CN115973651A

CN115973651A - Storage transportation equipment based on intelligent monitoring technology

Info

Publication number: CN115973651A
Application number: CN202310272263.7A
Authority: CN
Inventors: 刘小峰; 张丰春; 司朝广; 蒋军; 刘子尧; 庄秀德; 王德国; 周树生
Original assignee: Yantai Dongfang Ruichuangda Electronic Technology Co ltd
Current assignee: Yantai Dongfang Ruichuangda Electronic Technology Co ltd
Priority date: 2023-03-21
Filing date: 2023-03-21
Publication date: 2023-04-18
Anticipated expiration: 2043-03-21
Also published as: CN115973651B

Abstract

The application relates to the technical field of storage, in particular to storage transportation equipment based on an intelligent monitoring technology, which comprises an AGV, wherein a deviation rectifying mechanism is arranged on the AGV, the deviation rectifying mechanism comprises a monitoring distance measuring component and a torsion component, the monitoring distance measuring component is arranged on the AGV, and the monitoring distance measuring component is electrically connected with the AGV and controls the AGV to rectify the deviation; the torsion assembly is arranged on the AGV trolley, the torsion assembly is electrically connected with the monitoring distance measuring assembly, and the turnover box is adjusted twice according to the signal of the monitoring distance measuring assembly and aligned with the AGV trolley. This application has the effect that reduces the goods and damage.

Description

Storage transportation equipment based on intelligent monitoring technology

Technical Field

The application relates to the technical field of warehousing, in particular to warehousing and transportation equipment based on an intelligent monitoring technology.

Background

At present, the storage vehicle has the advantages of convenience in operation, reliable performance, small size, flexibility, high cost performance, energy conservation, environmental protection and the like, can realize functions of short-distance transportation, stacking and the like of tray goods, and occupies a very important position in small storage transportation of a modern storage vehicle system. The AGV is an automatic guided vehicle, has the advantages of high automation degree, high reliability, flexible assembly, multitask and multithreading, high return rate and the like, is widely applied to the industries of logistics, automobiles, tobacco, military industry, films and the like, but the current technical state of the whole industry is not uniform. The current AGV product roughly divide into: fork (fork truck formula) AGV, bear (carry) drum-type AGV, formula (formula of lifting) AGV hides (goes into), moving platform formula AGV, customization type AGV (like heavily loaded type AGV) etc. except that fork formula AGV's target transports utensil (tray) for unifying, all the customization according to the industrial site of all the other kinds of AGV shipment utensil and transportation mode.

The equipment to automatic transport of tray goods in the market at present mostly is with tray carrier among traditional industry fork truck, tray pile high car repack into AGV haulage equipment, and its navigation mode is with magnetic navigation, laser navigation, inertial navigation, vision navigation etc. increase host computer, controller, all kinds of sensors and executor etc. for the operation content can be independently carried out by the AGV vehicle, and through install additional, the seamless combination of AGV and traditional storage car is realized in the repacking.

Through retrieval, the Chinese patent with application number 2022109710195 discloses a special AGV for transporting a whole stack of turnover boxes in a warehouse, which comprises a body, a portal frame, a locking frame and a clamping box, wherein the clamping box is provided with a binding rope and a control rope; the body comprises a body, and a winch is arranged on the body; the winch winds the binding rope and the control rope, so that the binding rope and the control rope can be wound and released, the upper and lower positions of the locking frame and the clamping and holding box are controlled, and clamping and holding force is generated; the portal frame is a portal frame, is arranged on the vehicle body, comprises a vertical rail and is provided with an upper pulley; the vertical rails form a track to limit the lifting running track and position of the locking frame, so that the flexible clamping of the entire stack of turnover boxes is realized; the upper pulley passes around the control rope to limit the upper limit position of the control rope; the locking frame is fixedly connected with the clamping box, is in rolling connection with the vertical rail and can move up and down; the locking frame is connected with the control rope, so that the control rope can regulate and control the upper and lower positions of the locking frame and the clamping and holding box; the locking frame is connected with the binding rope, so that the binding rope can be bound, and the clamping force of the clamping and embracing box can be regulated and controlled.

In realizing this application in-process, the inventor finds that there is following problem at least in this technique, when the deposit of part goods and the track route of dolly have certain contained angle, perhaps when the placement position of turnover case is improper, the automobile body of dolly easily has certain contained angle with the goods turnover case, when the goods is piled up to place, leads to collision between the goods easily or leads to the automobile body of dolly can not insert the turnover case completely, leads to the goods to damage.

Disclosure of Invention

In order to reduce the damage of goods, this application provides the storage transportation equipment based on intelligent monitoring technique.

The application provides a storage transportation equipment based on intelligent monitoring technique adopts following technical scheme:

a warehousing and transportation device based on an intelligent monitoring technology comprises an AGV trolley, wherein a deviation rectifying mechanism is arranged on the AGV trolley and comprises a monitoring and ranging component and a torsion component, the monitoring and ranging component is arranged on the AGV trolley, and the monitoring and ranging component is electrically connected with the AGV trolley and controls the AGV trolley to rectify deviation; the torsion assembly is arranged on the AGV trolley, the torsion assembly is electrically connected with the monitoring distance measuring assembly, and the turnover box is adjusted twice according to the signal of the monitoring distance measuring assembly and aligned with the AGV trolley.

