CN110182516B

CN110182516B - Multi-degree-of-freedom conveying device for intelligent warehousing equipment and balance control method

Info

Publication number: CN110182516B
Application number: CN201910401487.7A
Authority: CN
Inventors: 成全全
Original assignee: Nantong Hongsheng Machinery Fitting Co ltd
Current assignee: NANTONG HONGSHENG MACHINERY FITTING Co.,Ltd.
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-08-21
Anticipated expiration: 2039-05-15
Also published as: CN110182516A

Abstract

The invention discloses a multi-degree-of-freedom conveying device for intelligent warehousing equipment, which comprises a bearing bottom plate and a moving rotating wheel, wherein the left side and the right side of the bearing bottom plate are respectively provided with a control vertical pile and a translation clamping mechanism, the lower surface of the control vertical pile is provided with a plurality of C-shaped clamping grooves, the translation clamping mechanism comprises a clamping vertical plate movably arranged at the upper end of the bearing bottom plate and a plurality of guide balancing rods uniformly arranged on the clamping vertical plate, the bearing bottom plate is also provided with a power cylinder, the bearing bottom plate is also provided with a limiting long plate, the upper end of the limiting long plate is provided with a plurality of U-shaped clamping holes, the guide balancing rods sequentially penetrate through the corresponding U-shaped clamping holes, the tail ends of the guide balancing rods are correspondingly inserted into the matched C-shaped clamping grooves, and the upper end of each guide balancing; this scheme can carry out the clamping action to the goods of not unidimensional size, places the goods and drops from conveying platform when accelerating speed reduction or turning round to improve the stability of goods in transportation process, increase the security performance that the goods was carried.

Description

Multi-degree-of-freedom conveying device for intelligent warehousing equipment and balance control method

Technical Field

The invention relates to the field of intelligent warehousing, in particular to a multi-degree-of-freedom conveying device for an intelligent warehousing device and a balance control method.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By utilizing the storage position management function of the SNHGES system, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved.

In the application of the domestic Internet of things, the method mainly has the characteristics of several aspects: first, perceptual application is well-compared. The most applied internet of things sensing technology in the warehousing industry in China is an RFID technology, and RFID tags and intelligent Radio Frequency (RF) handheld terminals are widely applied to advanced warehousing and distribution centers. This is because the RFID technology is combined with the tray system and applied in a closed loop in the warehouse distribution center, which can effectively reduce the cost. It is also known that in a general warehousing system, besides the bar code-based automatic identification technology, an electronic tag assisted picking system has certain application. Here, the electronic tag is not an RFID tag but a system for performing a picking operation using an electronic instruction tag. The system is used for decomposing the orders of the warehouse-in and warehouse-out through the computer system, transmitting the orders to each goods position of the goods shelf, and guiding the picking by using an electronic display technology.

In-process at intelligent storage equipment, conveyor all can be used mostly, and at present the most widely used conveyor all uses multi freedom system control its in two-dimentional even three-dimensional space to remove in intelligent storage, and when conveyor removed in two-dimensional space or three-dimensional space, because the speed reduction operation, operation with higher speed or the operation of turning round etc. by a wide margin, all probably caused dropping of carrying goods, seriously influence the stability of transport work.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a multi-degree-of-freedom conveying device for intelligent warehousing equipment and a balance control method, which can effectively solve the problems in the background art.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a multi-degree-of-freedom conveying device for intelligent warehousing equipment comprises a bearing bottom plate and a moving rotating wheel installed on the lower surface of the bearing bottom plate, wherein a control vertical pile and a moving clamping mechanism are respectively arranged on the left side and the right side of the bearing bottom plate, a plurality of C-shaped clamping grooves which are uniformly distributed are formed in the lower surface of the control vertical pile, the opening surfaces of the C-shaped clamping grooves are fixedly installed on the bearing bottom plate, the moving clamping mechanism comprises a clamping vertical plate movably arranged at the upper end of the bearing bottom plate and a plurality of guide balancing rods which are uniformly installed on the clamping vertical plate, a power cylinder for pushing the clamping vertical plate to move forwards and backwards is also arranged on the bearing bottom plate, a limiting long plate is also arranged on the bearing bottom plate, a plurality of U-shaped clamping holes which are uniformly distributed are arranged at the upper end of the limiting long plate, the guide balancing rods sequentially penetrate through the corresponding U-shaped clamping holes, and the tail ends of the guide balancing rods, and the upper end of the guide balancing rod is provided with a loading double plate.

