CN115159404B

CN115159404B - Artificial intelligence transport equipment

Info

Publication number: CN115159404B
Application number: CN202210889610.6A
Authority: CN
Inventors: 尚晋; 何丽
Original assignee: Chongqing Normal University
Current assignee: Chongqing Normal University
Priority date: 2022-07-27
Filing date: 2022-07-27
Publication date: 2023-05-16
Anticipated expiration: 2042-07-27
Also published as: CN115159404A

Abstract

The invention belongs to the technical field, and particularly relates to artificial intelligent carrying equipment, wherein through the arrangement of an AGV trolley matched with a stabilizing mechanism, when a goods shelf is lifted by a lifting mechanism of an AGV body, the side surface of the goods shelf can be further expanded, supported and protected, the stability and the safety of carrying the goods shelf are improved, the position correction effect of the goods shelf can be also achieved in the lifting process, and the management of material storage is facilitated; the setting of cooperation self-adaptation ware, when carrying the goods shelves of different length models lifts, can play the effect of more automatic intelligence to the model automatic adaptation of goods shelves, satisfy the transport needs more.

Description

Artificial intelligence transport equipment

Technical Field

The invention belongs to the technical field of intelligent carrying equipment, and particularly relates to artificial intelligent carrying equipment.

Background

With the continuous development of vehicles, people are more convenient for long-distance trekking, and with the development of industrialization and mass production, local products are also continuously conveyed to other places through the vehicles, so that the logistics industry is gradually promoted, and particularly the development and popularization of the Internet in recent years are promoted.

The requirements of logistics storage are increased continuously in the face of logistics industry, the requirements of logistics storage are higher and higher, a large number of different types of products are met, corresponding goods shelves and products are required to be carried in order to keep storage order, the corresponding goods shelves and products are required to be classified or discharged and charged, the conventional AGV trolley is relatively common carrying equipment used in modern intelligent storage, the conventional AGV trolley can be subjected to rear-end centralized control and is high in efficiency, the intelligent degree and the overall efficiency of logistics storage are greatly improved, the labor cost is greatly reduced, the conventional AGV trolley usually carries the goods shelves in a lifting mode, the bottom of the goods shelves is mainly supported in the lifting process, the side parts of the goods shelves are lack of corresponding protection measures and supporting surfaces, and if the goods shelves are subjected to external collision or certain deviation of the gravity center of the goods shelves, the phenomenon of the goods shelves is very easy to occur in the carrying process, and stable carrying operation of the goods shelves is not facilitated.

Disclosure of Invention

The purpose of the invention is that: aims at providing an artificial intelligence transport equipment, can more stable, the efficient carries the goods shelves, also provides corresponding protection to the side part of goods shelves.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

the artificial intelligence carrying equipment comprises an AGV body, wherein the upper end of the ACV body is provided with a lifting mechanism, and the lifting mechanism is connected with a stabilizing mechanism;

the stabilizing mechanism comprises a lifting table, a motor and a clamping assembly, wherein the lifting table is fixedly connected with the upper end of the lifting mechanism through a bracket, the motor is fixedly arranged on the lifting mechanism, and the clamping assembly is arranged at the upper end of the lifting table and is in transmission connection with an output shaft of the motor;

the clamping assembly comprises a gear set and four clamps, the gear set comprises a first gear and a second gear, the diameters of the first gear and the second gear are consistent, the first gear and the second gear are fixedly connected in an up-down overlapping mode, the gear set is in transmission connection with the motor, and the four clamps are distributed in a cross shape and are arranged between the lifting mechanism and the lifting table;

the four holders are parallel to each other, the holders comprise racks, sliding blocks, hinge plates and electromagnets, the two holders are vertically overlapped and distributed and are respectively connected with the lifting mechanism and the lifting platform in a sliding mode, the racks are matched with the gear sets with the same horizontal height in a meshed mode, the sliding blocks are fixedly arranged at the upper ends of the racks and are connected with the lifting platform in a sliding mode through sliding rails, the hinge plates are elastically hinged to one ends, away from the motor, of the sliding blocks, and the electromagnets are fixedly arranged on the sliding blocks and are matched with the hinge plates.

One group of holders with higher horizontal height is matched with the first gear in a meshed mode, the other group of holders is matched with the second gear in a meshed mode, and the first gear corresponds to the width direction of the AGV body.