By adopting the technical scheme, when the turnover box is transported, the AGV trolley is started and approaches to the turnover box, when the AGV trolley travels to the turnover box, the position and angle deviation of the turnover box are identified by the monitoring distance measuring assembly, then the image signal is transmitted to the AGV trolley, the AGV trolley is controlled by the controller of the AGV trolley to rotate, so that the AGV trolley and the turnover box approach to be parallel, then the part of the AGV trolley is started to move to the lower part of the turnover box and support the turnover box, then the monitoring distance measuring assembly controls the torsion assembly to drive the turnover box to twist according to the difference of the distances between the two ends and the turnover box, so that the dislocation twist between the turnover box and the AGV trolley disappears or reaches an allowable error value, and then the AGV trolley drives the turnover box to move to the storage position for storage; the mechanism of rectifying that sets up makes the transportation of turnover case more steady, has reduced the probability of turnover case focus skew, can reduce the turnover case simultaneously and twist reverse the turnover case occupation space grow that leads to, lead to conflicting with adjacent turnover case or other barrier, causes the goods to damage, reaches the effect that reduces the goods and damage.

Optionally, the AGV dolly includes body, lifting mechanism and hold-down mechanism, lifting mechanism is including lifting piece and lifting platform, lifting platform slides along vertical direction on the body, lifting piece sets up on the body, lifting piece's piston rod with lifting platform connects, hold-down mechanism sets up on the body, hold-down mechanism compresses tightly the turnover case on the lifting platform.

Through adopting the above technical scheme, when the transportation of turnover case, the body moves to turnover case department, the position adjustment of body finishes the back and advances to the below of turnover case, then drive with the piece that lifts and lift the platform and rise, make and lift the platform and drive the turnover case and rise, make turnover case and ground separation, then compress tightly the goods on the turnover case with hold-down mechanism, the AGV dolly of setting can be according to the motion of set route, the hold-down mechanism who sets up simultaneously can compress tightly the goods, reduce the body at the in-process of motion, the goods on the turnover case rocks, further reduction is to the damage of goods.

Optionally, the pressing mechanism includes a pressing frame, a fixing frame, a sliding block and a lifting assembly, the fixing frame is arranged at one end of the body, the sliding block slides on the fixing frame along the vertical direction, and the pressing frame is connected with the sliding block; the lifting assembly is arranged on the body and connected with the sliding block and drives the sliding block to slide.

By adopting the technical scheme, after the turnover box is driven by the body to be separated from the ground, the compaction frame connected with the sliding block is driven by the lifting assembly to approach towards the goods along the fixing frame until the compaction frame falls on the goods and compacts the goods; the pressing mechanism is simple in structure, the goods can be conveniently supported tightly on the body, the stability of the goods in the transportation process is enhanced, and the damage to the goods is reduced.

Optionally, a pressing force detection assembly is arranged on the pressing frame, the pressing force detection assembly includes a tension sensor and a pressure sensor, the tension sensor is arranged on the slider and connected with the lifting assembly, and the pressure sensor is arranged on the pressing frame and located on one side close to the turnover box; the pressure sensor and the tension sensor are electrically connected with the lifting assembly and control the lifting assembly to lift.

By adopting the technical scheme, in order to reduce damage caused by overlarge pressing force on the goods, when the pressing frame approaches towards the goods, the pressure sensor is in a no-load state, the load on the tension sensor is the weight of the pressing frame, when the pressing frame abuts against the goods, the load generated on the pressure sensor is up to a preset maximum load value, the pressure sensor controls the lifting assembly to stop acting, meanwhile, the load of the tension sensor changes, the pressure sensor and the tension sensor act simultaneously, when a load signal of one party reaches a preset value, the pressing force is represented to meet the requirement, further, the damage of the goods caused by the fact that the pressing force is not controlled due to the damage of the one party is reduced, the protection on the goods is further enhanced, and the damage of the goods is reduced.

Optionally, the monitoring and ranging assembly includes a first camera and a ranging component, the first camera is disposed on the body, the first camera is electrically connected to the body and transmits image information to the body, and the body controls the body to adjust an angle according to the image information; the body is provided with two the range finding piece, two the range finding piece is right respectively the distance of the width direction's of turnover case on the lift platform both sides detects, the range finding piece with twist reverse the subassembly electricity and be connected and control twist reverse the subassembly and rectify the angle of turnover case.