Furthermore, the lower end of the clamping vertical plate is provided with a plurality of groups of installation group plates which are uniformly distributed and have the same direction with the guide balancing rods, rollers are arranged in the installation group plates, and the upper surface of the bearing bottom plate is provided with a long rail matched with the rollers.

Further, the screens riser still is equipped with increases card and decides the board near the surface of direction balancing pole, the inside of screens riser is equipped with drive set space, be equipped with the drive in the drive set space and increase the drive motor that the board reciprocated of deciding, driving motor's output is connected with the rotation lead screw, it establishes the ball base outside the rotation lead screw to increase the back of card and deciding the board, the inside of screens riser still is equipped with and drives the vertical trompil space of setting spatial connection, increase card and decide the board along vertical trompil space translation from top to bottom.

Further, the internal surface of adding the card fixed plate is equipped with thickening elastic mechanism, thickening elastic mechanism is including setting up at the nested hole groove of adding card fixed plate upper end internal surface to and install the trapezoidal bullet board at nested hole inslot portion, trapezoidal bullet board is fixed at nested hole inslot through a plurality of evenly distributed's compression spring, and it is equipped with the wear-resisting rubber pad of elasticity to add the card fixed plate at the external fixation of trapezoidal bullet board, the internal surface of screens riser also is equipped with the wear-resisting rubber pad of elasticity.

Further, the upper surface of carrying the thing doubler is equipped with the dysmorphism arch that is used for increasing friction, it still is equipped with extension mechanism along the direction of direction balancing pole to carry the thing doubler, extension mechanism is including setting up at the inside rectangle carrier block that carries the thing doubler to and two ladder that remove along the rectangle carrier block respectively add the longeron, the surface of rectangle carrier block is equipped with the C font draw-in groove that guide ladder extension piece removed, ladder extension piece along C font draw-in groove removes, it all is equipped with the cutting groove of wearing in the left and right sides of rectangle carrier block to carry the thing doubler, and the outside of ladder extension piece is equipped with the drawer board that passes the cutting groove of wearing, and the inside of ladder extension piece all is equipped with adsorbs the magnetic sheet, the inside of C font draw-in groove is equipped with opposite magnetic sheet.

Further, the inboard of ladder extension piece is connected with right angle trapezoidal plate, the width of right angle trapezoidal plate slightly is less than the width of ladder extension piece, the inboard upper surface of ladder extension piece is equipped with the locating hole groove, the left and right sides of ladder extension piece still is equipped with the extension limit, the extension edge is equipped with tower type card and decides the board, the locating hole groove can overlap and establish tower type card and decide the board surface.

In addition, the invention also provides a control system of the multi-degree-of-freedom conveying device for the intelligent warehousing equipment, which specifically comprises weighing systems arranged at the front end and the rear end of the loading double-weight plate and a central processing system connected with the weighing systems, wherein the central processing system receives data of the two weighing systems and processes the weighing data through a data processing module, and the central processing system is connected with an alarm module.

Further, the data processing module subtracts data of the two weighing systems, and if the data difference of the two weighing systems is larger than a set threshold range, the central processing system controls the alarm module to work to perform alarm processing.

In addition, the invention also provides a control method for the balance of the multi-degree-of-freedom conveying device for the intelligent storage device, which comprises the following steps:

step 100, placing the goods on a carrying double plate, arranging an extension and lengthening mechanism on the carrying double plate along the direction of a guide balancing rod, enlarging the supporting area of the goods, and fixing and limiting the goods through a limiting and clamping device;

and 200, after the goods are placed on the object carrying double plate, carrying out conveying balance detection on the goods, carrying out conveying after the conveying balance is achieved, and otherwise carrying out secondary conveying balance detection.

Further, in step 200, the specific detection method for the conveyance balance detection is as follows:

step 201, respectively arranging weighing systems at the front end and the rear end of a loading double-plate, and transmitting data of the two weighing systems to a central processing system;

step 202, the central processing system processes the received data, compares the processed data with a preset threshold value, sends out a warning through an alarm module when the processed data exceeds the threshold value, and adjusts the processed data, otherwise, judges the processed data to be qualified;

and 203, carrying out secondary detection after secondary adjustment until the detection requirements are met, and otherwise, returning to the previous step.