The first gear is provided with a self-adapting device, the self-adapting device comprises a plurality of telescopic links and a plurality of reset springs after the self-adapting device is arranged, the first gear is provided with an annular cavity, a plurality of meshing teeth of the first gear are connected with the first gear in a sliding mode and extend into the annular cavity, a plurality of first gears are provided with limiting plates matched with the annular cavity, the telescopic links are fixedly arranged between the meshing teeth and the bottom wall of the annular cavity, and the reset springs are sleeved on the telescopic links.

And the end parts of the hinge plates are provided with distance measuring sensors.

And anti-skid protruding points are arranged at one end of the hinged plate, which faces the lifting table.

The sliding block is flush with the upper end face of the lifting table, the length of the sliding block is smaller than half of that of the lifting table, and the length of the rack is equal to the length dimension of the lifting table which is the same as that of the rack in the parallel direction.

The upper end of the lifting platform is provided with anti-skid patterns, and a plurality of stabilizing columns are uniformly arranged between the lower end of the lifting platform and the lifting mechanism.

Compared with the prior art, the invention has at least the following advantages:

through the setting of the stabilizing mechanism, when the goods shelf is lifted and carried through the lifting mechanism of the AGV body, the edge of the goods shelf can be automatically clamped, protected and corrected, so that the stability of the goods shelf during carrying can be improved, the goods shelf can be placed and corrected, and the whole management in the whole logistics warehouse is facilitated; and through the setting of self-adaptation ware, can play the goods shelves of adaptation different length model sizes more to make the flexibility ratio of whole device higher, it is more intelligent.

Drawings

The invention may be further illustrated by means of non-limiting examples given in the accompanying drawings.

FIG. 1 is a schematic diagram of the overall structure of an artificial intelligence handling apparatus according to the present invention.

Fig. 2 is a schematic view of the structure of the lift table of the present invention.

Fig. 3 is a schematic structural view of the stabilizing mechanism of the present invention.

Fig. 4 is a schematic structural view of the clamping assembly of the present invention.

FIG. 5 is a schematic diagram of a gear set of the present invention.

Fig. 6 is a schematic structural diagram of another embodiment of the present invention.

AGV automobile body 1, elevating system 11, lift platform 2, motor 21, first gear 3, second gear 31, rack 4, slider 41, articulated slab 42, electro-magnet 43, telescopic link 44, reset spring 45, annular cavity 46, limiting plate 47, range sensor 5.

Detailed Description

In order that those skilled in the art will better understand the present invention, the following technical scheme of the present invention will be further described with reference to the accompanying drawings and examples.

Embodiment one:

1-5, an artificial intelligence carrying device comprises an AGV body 1, wherein the upper end of the ACV body is provided with a lifting mechanism 11, and the lifting mechanism 11 is connected with a stabilizing mechanism;

the stabilizing mechanism comprises a lifting table 2, a motor 21 and a clamping assembly, wherein the lifting table 2 is fixedly connected with the upper end of the lifting mechanism 11 through a bracket, the motor 21 is fixedly arranged on the lifting mechanism 11, and the clamping assembly is arranged at the upper end of the lifting table 2 and is in transmission connection with an output shaft of the motor 21;

the clamping assembly comprises a gear set and four clamps, the gear set comprises a first gear 3 and a second gear 31, the diameters of the first gear 3 and the second gear 31 are consistent, the first gear and the second gear 31 are fixedly connected in an up-down overlapping manner, the gear set is in transmission connection with the motor 21, and the four clamps are distributed in a cross shape and are arranged between the lifting mechanism 11 and the lifting table 2;

the four holders are parallel to each other, two groups of holders are formed, each holder comprises a rack 4, a sliding block 41, a hinged plate 42 and an electromagnet 43, the two groups of holders are vertically overlapped and are respectively connected with the lifting mechanism 11 and the lifting table 2 in a sliding mode, the racks 4 are meshed and matched with gear sets at the same horizontal height, the sliding block 41 is fixedly arranged at the upper end of the racks 4 and is connected with the lifting table 2 in a sliding mode through sliding rails, the hinged plate 42 is elastically hinged to one end, far away from the motor 21, of the sliding block 41, and the electromagnet 43 is fixedly arranged at the sliding block 41 and is matched with the hinged plate 42.

One group of holders with higher horizontal height is engaged and matched with the first gear 3, the other group of holders is engaged and matched with the second gear 31, and the first gear 3 corresponds to the width direction of the AGV body 1.

