameter of the bottle 3. The legs 22 of the high leg self-adapting clamping automatic guide vehicle pass through the gaps between the shelves to drive the high leg self-adapting clamping automatic guide vehicle to move longitudinally and laterally above the shelves in the yard to reach the target position. In order to increase the balance and stability of the whole machine, counterweight blocks can be added to the legs 22 to enhance the balance, and the differential steering drive wheel 22.1 can be replaced by a four-wheel differential driving unit to increase the ground contact area. Multiple wheel driving units can also be used to increase the balance and stability of the whole machine. According to the use scene, the commonly used driving mode and structure of the automatic guide vehicle can be applied to the embodiment.

[0027] The moving device of the high-leg self-adaptive clamping AGV is a liftable self-adaptive clamping device, which is composed of a set of self-adaptive clamping device of embodiment 1 or embodiment 2 and two sets of symmetrical lifting beam mechanisms 21. The clamping driving device of the self-adaptive clamping device is installed on the lifting beam mechanism 21, and the clamping driving device drives the clamping bases 1 to move in opposite directions along the lifting beam to clamp or release the wine jars 3. For example, the clamping driving device is driven by a set of screw rod mechanism, one screw rod has two sets of screw threads with opposite directions, and the screw threads of the two screw rod nuts are also opposite, the two clamping bases 1 are connected to the screw rod nuts on one side, and when the motor drives the screw rod to reverse, the screw rod nut moves in opposite directions, thereby driving the two clamping bases 1 to move in opposite directions, and further driving the self-adaptive clamping device to clamp or release. In addition, the clamping driving device can also drive the clamping base 1 to move in opposite directions by hydraulic cylinders, electric push rods, gear and rack mechanisms, chain mechanisms, etc., thereby driving the clamping base 1 to clamp or release. The lifting beam mechanism 21 is installed between the two legs 22, and the lifting beam is connected to the ball screw lifting device on the two legs 22 at both ends and is driven to lift up and down, or can be driven to lift by hydraulic cylinders, gear and rack, lifting winches, telescopic arms, etc.; it can also be driven to lift by the lifting winch installed on the upper structure 23 through the lifting cable connected to the lifting beam. The two sets of symmetrical lifting beam mechanisms 21 drive the self-adaptive clamping device to lift up and down and complete the loading and unloading of the wine jars 3.

[0028] The control system is installed on the platform of the upper structure 23 and distributed on the vehicle body, including a battery pack, a main controller, a driving wheel servo controller, a self-adaptive clamping device controller, navigation sensors, vision sensors, communication devices, other electrical appliances and wire harnesses, lines, etc. In this embodiment, laser navigation sensors are installed on the vehicle body, and reflective plates are arranged on the walls and columns of the warehouse and yard, and an electronic map is established. Its navigation principle is the same as that of the AGV, and in addition, other navigation sensors can be installed, other navigation principles can be used, and composite navigation can be used, which will not be described here.

[0029] When the high-leg adaptive clamping automated guided vehicle executes the warehouse entry task, it loads the wine jar 3 at the loading platform. Under the control of the control system, after the two sets of lifting cross beam mechanisms 21 drive the adaptive clamping device to be synchronously raised or lowered to the height close to the platform or the ground, the clamping driving device drives the clamping base 1 to be close to the wine jar 3, and the telescopic rod 2 clamps the wine jar 3 according to the working mode of the embodiment 1 or the embodiment 2. The two sets of lifting cross beam mechanisms 21 drive the adaptive clamping device together with the wine jar 3 to be raised to the carrying height and to be raised to the striding height before entering the goods yard. The high-leg adaptive clamping automated guided vehicle moves above the wine jar at the ground along the path to reach the target location. The two sets of lifting cross beam mechanisms 21 drive the adaptive clamping device together with the wine jar 3 to be lowered to the ground. The telescopic rod 2 releases the wine jar 3 according to the working mode of the embodiment 1 or the embodiment 2. The clamping driving device cooperates with the telescopic rod 2 to drive the clamping base 1 to be away from the wine jar 3. The telescopic rod 2 releases the wine jar 3 according to the working mode of the embodiment 1 or the embodiment 2. The two sets of lifting cross beam mechanisms 21 drive the adaptive clamping device to be raised to the striding height, and the unloading is reported to the upper system. The warehouse entry task is completed. The high-leg adaptive clamping automated guided vehicle executes the warehouse exit task, and the working process is the reverse sequence of the entry task.

[0030] The high-leg adaptive clamping automated guided vehicle of the embodiment can complete the task of clamping and carrying various goods in the goods yard and warehouse arranged in an array, and can also be used in production lines and other application scenarios to stridingly move above the equipment and deliver materials at the equipment interface to complete the material delivery task.