Compared with the prior art, the invention has the beneficial effects that:

(1) the cargo clamping mechanism is additionally arranged, so that cargos with different sizes can be clamped, and the cargos can fall off the conveying platform when accelerating, decelerating or turning, so that the stability of the cargos in the conveying process is improved, and the safety performance of cargo conveying is improved;

(2) the invention is provided with the cargo-carrying double plate with the size capable of being increased, the supporting area for loading cargoes with larger sizes can be increased, and the pressure of the cargoes is reduced, so that the stability in the conveying process is improved, and the limiting and clamping effect on the cargoes is facilitated.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a vertical positioning plate according to the present invention;

FIG. 3 is an enlarged view of A in FIG. 2 according to the present invention;

FIG. 4 is a schematic view of the extension mechanism of the present invention;

FIG. 5 is a schematic view of the internal structure of the carrier doubler according to the present invention;

FIG. 6 is a schematic view of a locking structure of the step-shaped elongated block of the present invention;

FIG. 7 is a schematic diagram of the control system of the present invention;

FIG. 8 is a schematic flow chart of the detection method of the present invention.

Reference numbers in the figures:

1-a load-bearing floor; 2-controlling the vertical pile; 3-a translational clamping mechanism; a 4-C-shaped clamping slot; 5-carrying a double plate; 6-heightening the clamping plate; 7-driving a setting space; 8-driving a motor; 9-rotating the lead screw; 10-a ball seat; 11-vertical perforated space; 12-installing a group plate; 13-a roller; 14-an elongated rail; 15-special-shaped bulges; 16-an extension lengthening mechanism; 17-an attracting magnetic sheet; 18-an opposite magnetic sheet; 19-tower type clamping plate;

301-vertical blocking plate; 302-guiding a balance bar; 303-a power cylinder; 304-a long limit plate; 305-a U-shaped card hole;

701-nesting hole slots; 702-a trapezoidal springboard; 703-a compression spring; 704-elastic abrasion-resistant rubber pad;

1601-a rectangular carrier block; 1602-step lengthening block; 1603-C-shaped card slot; 1604-cutting the through slot; 1605-drawer plate; 1606-right angle trapezoidal plate; 1607-positioning hole slot; 1608-extending the side.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the invention provides a multi-degree-of-freedom conveying device for intelligent warehousing equipment, which comprises a bearing bottom plate 1 and a movable rotating wheel arranged on the lower surface of the bearing bottom plate 1, the conveying device provided by the embodiment mainly comprises the bearing bottom plate 1 and the movable rotating wheel, the shape of the conveying trolley is the shape of the conveying trolley, the left side and the right side of the bearing bottom plate 1 are respectively provided with a control vertical pile 2 and a translation clamping mechanism 3, the lower surface of the control vertical pile 2 is provided with a plurality of uniformly distributed C-shaped clamping grooves 4, the opening surface of each C-shaped clamping groove 4 is fixedly arranged on the bearing bottom plate 1, an on-board computer is arranged in the control vertical pile and mainly used for calculating information data of the conveying trolley during conveying, and the translation clamping mechanism 3 is mainly used for clamping loaded goods and preventing the goods from falling off the conveying trolley.

Translation clamping mechanism 3 is including the activity setting screens riser 301 in bearing bottom plate 1 upper end to and a plurality of guide balancing pole 302 of evenly installing on screens riser 301, still be equipped with the power cylinder 303 that promotes screens riser 301 translation around on the bearing bottom plate 1, power cylinder 303 also can be linear electric motor or pneumatic cylinder, and power cylinder's primary function promotes screens riser 301 translation around, thereby changes the distance between screens riser 301 internal surface and the 2 internal surfaces of control vertical pile, is convenient for fix the centre gripping to not unidimensional article, and the effectual article that prevents drops from bearing bottom plate 1.

The lower end of the clamping vertical plate 301 is provided with a plurality of groups of installation group plates 12 which are uniformly distributed and have the same direction as the guide balance rod 302, rollers 13 are arranged in the installation group plates 12, the upper surface of the bearing bottom plate 1 is provided with long rails 14 matched with the rollers 13, when the clamping vertical plate 301 moves, the rollers 13 roll in the corresponding long rails 14, friction of the clamping vertical plate 301 during left-right movement is reduced, and therefore the working strength of the power cylinder 303 is reduced.

The bearing bottom plate 1 is further provided with a limiting long plate 304, the upper end of the limiting long plate 304 is provided with a plurality of U-shaped clamping holes 305 which are uniformly distributed, the guiding balance rod 302 sequentially penetrates through the corresponding U-shaped clamping holes 305, the tail end of the guiding balance rod 302 is correspondingly inserted into the matched C-shaped clamping groove 4, and when the clamping vertical plate 301 moves, the U-shaped clamping holes 305 and the C-shaped clamping groove 4 limit the guiding balance rod 302 to move in other directions, so that the stability of the clamping vertical plate 301 in moving is improved, and the stability of the goods clamping effect is guaranteed.