By adopting the technical scheme, the width parameter of the turnover box is arranged in the body, when the body approaches to the turnover box, the first camera firstly collects signals of the turnover box and transmits the signals into the body, the body controls the body to rotate, so that the body is approximately parallel to goods on the turnover box, then the body moves to the bottom of the turnover box, then the lifting piece drives the turnover box to be separated from the ground, meanwhile, the distance measuring piece monitors the distance between the two ends of the turnover box in the width direction and the body, and the torsion assembly is controlled to carry out torsion correction on the turnover box; the monitoring range finding subassembly simple structure that sets up twists reverse for the first time for the convenience of the body to advance to the below of turnover case, and the range finding is twisted reverse for the second time and is rectified between turnover case and the body, twists reverse through twice control, and then makes the angular deviation of turnover case obtain controlling, and then has reduced the unstable probability that perhaps collides with other turnover cases of turnover case focus, and then has reduced the damage of goods.

Optionally, the torsion assembly includes a universal torsion member and a centering member, the body is provided with a plurality of universal torsion members, and the universal torsion members can pass through the lifting platform and abut against the transfer container; the centering piece is arranged on the body, and the distance measuring piece controls the centering piece to center the turnover box; the lifting platform is provided with a coupling assembly, the universal torsion piece is connected with the lifting platform through the coupling assembly, and is separated from the lifting platform through the coupling assembly after the turnover box is straightened.

By adopting the technical scheme, after the body moves to the bottom of the turnover box, the lifting platform is driven to ascend by the lifting piece, the universal torsion piece is driven to ascend by the lifting platform, the turnover box is driven to ascend by the universal torsion piece, and then the turnover box is driven to rotate by the righting piece, so that the position angle of the turnover box is righted; then, the lifting piece is used for continuously driving the lifting platform to ascend, the lifting platform is separated from the universal torsion piece, and the lifting platform is abutted to the bottom wall of the turnover box and drives the turnover box to have a certain distance with the ground; the torsion assembly is simple in structure, the turnover box is free after being separated from the ground, the angle of the turnover box is convenient to twist, and energy loss is reduced.

Optionally, the centering member includes a first driving motor, a bidirectional screw rod and a centering block, the first driving motor is disposed on the body, the bidirectional screw rod is rotatably disposed on the body and parallel to the width direction of the body, and the bidirectional screw rod is connected to an output shaft of the first driving motor; the two sides of the body in the width direction are connected with two righting blocks in a sliding mode, the two righting blocks are respectively in threaded connection with the two ends of the bidirectional screw rod, and the two righting blocks are respectively abutted to the side walls of the two sides of the turnover box and used for correcting the turnover box.

By adopting the technical scheme, after the angle of the turnover box is corrected, the first driving motor is started, the first driving motor drives the two-way screw rod to rotate, the two-way screw rod drives the two righting blocks to approach each other, and the two righting blocks drive the turnover box to rotate, so that the angle of the turnover box is corrected; the arranged centering piece is simple in structure and convenient to operate, and meanwhile, the left position, the right position and the angle of the turnover box are corrected by the aid of the centering piece, so that the center of gravity of the turnover box is located on the body, the center of gravity offset of the turnover box is reduced, the stability of the turnover box is improved, the probability of toppling over the turnover box is reduced, and further damage to goods is reduced; and righting the piece and can fixing the position of turnover case, reduce because the goods that the road surface unevenness leads to rock.

Optionally, the centering piece further comprises a ball, and a plurality of balls are rotatably arranged on the side walls of the two centering blocks close to each other.

Through adopting above-mentioned technical scheme, after the position of turnover case is right, the platform that lifts continues to rise, lifts platform and turnover case butt and drive the turnover case and continues to rise, and the ball that sets up can reduce the friction between turnover case and the righting piece, and then reduces the load that lifts the piece.

Optionally, the connecting assembly includes a connecting frame, a connecting rod, a lifting block, a second driving motor, a cam and a return spring, the connecting frame is slidably disposed on the body along a vertical direction, and the universal torsion members are connected to the connecting frame; the lifting platform is connected with a plurality of lifting blocks in a sliding manner, the lifting blocks are connected into a whole through the connecting rod, and the lifting blocks can be abutted against one side of the connecting frame, which is close to the body, and drive the connecting frame to slide; the second driving motor is arranged on the lifting platform, the cam is arranged on an output shaft of the second driving motor, and the cam is abutted against the lifting block and drives the lifting block to be separated from the connecting frame; the reset spring is arranged on the lifting platform and connected with the connecting rod, and drives one of the lifting blocks connected with the connecting rod to tightly abut against the cam.

By adopting the technical scheme, after the angle of the turnover box is corrected, the second driving motor is started, the second driving motor drives the cam to rotate, the cam drives one of the lifting blocks to slide, the lifting block drives the plurality of lifting blocks to slide through the connecting rod, so that the lifting blocks are separated from the connecting frame, meanwhile, the reset spring is stressed and compressed, the lifting platform is separated from the connecting frame, and then the lifting platform drives the turnover box to ascend; the connecting assembly is simple in structure and convenient to operate, and meanwhile, the universal torsion piece and the lifting platform can be connected and separated, so that the universal torsion piece and the lifting platform share one drive, and the turnover box can be supported from point support to surface support.

Optionally, the body is provided with a distance measuring assembly, and the distance measuring assembly is used for detecting the positions of the obstacles on the two sides of the turnover box to be transported or the turnover box and controlling the adjustment of the advancing angle of the body.