[0031] Embodiment 4 As Figure 8As shown, the self-adaptive clamping fork AGV is used to carry the wine jar 3, and a plurality of self-adaptive clamping fork AGVs and a set of upper system are configured to replace the manually driven clamping forklift in the automatic storage warehouse and other scenarios of the wine brewing industry. The self-adaptive clamping fork AGV is composed of a transfer device and a fork AGV body 28. The transfer device is composed of a set of self-adaptive clamping devices of embodiment 1 or embodiment 2, a rotating mechanism 24, a clamping drive device base 25, a lifting base 26, and a portal 27. The clamping drive device of the self-adaptive clamping device is installed on the clamping drive device base 25, and the clamping drive device drives the clamping base 1 to move towards or away from each other to clamp or release the wine jar 3. The clamping drive device base 25 is connected to the lifting base 26 through the rotating mechanism 24, and the motor-driven gear and disc mechanism of the rotating mechanism 24 can drive the self-adaptive clamping device and the clamped wine jar 3 to rotate around the center Y axis of the disc. The lifting base 26 is connected to the portal 27 and the hydraulic cylinder thereon through the hanging chain and guide wheel, and the hydraulic cylinder is controlled by the hydraulic pump station installed in the fork AGV body 28 to drive the lifting, thereby driving the self-adaptive clamping device to lift, clamp and release the wine jar 3 in cooperation with the working mode of the self-adaptive clamping device of embodiment 1 or embodiment 2, and complete the task of loading, unloading and carrying the wine jar 3. The working process is similar to that of embodiment 3. In this embodiment, the partition control of each telescopic rod 2 in embodiment 1 is used to rotate the wine jar 3 around the X axis of the wine jar 3 and move relative to the clamping base 1, and the rotating mechanism 24 can be controlled to rotate the wine jar 3 around the disc, so as to complete the actions of pouring wine, cleaning water, adjusting the posture of the wine jar 3, and cooperating with the unloading and loading requirements.

[0032] The specific embodiments of the application are described in detail above in combination with the drawings, but the application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. An adaptive hugging device, characterized by: The device comprises clamping bases, telescopic devices and a controller, the telescopic devices are provided with telescopic structures or bag-like structures; the clamping bases are oppositely arranged and reversibly movable, and the clamping bases are provided with the telescopic structures or bag-like structures; The telescopic devices are connected by a linkage without power; Or, the telescopic devices are provided with sensors for detecting the telescopic state, and the telescopic devices and the sensors are electrically connected with the controller; the telescopic devices are driven by power devices.

2. A method of clamping a load by an adaptive clamp apparatus, characterized by, The device comprises the following steps: S1, controlling the clamping bases to approach the goods so that the goods are between the clamping bases; S2, driving the two clamping bases to approach the goods, so that the telescopic structures or bag-like structures on the clamping bases are in contact with the goods and are passively retracted under pressure to adapt to the shape of the goods; or, driving the two clamping bases to approach the goods, and then driving the telescopic structures or bag-like structures on the clamping bases to actively extend or passively retract the top ends to adapt to the shape of the goods; or, directly driving the telescopic structures or bag-like structures on the clamping bases to actively extend or passively retract the top ends to adapt to the shape of the goods; S3, clamping and fixing the goods by the support force and friction force generated by the contact between the telescopic structures or bag-like structures and the goods; S4, when unloading the goods, controlling the telescopic devices to actively retract or jointly move away from the goods with the clamping bases.

3. The method of claim 2, wherein, In step S2, when the telescopic rod is in the active extension mode, the telescopic rod is initially retracted, and is driven by the driving mechanism to extend until it contacts the goods and reaches a set state, then stops and maintains the extension length; when the telescopic rod is in the passive retraction mode, the telescopic rod is initially kept in the extended state, and during the process of the clamping base approaching the goods, the telescopic rod in contact with the goods is retracted under the reaction force of the goods or is driven by the driving mechanism to retract until the goods are clamped to reach a balanced state.

4. The method of claim 3, wherein: In step S2, the pressure sensor, displacement sensor or travel switch installed on the telescopic rod detects the contact state with the goods and feeds back to the control system.

5. The method of claim 4, wherein: When the telescopic rod contacts the goods, the signals of the pressure sensor and the displacement sensor are calculated by the control subsystem and compared with the pressure values and displacement amounts measured by other telescopic rods, and when the conditions of the control law are met, the position of the telescopic rod is kept unchanged, and the telescopic rod supports and limits the movement of the goods together with other telescopic rods; if the measured values do not meet the set values, the control subsystem controls the telescopic rod to extend or retract to adjust the telescopic rod to the conforming state, and then clamps the goods for lifting and carrying.

6. The method of claim 2, wherein: In step S2, according to the shape data of the goods or the detection of the vulnerable areas of the goods surface and the structures affecting loading and unloading, the telescopic devices of the corresponding areas are kept in the retracted state to avoid contact; after the telescopic devices contact the goods, the clamping driving device drives the clamping base to apply pressure and fixes the goods together with the telescopic devices.

7. The method of claim 2, wherein: The device further comprises a pose adjustment step, the control system dynamically controls part of the telescopic devices to retract and another part to extend according to the shape of the goods, the feedback signals of the sensors and the force model of the goods and the self-adaptive clamping device, and generates a resultant moment by the forces applied to the goods by the telescopic devices to make the goods displace or rotate, so as to complete the adjustment of the relative position of the goods on the clamping base and assist in loading and unloading the goods.

8. The method of claim 7, wherein: In the pose adjustment step, the control system controls the telescopic device by region according to the contact area; the control system dynamically divides the action area of the telescopic structure according to the instantaneous motion screw of the goods: the telescopic structure in the front area of the motion trend only maintains the supporting force, the telescopic structure in the rear area actively clamps the goods, and a tangential component force parallel to the direction of the clamping base is applied to generate a resultant moment of the instantaneous rotation axis and a resultant force along the motion direction, thereby cooperating with the rotation and translation of the goods.

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