As shown in fig. 2 and 3, a heightening clamping plate 6 is further disposed on a surface of the blocking vertical plate 301 close to the guide balancing rod 302, the heightening clamping plate 6 is mainly used for limiting the position of stacked goods, a driving and setting space 7 is disposed inside the blocking vertical plate 301, a driving motor 8 for driving the heightening clamping plate 6 to move up and down is disposed in the driving and setting space 7, an output end of the driving motor 8 is connected with a rotary screw 9, a ball base 10 sleeved outside the rotary screw 9 is disposed on a back surface of the heightening clamping plate 6, a vertical perforated space 11 connected with the driving and setting space 6 is further disposed inside the blocking vertical plate 301, the heightening clamping plate 6 vertically translates along the vertical perforated space 11, when the driving motor 8 rotates in a forward and backward direction to drive the rotary screw 9, the heightening clamping plate 6 vertically translates on the rotary screw 9 through the ball base 10, when the heightened locking plate 6 moves to the highest position, the position of the upper end of the goods or the goods placed in an overlapping mode can be limited.

The heightening clamping fixed plate 6 is arranged in the clamping vertical plate 301, in order to enable the contact surface of the heightening clamping fixed plate 6 to be on the same plane with the clamping vertical plate 301, a thickening elastic mechanism 7 is specially arranged on the inner surface of the heightening clamping fixed plate 6, the thickening elastic mechanism 7 comprises a nesting hole groove 701 arranged on the inner surface of the upper end of the heightening clamping fixed plate 6 and a trapezoidal elastic plate 702 arranged inside the nesting hole groove 701, the trapezoidal elastic plate 702 is fixed in the nesting hole groove 701 through a plurality of compression springs 703 which are uniformly distributed, the trapezoidal elastic plate 702 moves in the nesting hole groove 701 through the compression springs 703, the trapezoidal inclined edge of the trapezoidal elastic plate 702 is convenient to move in the vertical perforated space 11, and the specific working principle of the trapezoidal elastic plate 702 is that: when the heightening and clamping plate 6 retracts downwards, the lower oblique edge of the trapezoidal elastic plate 702 is compressed into the nesting hole groove 701 under the extrusion of the vertical hole space 11, and when the heightening and clamping plate 6 extends upwards, the upper oblique edge of the trapezoidal elastic plate 702 is separated from the extrusion of the vertical hole space 11 and is ejected out of the nesting hole groove 701, so that the goods can be limited and clamped.

The heightening clamping plate 6 is fixedly provided with an elastic wear-resistant rubber pad 704 on the outer surface of the trapezoidal elastic plate 702, the inner surface of the clamping vertical plate 301 is also provided with the elastic wear-resistant rubber pad 704, the elastic wear-resistant rubber pad 704 can increase friction force and protect goods, and in addition, the elastic wear-resistant rubber pad 704 is compressed under the extrusion of external force, so that the heightening clamping plate 6 can move in the vertical hole-opening space 11 conveniently.

As shown in fig. 4 to 6, an object carrying doubler plate 5 is arranged at the upper end of the guide balancing rod 302, the object carrying doubler plate 5 mainly provides an object carrying platform to ensure that the goods do not affect the normal movement of the guide balancing rod 302, and the upper surface of the object carrying doubler plate 5 is provided with a special-shaped protrusion 15 for increasing friction, so that the stability of the goods in the carrying process is improved.