By adopting the technical scheme, when the body advances to the position of the turnover box, the distance between the obstacles on two sides of the turnover box is detected by the distance measuring assembly, and the signal is transmitted to the body, the position of the body is controlled to be adjusted so as to smoothly enter the space between the obstacles on two sides for transporting the turnover box, so that the collision probability with the obstacles on two sides or the turnover box is reduced, and the damage to the turnover box is reduced.

To sum up, the application comprises the following beneficial technical effects:

1. the arranged deviation rectifying mechanism enables the transportation of the turnover box to be more stable, reduces the probability of gravity center deviation of the turnover box, and can reduce the phenomenon that the turnover box occupies a larger space due to the torsion of the turnover box, so that the turnover box is collided with an adjacent turnover box or other obstacles to damage goods, thereby achieving the effect of reducing the damage of the goods;

2. the arranged centering piece is simple in structure and convenient to operate, and meanwhile, the left position, the right position and the angle of the turnover box are corrected by the aid of the centering piece, so that the center of gravity of the turnover box is located on the body, the center of gravity offset of the turnover box is reduced, the stability of the turnover box is improved, the probability of turnover of the turnover box is reduced, and further damage to goods is reduced; the position of the turnover box can be fixed by the righting piece, so that the goods shaking caused by uneven road surface is reduced;

3. when the body advances to turnover case position department, the range finding subassembly detects the distance between the barrier of turnover case both sides to with signal transmission to body, the position of body control self is adjusted so that get into smoothly and carry out the transportation of turnover case between the barrier of both sides, and then reduces the probability with both sides barrier or turnover case collision, and then reduced the damage to the turnover case.

Drawings

Fig. 1 is a schematic structural diagram of a warehousing and transportation device based on an intelligent monitoring technology in an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of a body according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a pressing mechanism in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a deviation rectifying mechanism in the embodiment of the present application;

FIG. 5 is a schematic structural view of a torsion assembly in an embodiment of the present application;

FIG. 6 is a schematic structural view of a coupling assembly according to an embodiment of the present application;

fig. 7 is a block diagram of a flow of a warehousing and transportation device based on an intelligent monitoring technology in an embodiment of the present application.

Reference numerals: 100. an AGV trolley; 200. a body; 300. a lifting mechanism; 310. a lifting member; 320. lifting the platform; 321. perforating holes; 330. a coupling assembly; 331. a connecting frame; 332. lifting the block; 333. a second drive motor; 334. a cam; 335. a reset spring; 336. a connecting rod; 337. a yielding groove; 340. a limiting plate; 400. a hold-down mechanism; 410. a pressing frame; 420. a hoisting assembly; 421. a winch; 422. a first rotating wheel; 423. a second rotating wheel; 430. a pressing force detection assembly; 431. a tension sensor; 432. a pressure sensor; 433. pressing a plate; 440. a fixed mount; 450. a slider; 500. a deviation rectifying mechanism; 510. monitoring a ranging assembly; 511. a first camera; 512. a distance measuring member; 520. a torsion assembly; 521. a universal torsion member; 522. a first drive motor; 523. a bidirectional screw; 524. a righting block; 525. a ball bearing; 526. a first bevel gear; 527. a second bevel gear; 531. a slide bar; 532. a limiting block; 533. a compression spring; 600. and a distance measuring component.

Detailed description of the preferred embodiments

The present application is described in further detail below with reference to figures 1-7.

The embodiment of the application discloses storage transportation equipment based on intelligent monitoring technology.

Referring to fig. 1, the warehousing and transportation equipment based on the intelligent monitoring technology comprises an AGV trolley 100 and a deviation rectifying mechanism 500 arranged on the AGV trolley 100, and the transportation of the turnover box with an angle deviation is facilitated through the arranged deviation rectifying mechanism 500.

Referring to fig. 1 and 2, the agv cart 100 includes a body 200, a lifting mechanism 300 is disposed on the body 200, the lifting mechanism 300 includes a plurality of lifting members 310 fixedly connected to the body 200, the lifting members 310 may be hydraulic cylinders or electric pushing cylinders, and other vertical lifting devices, preferably hydraulic cylinders in this embodiment, piston rods of the plurality of hydraulic cylinders are commonly and fixedly connected to a lifting platform 320, and the lifting platform 320 is slidably disposed on the body 200 along a vertical direction; the pressing mechanism 400 is fixedly connected to the body 200, the pressing mechanism 400 extends to the position above the lifting platform 320, the limiting plate 340 is fixedly connected to the lifting platform 320, and the limiting plate 340 is located on one side, close to the pressing mechanism 400, of the lifting platform 320 and used for limiting the position of the turnover box.