In the logistics warehouse, the AGV body 1 is combined with a ground guide mark through a control panel of the AGV body 1, so that the AGV body 1 can move along a specified road according to instruction requirements, when carrying a goods shelf in the logistics warehouse, the AGV body 1 can firstly move to the middle of the lower end of the specified goods shelf, the lower end of the goods shelf is always plane in order to ensure stability and ensure relative constancy of positions, namely, a wheel-shaped structure is not needed, the existing AGV body 1 carries the goods shelf in a lifting mode under the condition, the process is basically the prior art and the operation flow, so that excessive details are not needed, only simple description is needed, but in the carrying process of a conventional goods shelf, the AGV body 1 only lifts the goods shelf up and then carries the goods shelf, but the side surface of the goods shelf is convenient to partially lack of corresponding protection, and if goods on the goods shelf are unevenly distributed or are subjected to external accidental collision, the situation that the goods on the central part of the goods shelf is easy to topple over or skew occurs;

in order to avoid the above situation, before the AGV body 1 lifts the shelf through the lifting mechanism 11, the control panel of the AGV body 1 starts and reverses the control motor 21, at this time, the output shaft of the motor 21 rotates to drive the gear set to rotate, because the first gear 3 and the second gear 31 are overlapped and concentrically connected up and down, and the two groups of holders are respectively connected with the lifting table 2 and the lifting mechanism 11 in a sliding manner, the racks 4 in the two groups of holders are respectively engaged and matched with the first gear 3 and the second gear 31, and the two racks 4 in the same group are distributed back and forth, so when the gear set is started and reversed by the motor 21, the engaged racks 4 are driven to move, and then the four holders can move to the side far away from the motor 21, so that the outward extension and the outward extension of the four holders are presented, and the supporting area of the whole lifting table 2 can be enlarged in the outward extension process of the slide block 41, and thus the supporting effect and the stabilizing effect of the lifting table 2 can be improved;

when the rack 4 reaches the maximum extension length, the sliding block 41 extends out at the moment, so that the hinge plate 42 extends out, under the condition, the AGV body 1 controls the lifting mechanism 11 to extend out, and then the lifting table 2 ascends until the bottom of a goods shelf is attached, at the moment, the AGV body 1 controls the motor 21 to rotate forward, so that the rack 4 is reset and moves, meanwhile, the electromagnet 43 at the end part of the sliding block 41 is electrified and magnetically generated, the hinge plate 42 is metal, namely, can be mutually adsorbed with the electromagnet 43, the hinge plate 42 can not be adsorbed and turned over after the electromagnet 43 magnetically generates, and therefore when the sliding block 41 is reset by the rack 4, the hinge plate 42 is gradually attached to the edge of the matched goods shelf, so that the clamping effect on the goods shelf is achieved, the goods shelf is not easy to deviate or incline in the carrying process through the stability of the hinge plate 42, the correction effect on the goods shelf is further achieved in the process of attaching the edge of the goods shelf, and the follow-up placement of the goods shelf is facilitated;

finally, the AGV body 1 controls the lifting mechanism 11 to lift again until the goods shelf is separated from the ground.

The hinged plate 42 is provided with anti-skid protruding points towards one end of the lifting table 2; the provision of the anti-slip bumps can enhance the connection stability between the hinge plate 42 and the shelf.

The sliding block 41 is flush with the upper end surface of the lifting table 2, the length of the sliding block 41 is smaller than half of that of the lifting table 2, and the length of the rack 4 is equal to the length dimension of the lifting table 2 which is the same as that of the lifting table in the parallel direction; thus, the plane smoothness of the lifting platform 2 can be improved, and the lifting requirements of the goods shelf can be matched better.

The upper end of the lifting table 2 is provided with anti-skid patterns, and a plurality of stabilizing columns are uniformly arranged between the lower end of the lifting table 2 and the lifting mechanism 11; the anti-skid patterns can improve the friction force during lifting of the goods shelf, stability and the stability column can improve the whole supporting effect of the lifting table 2.

Embodiment two:

as shown in fig. 6, according to a further improvement of the first embodiment, the first gear 3 is provided with an adaptive device, when the adaptive device is provided, the adaptive device comprises a plurality of telescopic rods 44 and a plurality of return springs 45, the first gear 3 is provided with an annular cavity 46, a plurality of meshing teeth of the first gear 3 are slidably connected with the first gear 3 and extend into the annular cavity 46, a plurality of first gears 3 are provided with limiting plates 47 matched with the annular cavity 46, the telescopic rods 44 are fixedly arranged between the meshing teeth and the bottom wall of the annular cavity 46, and the return springs 45 are sleeved on telescopic parts of the telescopic rods 44; the end parts of the hinge plates 42 are provided with distance measuring sensors 5.