In order to support the large-size cargos and reduce the pressure on the cargos, the cargo double plate 5 is further provided with an extension lengthening mechanism 16 along the direction of the guide balancing rod 302, the extension and lengthening mechanism 16 includes a rectangular carrier block 1601 disposed inside the carrier doubler 5, and two step extensions 1602 that move left and right along the rectangular carrier block 1601, the outer surface of the rectangular bearing block 1601 is provided with a C-shaped slot 1603 for guiding the step lengthening block 1602 to move, the step-lengthening blocks 1602 move along the C-shaped slots 1603, and the two step-lengthening blocks 1602 in this embodiment are symmetrical with respect to the axial center of the carrier double plate 5, the two step extensions 1602 can be doubled in length based on the length of the carrier doubler 5, therefore, the bearing area for conveying the goods is increased, the pressure on the goods is reduced, and the safety performance in the conveying process is improved. Carry thing doubler 5 and all be equipped with the cutting groove 1604 that wears in the left and right sides of rectangle carrier block 1601, and the outside of ladder extension piece 1602 is equipped with the drawer board 1605 that passes cutting groove 1604 that wears, the inside of ladder extension piece 1602 all is equipped with adsorbs magnetic sheet 17, the inside of C font draw-in groove 1603 is equipped with opposite magnetic property magnetic sheet 18, and hand power drawer board 1605 can shift in C font draw-in groove 1603 with pulling ladder extension piece 1602, and ladder extension piece 1602 adsorbs between magnetic sheet 17 and the opposite magnetic sheet 18 at the in-process of shifting, can prevent that ladder extension piece 1602 from coming off in C font draw-in groove 1603.

In addition, the inboard of ladder extension piece 1602 is connected with right angle trapezoidal plate 1606, the width of right angle trapezoidal plate 1606 slightly is less than the width of ladder extension piece 1602, the inboard upper surface of ladder extension piece 1602 is equipped with locating hole groove 1607, the left and right sides of ladder extension piece 1602 still is equipped with extension limit 1608, be equipped with tower type chucking board 17 on extension limit 1608, locating hole groove 1607 can overlap and establish tower type chucking board 17 surface, when ladder extension piece 1602 pulls to the end, upwards promotes ladder extension piece 1602, until with tower type chucking board 17 chucking in locating hole groove 1607 completely to can play the supporting role to the goods.

The goods are placed on the loading double plate, the extension lengthening mechanism is arranged on the loading double plate along the direction of the guide balancing rod, the supporting area of the goods is enlarged, and the goods are fixed and limited through the limiting and clamping device.

In order to prevent the goods from being placed obliquely and further improve the stability of the conveying device when conveying the goods, as shown in fig. 7, the invention further provides a control system of the multi-degree-of-freedom conveying device for the intelligent warehousing equipment, which specifically comprises weighing systems arranged at the front end and the rear end of the loading double-weight plate and a central processing system connected with the weighing systems, wherein the central processing system receives data of the two weighing systems and processes the weighing data through a data processing module, the central processing system is connected with an alarm module, the data processing module subtracts the data of the two weighing systems, if the data difference of the two weighing systems is larger than a set threshold range, the central processing system controls the alarm module to work for alarm processing, the weighing systems are used for weighing the front end and the rear end of the loading double-weight plate, and if the data difference between the two weighing systems is larger than a set value, the goods are placed unevenly and easily fall off at the corner, and the central processing system controls the alarm module to give an alarm at the moment.

As shown in fig. 8, after the goods are placed on the object carrying double plate, the goods are conveyed and balanced and detected, and when the goods reach the conveying balance, the goods are conveyed, otherwise, the goods are conveyed and balanced and detected for the second time.

The specific detection method for the conveying balance detection comprises the following steps:

the front end and the rear end of the object carrying double plate are respectively provided with a weighing system, and the data of the two weighing systems are transmitted to a central processing system;

the central processing system processes the received data, compares the processed data with a preset threshold value, sends out a warning through the alarm module when the processed data exceeds the threshold value, and adjusts the processed data, otherwise, judges the processed data to be qualified;

and after secondary adjustment, carrying out secondary detection until the detection requirements are met, and otherwise, returning to the previous step.

It should be further noted that, if the goods are inclined in the left-right direction when placed, that is, not placed right above the loading dual plate 5, the vertical blocking plate 301 will push the goods to right above the loading dual plate 5 when being blocked in the limiting manner, so as to improve the stability of the goods during transportation and prevent the goods from shifting during the turning acceleration process.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an intelligence is multi freedom conveyor for storage equipment, includes bearing bottom plate (1) and installs the removal runner at bearing bottom plate (1) lower surface, its characterized in that: the left side and the right side of the bearing bottom plate (1) are respectively provided with a control vertical pile (2) and a translational clamping mechanism (3), the lower surface of the control vertical pile (2) is provided with a plurality of C-shaped clamping grooves (4) which are uniformly distributed, the opening surface of each C-shaped clamping groove (4) is fixedly arranged on the bearing bottom plate (1), each translational clamping mechanism (3) comprises a clamping vertical plate (301) which is movably arranged at the upper end of the bearing bottom plate (1) and a plurality of guide balance rods (302) which are uniformly arranged on the clamping vertical plates (301), the bearing bottom plate (1) is also provided with a power cylinder (303) which pushes the clamping vertical plate (301) to translate left and right, the bearing bottom plate (1) is also provided with a limit long plate (304), the upper end of the limit long plate (304) is provided with a plurality of U-shaped clamping holes (305) which are uniformly distributed, and the guide balance rods (302) sequentially pass through the corresponding U-shaped clamping holes, the tail end of the guide balancing rod (302) is correspondingly inserted into the matched C-shaped clamping groove (4), and the upper end of the guide balancing rod (302) is provided with a loading double plate (5);