Referring to fig. 3 and 4, the pressing mechanism 400 includes a fixing frame 440 fixedly connected to one end of the body 200 close to the limiting plate 340, a sliding block 450 is slidably connected to the fixing frame 440 in the vertical direction, and a roller facilitating sliding of the sliding block 450 is fixedly connected to a side wall of the sliding block 450 abutting against the fixing frame 440, and the roller abuts against the fixing frame 440 and slides relatively; the sliding block 450 is fixedly connected with a pressing frame 410, and a balancing weight is integrally arranged on the pressing frame 410, so that the pressing frame 410 drives the sliding block 450 to approach the body 200; the body 200 is provided with a lifting assembly 420, the lifting assembly 420 can be a vertical driving structure in various forms such as a motor screw rod, and can be selected according to actual needs, in this embodiment, the lifting assembly 420 includes a winch 421 fixedly connected to the body 200, and the winch 421 is located on one side of the body 200 close to the limiting plate 340; the end part of the fixing frame 440 far away from the body 200 is rotatably connected with a first rotating wheel 422, one end of the fixing frame 440 far away from the body 200 is fixedly connected with a supporting frame, the supporting frame is positioned above the body 200 and is rotatably connected with a second rotating wheel 423, and a steel wire rope of the winch 421 sequentially bypasses the first rotating wheel 422 and the second rotating wheel 423 and is connected with the sliding block 450.

Referring to fig. 3, a pressing force detecting assembly 430 is disposed on the pressing frame 410, and the pressing force detecting assembly 430 includes a tension sensor 431 fixedly connected to a wire rope of the hoist 421 and connected to the slider 450; one side of the pressing frame 410 close to the body 200 is provided with four embedded grooves, the four embedded grooves are respectively positioned on four corners of the pressing frame 410, and the four embedded grooves are fixedly connected with pressure sensors 432; one end of each of the four pressure sensors 432, which is far away from the pressing frame 410, is commonly connected with a pressing plate 433, and one side of each pressing plate 433, which is far away from the pressing frame 410, can slightly slide towards the pressing frame 410 when being pressed; the tension sensor 431 and the pressure sensor 432 are electrically connected with the controller of the body 200 and control the winch 421 to drive the pressing frame 410 to ascend or descend, and when one of the tension sensor 431 and the pressure sensor 432 reaches a preset load value, the pressing frame 410 stops approaching the turnover box.

Referring to fig. 4, the deviation rectifying mechanism 500 includes a monitoring distance measuring assembly 510, the monitoring distance measuring assembly 510 includes a first camera 511, the first camera 511 is fixedly connected to the main body 200 and is located on a side wall of the main body 200 where the fixing frame 440 is installed, the first camera 511 may be a 3D camera or a depth camera or other multi-dimensional shooting detection equipment, the first camera 511 is used for shooting and monitoring the state of the turnover box, the first camera 511 is electrically connected to a controller inside the main body 200, the controller of the main body 200 receives an image signal and then calculates the image signal, and controls the main body 200 to rotate to be substantially parallel to the turnover box, and then the main body 200 is controlled to move to the lower side of the turnover box, and the angular deviation of the turnover box is reduced by the first camera 511; two distance measuring pieces 512 are arranged on the side wall of the body 200 connected with the fixing frame 440, the distance measuring pieces 512 are distance measuring sensors, and the two distance measuring sensors are respectively positioned on two sides of the first camera 511 and face the front of the advancing direction of the body 200, are used for detecting the distance between the turnover box and the limiting plate 340 or whether the distance reaches a specified depth, and transmit signals to a controller of the body 200; when the distance measuring part 512 detects a position signal or a distance signal of the turnover box, the two signals are transmitted to the controller inside the body 200, the controller adjusts the position of the turnover box according to the difference value of the two distance signals, the distance signal is transmitted to the controller of the body 200 again after the adjustment is finished, and the controller of the body 200 judges whether the turnover box is put down or not according to the signals to perform depth adjustment; the body 200 is provided with a torsion assembly 520 for performing an operation of adjusting the position of the turnover container.

Referring to fig. 1 and 2, a plurality of sliding holes are formed in the body 200, the plurality of sliding holes are formed in the vertical direction, the torsion assembly 520 includes a plurality of sliding rods 531 connected in a sliding manner along the sliding holes, a limiting groove is formed in the inner wall of each sliding hole, a limiting block 532 is connected in the limiting groove in a sliding manner, the limiting block 532 is fixedly connected to the sliding rods 531, a compression spring 533 is sleeved on each sliding rod 531, one end of the compression spring 533 is connected to the limiting block 532, the other end of the compression spring 533 is connected to the side wall of the limiting groove far away from the lifting platform 320, and the compression spring 533 pushes the sliding rod 531 to slide towards the direction close to the lifting platform 320; one end of the sliding rod 531, which is far away from the limiting block 532, is provided with a universal torsion piece 521, and the universal torsion piece 521 can be a universal wheel or a steel ball, and the embodiment adopts a universal wheel structure; the lifting platform 320 is provided with a plurality of through holes 321 for allowing the universal torsion element 521 to pass through, the universal torsion element 521 can pass through the through holes 321 and protrude out of the plane of the lifting platform 320 far away from the body 200, and the distance between the tangent plane of one end of the universal torsion element 521 far away from the sliding rod 531 and the end surface of the lifting platform 320 far away from the body 200 is 2-3mm.

Referring to fig. 1 and 5, a mounting cavity is formed in the body 200, a centering member is arranged in the mounting cavity, the centering member includes a bidirectional screw 523 rotatably connected to an inner wall of the mounting cavity, and an axis of the bidirectional screw 523 is parallel to a width direction of the body 200; the body 200 is provided with two sliding holes communicated with the installation cavity, the sliding holes are connected with the righting blocks 524 in a sliding manner, the cross section of each righting block 524 is L-shaped, the two righting blocks 524 are respectively positioned at two ends of the bidirectional screw 523 and are respectively in threaded connection with two ends of the bidirectional screw 523, the two righting blocks 524 are respectively connected to two sides of the body 200 in the width direction in a sliding manner, the side walls, close to each other, of the two righting blocks 524 are respectively and rotatably connected with a plurality of balls 525, the balls 525 can be abutted against the side walls of the turnover box, the turnover box is corrected and clamped by the righting blocks 524, the vibration impact of the vibration of the walking of the body 200 on uneven road surfaces on cargos can be reduced, and the angular offset of the turnover box is reduced by the righting blocks 524; a first driving motor 522 is fixedly connected to the inner wall of the mounting cavity, the first driving motor 522 is located in the middle of the mounting cavity and at one end close to the fixing frame 440, and a first bevel gear 526 is in keyed connection with an output shaft of the first driving motor 522; the bidirectional screw 523 is fixedly connected with a second bevel gear 527, the second bevel gear 527 is positioned in the middle of the bidirectional screw 523 and meshed with the first bevel gear 526, and the first driving motor 522 is electrically connected with a controller in the body 200 and controls the first driving motor 522 to start after the controller receives a signal of the distance measuring sensor.

The first driving motor 522 is started, the first driving motor 522 drives the first bevel gear 526 to rotate, the first bevel gear 526 drives the second bevel gear 527 to rotate, the second bevel gear 527 drives the bidirectional screw 523 to rotate, the bidirectional screw 523 drives the two centering blocks 524 to approach each other, and the two centering blocks 524 drive the turnover box to rotate and correct.

Referring to fig. 1 and 6, a coupling assembly 330 is disposed on the lifting platform 320, the coupling assembly 330 includes a connecting frame 331, and a plurality of sliding rods 531 are fixedly connected to the connecting frame 331; two connecting blocks are fixedly connected to the side wall of the lifting platform 320 close to the body 200, two ends of the two connecting blocks are respectively fixedly connected to two sides of the lifting platform 320 in the length direction, sliding grooves are formed in the side walls of the two connecting blocks close to each other, a plurality of lifting blocks 332 are connected in the sliding grooves in a sliding manner, and the plurality of lifting blocks 332 are fixedly connected through connecting rods 336; the lifting block 332 can be abutted against the side wall, close to the body 200, of the connecting frame 331, a plurality of yielding grooves 337 are formed in both sides of the connecting frame 331 in the width direction, and the lifting block 332 can slide into the yielding grooves 337 and slide along the vertical direction of the yielding grooves 337; the two ends of the lifting platform 320 are fixedly connected with a second driving motor 333, an output shaft of the second driving motor 333 is connected with a cam 334 in a key mode, the cam 334 can be abutted to a lifting block 332 in the middle, one end of a connecting rod 336 is fixedly connected with a return spring 335, the return spring 335 is fixedly connected to the side wall, away from the second driving motor 333, of the sliding groove and drives the lifting block 332 to approach the cam 334, and the lifting block 332 at the end portion is abutted to the cam 334.

The second driving motor 333 is started, the second driving motor 333 drives the cam 334 to rotate, the cam 334 drives the lifting block 332 to slide along the sliding groove, the return spring 335 is stressed and compressed, and the lifting block 332 slides to the yielding groove 337 and slides along the yielding groove 337.

Referring to fig. 1 and 5, a distance measuring assembly 600 is arranged on the body 200, the distance measuring assembly 600 includes two sets of distance measuring laser radars, which may be laser scanning sensors or obstacle avoidance distance measuring sensors with similar functions, the two sets of distance measuring laser radars are respectively and fixedly connected to the side walls on both sides of the width direction of the body 200, and the distance measuring laser radars are electrically connected to a controller inside the body 200, the controller of the body 200 receives a feedback signal to determine whether the adjusted distance can enter the body 200, and if the adjusted distance can enter the body 200 to control the position of the body 200 to be adjusted, the advancing angle of the body 200 is changed, so that the distances on both sides are the same or approximately the same to ensure that the body 200 smoothly enters the lower part of the turnover box to be transferred; when judging behind the feedback signal that the controller of body 200 received and can not get into, report to the police, remind the staff to get into the storage workshop, reduce body 200 and get into and produce the collision to the both sides goods, cause the damage to the goods.

Be provided with levelness determine module on the diapire of body 200, levelness determine module includes second camera and infrared distance meter, and infrared distance meter and second camera all set up on the diapire of body 200 and be connected with the controller electricity in the body 200 to according to the marcing speed of levelness control body 200.

Referring to fig. 7, in the storage and transportation device for the storage and transportation system in this embodiment, when goods are transported, firstly, the AGV 100 travels to the turnover box, then image acquisition is performed, position images of the turnover box are acquired, then the position images are transmitted to the controller of the AGV 100, and the angle deflection between the AGV 100 and the controller is determined, so that the AGV 100 and the turnover box are relatively parallel or the angle deflection is not more than 5 degrees, then the distance measuring assembly 600 of the AGV 100 identifies obstacles on both sides, and transmits a feedback signal to the AGV 100, the controller of the AGV 100 automatically determines whether the AGV 100 can enter the lower part of the turnover box to be transported, when the AGV 100 can enter the turnover box, the AGV 100 automatically adjusts and travels to the lower part of the turnover box to be transported, and otherwise gives an alarm;

the method comprises the steps that after the AGV trolley 100 travels below a turnover box and is lifted to leave the ground, the distance between the turnover box and the AGV trolley 100 is measured, the actual torsion distance between the turnover box and the AGV trolley 100 is judged, then the position of the turnover box is adjusted, the center of gravity of the turnover box is located in the middle of the AGV trolley 100, the turnover box is parallel to the AGV trolley 100, the distance between the turnover box and a limiting plate 340 is measured again, the distance is judged again, when the fact that the distance between the turnover box and the limiting plate 340 is too large is detected, the transportation condition of the turnover box is not met, the AGV trolley 100 places the turnover box on the ground, then the AGV trolley 100 continues to travel until the limiting plate 340 is abutted to the turnover box, and then the turnover box is lifted to leave the ground again; then the pressing frame 410 is controlled to move downwards to abut against the goods on the turnover box, the AGV trolley 100 pulls the turnover box to a storage position, the flatness of the road surface is identified in the storage process, the speed is reduced, and the shock impact of the goods is reduced; and the positions of boxes or barriers at two sides of the AGV trolley 100 are monitored during storage, so that the damage to the goods caused by collision of the turnover box on the AGV trolley 100 and the goods or the barriers at two sides is reduced.

The implementation principle of the warehousing and transportation equipment based on the intelligent monitoring technology in the embodiment of the application is as follows: when goods are transported, firstly, the body 200 is started to approach to a turnover box according to a set route, then, according to image information transmitted by the first camera 511, the body 200 is controlled to twist in angle, so that the body 200 is approximately aligned with the turnover box, then, the body 200 judges whether transportation can be performed according to signals fed back by the distance measuring assembly 600, when transportation can be performed, the body 200 moves to the bottom of the turnover box, then, the lifting piece 310 is started, the lifting platform 320 and the universal torsion piece 521 are driven to ascend by the lifting piece 310, the universal torsion piece 521 abuts against the bottom wall of the turnover box, the distance measuring piece 512 detects the distance of the turnover box and transmits signals to the body 200, the body 200 controls the first driving motor 522 to start, the first driving motor 522 drives the first bevel gear 526 and the second bevel gear 527 to rotate, the second bevel gear 527 drives the two-way screw 523 to rotate, the two-way screw 523 drives the two centering blocks 524 to approach to the side walls of the turnover box and drives the turnover box to rotate, so that the whole alignment with the body 200 and the center are located in the middle of the body 200; then the distance measuring part 512 detects the torsion condition of the turnover box again, and transmits a signal to the body 200, when the distance from the body 200 to the turnover box meets the transportation condition, the body 200 controls the second driving motor 333 to start and drive the cam 334 to rotate, the cam 334 drives the lifting block 332 to slide, the lifting block 332 slides into the abdicating groove 337, and the lifting part 310 drives the lifting platform 320 to abut against the bottom wall of the turnover box and drives the turnover box to continuously ascend; then the body 200 drives the turnover box to advance towards the storage position, and in the advancing process, when the turnover box advances between two goods or between barriers, the distance measuring assembly 600 detects the distance between the body 200 and the two sides, and drives the body 200 to adjust the position, so that the collision between the turnover box and the goods on the two sides is reduced.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The warehousing and transportation equipment based on the intelligent monitoring technology comprises an AGV trolley (100) and is characterized in that a deviation rectifying mechanism (500) is arranged on the AGV trolley (100), the deviation rectifying mechanism (500) comprises a monitoring distance measuring component (510) and a torsion component (520), the monitoring distance measuring component (510) is arranged on the AGV trolley (100), and the monitoring distance measuring component (510) is electrically connected with the AGV trolley (100) and controls the AGV trolley (100) to rectify deviation; the torsion assembly (520) is arranged on the AGV trolley (100), the torsion assembly (520) is electrically connected with the monitoring distance measuring assembly (510), and the turnover box is secondarily adjusted to be aligned with the AGV trolley (100) according to a signal of the monitoring distance measuring assembly (510).

2. A smart monitoring technology based storage and transportation device according to claim 1, characterized in that the AGV cart (100) comprises a body (200), a lifting mechanism (300) and a pressing mechanism (400), the lifting mechanism (300) comprises a lifting member (310) and a lifting platform (320), the lifting platform (320) slides on the body (200) along the vertical direction, the lifting member (310) is disposed on the body (200), the piston rod of the lifting member (310) is connected with the lifting platform (320), the pressing mechanism (400) is disposed on the body (200), and the pressing mechanism (400) presses the turnover box on the lifting platform (320).

3. The warehousing and transportation equipment based on the intelligent monitoring technology as claimed in claim 2, characterized in that the compressing mechanism (400) comprises a compressing frame (410), a fixing frame (440), a sliding block (450) and a lifting assembly (420), the fixing frame (440) is arranged at one end of the body (200), the sliding block (450) slides on the fixing frame (440) along the vertical direction, and the compressing frame (410) is connected with the sliding block (450); the lifting assembly (420) is arranged on the body (200), and the lifting assembly (420) is connected with the sliding block (450) and drives the sliding block (450) to slide.

4. The warehousing and transportation equipment based on the intelligent monitoring technology is characterized in that a pressing force detection assembly (430) is arranged on the pressing frame (410), the pressing force detection assembly (430) comprises a tension sensor (431) and a pressure sensor (432), the tension sensor (431) is arranged on the sliding block (450) and connected with the lifting assembly (420), and the pressure sensor (432) is arranged on the pressing frame (410) and located on one side close to the turnover box; the pressure sensor (432) and the tension sensor (431) are electrically connected with the lifting assembly (420) and control the lifting of the lifting assembly (420).

5. The warehousing and transportation equipment based on the intelligent monitoring technology as claimed in claim 2, wherein the monitoring and ranging assembly (510) comprises a first camera (511) and a ranging member (512), the first camera (511) is arranged on the body (200), the first camera (511) is electrically connected with the body (200) and transmits image information to the body (200), and the body (200) controls the body (200) to perform angle adjustment according to the image information; be provided with two on body (200) range finding piece (512), two range finding piece (512) are right respectively the distance of the width direction's of turnover case on lift platform (320) both sides detects, range finding piece (512) with twist reverse subassembly (520) electricity and control twist reverse subassembly (520) and rectify the angle of turnover case.

6. The warehousing and transportation equipment based on intelligent monitoring technology as claimed in claim 5, characterized in that the torsion assembly (520) comprises a universal torsion piece (521) and a centralizer, a plurality of universal torsion pieces (521) are arranged on the body (200), and the universal torsion pieces (521) can pass through the lifting platform (320) to abut against the turnover box; the righting piece is arranged on the body (200), and the distance measuring piece (512) controls the righting piece to right the turnover box; the lifting platform (320) is provided with a coupling assembly (330), the universal torsion piece (521) is connected with the lifting platform (320) through the coupling assembly (330), and is separated from the lifting platform (320) through the coupling assembly (330) after the turnover box is straightened.

7. The warehousing and transportation equipment based on intelligent monitoring technology as claimed in claim 6, characterized in that the righting piece comprises a first driving motor (522), a bidirectional screw (523) and a righting block (524), the first driving motor (522) is arranged on the body (200), the bidirectional screw (523) is rotatably arranged on the body (200) and is parallel to the width direction of the body (200), and the bidirectional screw (523) is connected with an output shaft of the first driving motor (522); two sides of the body (200) in the width direction are connected with two righting blocks (524) in a sliding mode, the two righting blocks (524) are respectively in threaded connection with two ends of the bidirectional screw rod (523), and the two righting blocks (524) are respectively abutted against the side walls of two sides of the turnover box and used for correcting the turnover box.

8. A warehousing and transportation equipment based on intelligent monitoring technology according to claim 7, characterized in that said centralizing member further comprises a plurality of rolling balls (525), and a plurality of rolling balls (525) are rotatably disposed on the side walls of two centralizing blocks (524) close to each other.

9. The warehousing and transportation equipment based on intelligent monitoring technology as claimed in claim 6, characterized in that said coupling component (330) comprises a connecting frame (331), a connecting rod (336), a lifting block (332), a second driving motor (333), a cam (334) and a return spring (335), said connecting frame (331) is slidably arranged on said body (200) along the vertical direction, and a plurality of said universal torsion members (521) are connected with said connecting frame (331); the lifting platform (320) is connected with a plurality of lifting blocks (332) in a sliding manner, the plurality of lifting blocks (332) are connected into a whole through the connecting rod (336), and the lifting blocks (332) can be abutted against one side, close to the body (200), of the connecting frame (331) and drive the connecting frame (331) to slide; the second driving motor (333) is arranged on the lifting platform (320), the cam (334) is arranged on an output shaft of the second driving motor (333), and the cam (334) is abutted to the lifting block (332) and drives the lifting block (332) to be separated from the connecting frame (331); the reset spring (335) is arranged on the lifting platform (320), the reset spring (335) is connected with the connecting rod (336), and the reset spring (335) drives one of the lifting blocks (332) connected with the connecting rod (336) to tightly abut against the cam (334).

10. The warehousing and transportation equipment based on intelligent monitoring technology as claimed in claim 2 is characterized in that a distance measuring assembly (600) is arranged on the body (200), and the distance measuring assembly (600) is used for detecting the position of obstacles on two sides of the turnover box to be transported or the position of the turnover box and controlling the adjustment of the advancing angle of the body (200).