Because the goods shelf models in part of the warehouse are inconsistent, in order to improve the matching degree and flexibility of the device on the goods shelf, when the motor 21 drives the gear set to rotate, racks 4 in two groups of clamps move, but because certain deviation exists in the length and width of part of the goods shelf, especially the length and the size of the goods shelf, in the extending process of the racks 4, because the deviation degree is relatively lower in the width direction of the racks corresponding to the first gear 3, but the deviation in the length direction of the racks corresponding to the second gear 31 is larger, the length of the racks 4 driven by the second gear 31 needs to be longer, in the process, in order to avoid the blocking influence of the racks 4 in the width direction caused by the continuous rotation of the first gear 3, which is synchronous with the continuous rotation of the second gear 31, in the initial state, the extension state of the extension rod 44 and the reset spring 45 is kept, namely, the meshing teeth extend out of the annular cavity 46, and then the meshing teeth can be meshed and matched with the corresponding racks 4, until the racks 4 in the width direction of the corresponding racks 4 are completely extended, because the extension stroke of the extension rod 44 is provided, the reset spring 45 keeps the thrust, in the process of continuously driving the corresponding racks 4, in the second gear 31, the movement of the corresponding racks 4, the extension of the racks 4 is continuously, the first gear 3 can not be continuously retracted, and the annular racks 4 can be continuously and can be continuously retracted, and the effect can be better blocked, and can be achieved, and the effect of the continuous lifting effect can be achieved, and can not be achieved, and the effect of the lifting effect is achieved;

correspondingly, because telescopic link 44 self does not possess better stability, consequently can replace spring return formula solenoid valve and cancel reset spring 45's use according to the demand, spring return formula solenoid valve is under the not state of circular telegram, its output shaft stretches out and can receive the oppression force and stretch out and draw back, can satisfy the demand when above-mentioned rack 4 can not remove like this, and can make the meshing tooth can not stretch out and draw back after the solenoid valve circular telegram, can play firm rack 4 like this, can not appear meshing tooth and withdraw the problem that leads to rack 4 automatic movement, further in order to circular telegram for the solenoid valve, motor 21's output shaft still is connected with the electric slip ring, thereby still can play the purpose of effectively carrying electric power when not influencing the rotation force and carry.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims of this invention, which are within the skill of those skilled in the art, can be made without departing from the spirit and scope of the invention disclosed herein.

Claims

1. The utility model provides an artificial intelligence transport is equipped, includes the AGV automobile body, AGV automobile body upper end is equipped with elevating system, its characterized in that: the lifting mechanism is connected with a stabilizing mechanism;

the four holders are parallel to each other, two holders are a group, each holder comprises a rack, a sliding block, a hinged plate and an electromagnet, the two groups of holders are vertically overlapped and are respectively connected with the lifting mechanism and the lifting table in a sliding mode, the racks are meshed and matched with the gear sets with the same horizontal height, the sliding blocks are fixedly arranged at the upper ends of the racks and are connected with the lifting table in a sliding mode through sliding rails, the hinged plates are elastically hinged to one end, away from the motor, of the sliding blocks, and the electromagnets are fixedly arranged on the sliding blocks and are matched with the hinged plates;

the first gear is provided with a self-adapting device, the self-adapting device comprises a plurality of telescopic links and a plurality of reset springs after the self-adapting device is arranged, the first gear is provided with an annular cavity, a plurality of meshing teeth of the first gear are connected with the first gear in a sliding mode and extend into the annular cavity, a plurality of first gears are provided with limiting plates matched with the annular cavity, the telescopic links are fixedly arranged between the meshing teeth and the bottom wall of the annular cavity, and the reset springs are sleeved on the telescopic parts of the telescopic links.

2. An artificial intelligence handling equipment according to claim 1, characterized in that: one group of holders with higher horizontal height is matched with the first gear in a meshed mode, the other group of holders is matched with the second gear in a meshed mode, and the first gear corresponds to the width direction of the AGV body.

3. An artificial intelligence handling equipment according to claim 1, characterized in that: and the end parts of the hinge plates are provided with distance measuring sensors.

4. An artificial intelligence handling equipment according to claim 3, characterized in that: and anti-skid protruding points are arranged at one end of the hinged plate, which faces the lifting table.

5. An artificial intelligence handling equipment according to claim 1, characterized in that: the sliding block is flush with the upper end face of the lifting table, the length of the sliding block is smaller than half of that of the lifting table, and the length of the rack is equal to the length dimension of the lifting table which is the same as that of the rack in the parallel direction.

6. An artificial intelligence handling equipment according to claim 1, characterized in that: the upper end of the lifting platform is provided with anti-skid patterns, and a plurality of stabilizing columns are uniformly arranged between the lower end of the lifting platform and the lifting mechanism.