the upper surface of the carrying double plate (5) is provided with a special-shaped bulge (15) for increasing friction, the carrying double plate (5) is further provided with an extension and extension mechanism (16) along the direction of the guide balancing rod (302), the extension and extension mechanism (16) comprises a rectangular bearing block (1601) arranged inside the carrying double plate (5) and two stepped extension blocks (1602) moving left and right along the rectangular bearing block (1601), the outer surface of the rectangular bearing block (1601) is provided with a C-shaped clamping groove (1603) for guiding the stepped extension block (1602) to move, the stepped extension block (1602) moves along the C-shaped clamping groove (1603), the carrying double plate (5) is provided with cutting through grooves (1604) on the left side and the right side of the rectangular bearing block (1601), and the outer side of the stepped extension block (1602) is provided with a drawer plate (1605) penetrating the cutting through grooves (1605), and the ladder extension block (1602) is internally provided with an adsorption magnetic sheet (17), and the C-shaped clamping groove (1603) is internally provided with an opposite-magnetic-polarity magnetic sheet (18).

2. The multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in claim 1, wherein: the lower end of the clamping vertical plate (301) is provided with a plurality of groups of installation group plates (12) which are uniformly distributed and have the same direction with the guide balancing rod (302), rollers (13) are arranged in the installation group plates (12), and the upper surface of the bearing bottom plate (1) is provided with a long rail (14) matched with the rollers (13).

3. The multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in claim 1, wherein: the surface that screens riser (301) are close to direction balancing pole (302) still is equipped with increases card and decides board (6), the inside of screens riser (301) is equipped with drive set space (7), be equipped with drive in drive set space (7) and increase driving motor (8) that board (6) reciprocated with the card, the output of driving motor (8) is connected with rotation lead screw (9), it is equipped with the cover and establishes ball base (10) outside rotation lead screw (9) to increase the back of card and deciding board (6), the inside of screens riser (301) still is equipped with vertical trompil space (11) of being connected with drive set space (7), increase card and decide board (6) along vertical trompil space (11) translation from top to bottom.

4. The multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in claim 3, wherein: increase the internal surface of card fixed plate (6) and be equipped with thickening elastic mechanism, thickening elastic mechanism is including setting up nested hole groove (701) at increasing card fixed plate (6) upper end internal surface to and install trapezoidal bullet board (702) inside nested hole groove (701), trapezoidal bullet board (702) are fixed in nested hole groove (701) through a plurality of evenly distributed's compression spring (703), and it is equipped with wear-resisting rubber pad of elasticity (704) at the external fixation of trapezoidal bullet board (702) to increase card fixed plate (6), the internal surface of screens riser (301) also is equipped with wear-resisting rubber pad of elasticity (704).

5. The multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in any one of claims 1-4, wherein: the weighing system is characterized by further comprising weighing systems arranged at the front end and the rear end of the loading double-weight plate and a central processing system connected with the weighing systems, the central processing system receives data of the two weighing systems and processes the weighing data through a data processing module, and the central processing system is connected with an alarm module.

6. The multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in claim 5, wherein: and the data processing module subtracts the data of the two weighing systems, and if the data difference of the two weighing systems is larger than a set threshold range, the central processing system controls the alarm module to work to alarm.

7. The balance control method of the multi-degree-of-freedom conveying device for the intelligent warehousing equipment as claimed in any one of claims 1-6, characterized by comprising the following steps:

step 100, placing the goods on a carrying double plate, arranging an extension and lengthening mechanism on the carrying double plate along the direction of a guide balancing rod, enlarging the supporting area of the goods, and fixing and limiting the goods through a translation clamping mechanism;

200, after the goods are placed on the object carrying double plate, carrying out conveying balance detection on the goods, and when the conveying balance is achieved, carrying out conveying, otherwise, carrying out secondary conveying balance detection;

in step 200, the specific detection method of the conveyance balance detection is as follows: