Tobacco stacking and destacking trolley

Abstract

The invention discloses an integrated trolley for stacking and depalletizing tobacco, which belongs to the technical field of transportation equipment; the trolley comprises a base, on which a slewing device and a rotatable and retractable first conveyor are provided; the slewing device is provided with a second conveyor, and the slewing device can drive the second conveyor to tilt and rotate; a steering drive device is provided at one end of the second conveyor; a third conveyor is provided on the steering drive mechanism, and the steering drive mechanism can drive the third conveyor to rotate relative to the second conveyor, and the conveyor belt transmission mechanisms in the second conveyor and the third conveyor are connected through the steering drive mechanism; a universal connection mechanism is provided at one end of the first conveyor, and an end of the universal connection mechanism away from the first conveyor is connected to the other end of the second conveyor; when the slewing device drives the second conveyor to tilt or rotate, the first conveyor will rotate and retract accordingly; the invention aims to provide an integrated trolley for stacking and depalletizing tobacco, which is used for transporting materials.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation equipment, and in particular relates to a tobacco stacking and destacking integrated trolley. Background Art

[0002] A conveyor is a conveying device used to transport materials in the prior art, and is often used in the material handling process of palletizing and depalletizing. Most conveyors in the prior art only have lifting functions. When the direction of the conveyor needs to be adjusted, the conveyor needs to be manually pushed to turn, and the space required for turning is large. It is often impossible to turn due to insufficient space, and its flexibility is poor. In addition, the outlet and inlet ends of the conveyor in the prior art are fixed. During palletizing and depalletizing, the conveyor cannot be adjusted according to the storage position and current placement position of the material, which is inconvenient for palletizing and depalletizing. Summary of the invention

[0003] The object of the present invention is to address the deficiencies of the prior art and to provide a tobacco stacking and destacking integrated trolley which has good flexibility and can adjust the input and output positions of the conveyor according to needs.

[0004] The technical solution of the present invention is achieved as follows: a tobacco stacking and depalletizing integrated trolley comprises a base, on which a slewing device and a rotatable and retractable first conveyor are provided; a second conveyor is provided on the slewing device, and the slewing device can drive the second conveyor to tilt and rotate; a steering drive device is provided at one end of the second conveyor; a third conveyor is provided on the steering drive mechanism, and the steering drive device can drive the third conveyor to rotate relative to the second conveyor, and the conveyor belt transmission mechanism in the second conveyor is connected to the conveyor belt transmission mechanism in the third conveyor through the steering drive device; a universal connection mechanism is provided at one end of the first conveyor, and the end of the universal connection mechanism away from the first conveyor is connected to the other end of the second conveyor; when the slewing device drives the second conveyor to tilt or rotate, the first conveyor will rotate and retract accordingly.

[0005] As a preferred embodiment, the rotating device includes a rotating chassis arranged on a base, a robot arm fixed base is provided on the rotating chassis, and a rotating driving element for driving the rotating chassis to rotate is provided on the robot arm fixed base; a first robot arm is hinged at one end of the robot arm fixed base, and a first robot arm driving element for driving the first robot arm to swing is provided at the hinge; a second robot arm is hinged at the other end of the robot arm fixed base, and a second robot arm driving element for driving the second robot arm to swing is provided at the hinge; a third robot arm is hinged at one end of the second robot arm away from the robot arm fixed base; one end of the first robot arm away from the robot arm fixed base, and one end of the third robot arm away from the second robot arm are respectively hinged at the bottom of the second conveyor. Furthermore, the rotary chassis includes an outer fixed ring, an inner fixed ring and a plurality of cylindrical rotors; the bottom of the inner fixed ring is fixedly connected to the base, and the inner side wall of the inner fixed ring is provided with internal gear teeth; the outer fixed ring is sleeved on the outside of the inner fixed ring, and the robot arm fixed base is arranged on the top of the outer fixed ring; a rolling chute for the cylindrical rotor to roll is formed between the inner side wall of the outer fixed ring and the outer side wall of the inner fixed ring, and the cylindrical rotors are staggered and evenly distributed in the rolling chute; the rotary drive element is fixedly connected to the robot arm fixed base, and the output end of the rotary drive element is provided with a driving gear meshing with the internal gear teeth on the inner fixed ring. Furthermore, a booster gas spring is hinged on the robot arm fixed base, and the other end of the booster gas spring is hinged to the bottom of the second conveyor, and the booster gas spring provides an upward force for the second conveyor. Furthermore, the first robotic arm driving element includes a first driving motor and a first reducer, the first reducer is arranged on a robotic arm fixed base, the output end of the first driving motor is connected to the input end of the first reducer, and the first robotic arm is fixedly connected to the output end of the first reducer; the second robotic arm driving element includes a second driving motor and a second reducer, the second reducer is arranged on a robotic arm fixed base, the output end of the second driving motor is connected to the input end of the second reducer, and the second robotic arm is fixedly connected to the output end of the second reducer.

[0006] As a preferred embodiment, the steering drive device includes an upper fixed plate, a lower fixed plate, a first steering gear, a second steering gear, and a steering drive element; the first steering gear is fixedly connected to the second conveyor, the left output end and the right output end of the first steering gear are transmission-connected to the conveyor belt transmission mechanism in the second conveyor, and the lower output end of the first steering gear is connected to the first transmission shaft; the lower end of the first transmission shaft is provided with a first transmission wheel; the second steering gear is fixedly connected to the third conveyor, and the left output end and the right output end of the second steering gear are transmission-connected to the conveyor belt transmission mechanism in the second conveyor, and the lower part of the second steering gear is fixedly connected to the steering drive wheel The lower output end of the second steering gear is connected to a second transmission shaft; the lower end of the second transmission shaft is provided with a second transmission wheel; the first transmission wheel is transmission-connected to the second transmission wheel; one end of the upper fixed plate is fixedly connected to the second conveyor, and the other end is rotationally connected to the upper end of the second steering gear; one end of the lower fixed plate is fixedly connected to the lower part of the first steering gear, and the other end is rotationally connected to the second transmission shaft; the steering drive element is arranged on the second conveyor, and the output end of the steering drive element is provided with a steering active wheel, and the steering active wheel is transmission-connected to the steering drive wheel; the steering drive element can drive the second steering gear to rotate through the steering active wheel and the steering drive wheel.

[0007] As a preferred embodiment, the universal connection mechanism includes a first connecting shaft, a first universal joint, a second connecting shaft, a second universal joint, and a third connecting shaft; one end of the first connecting shaft is fixedly connected to the other end of the first conveyor, and the other end of the first connecting shaft is fixedly connected to a movable end of the first universal joint; one end of the second connecting shaft is fixedly connected to the other movable end of the first universal joint, and the other end of the second connecting shaft is fixedly connected to a movable end of the second universal joint; one end of the third connecting shaft is fixedly connected to the other movable end of the second universal joint, and the other end of the third connecting shaft is fixedly connected to one end of the second conveyor.

[0008] As a preferred embodiment, the third conveyor is provided with a material grabbing mechanism for grabbing materials onto the third conveyor; the material grabbing mechanism includes a grabbing assembly, a driving bracket and a driving cylinder; the grabbing assembly is arranged at one end of the driving bracket; the driving bracket has a first state in which the grabbing assembly grabs the materials and an end thereof is erected and extended out of the third conveyor away from the steering drive device, and a second state in which the grabbing assembly is folded and retracted into the third conveyor, so that the grabbing assembly places the materials on the third conveyor; guide grooves for guiding the driving bracket to switch states are provided on the side panels on both sides of the third conveyor; one end of the driving cylinder is connected to the driving bracket, and the other end is connected to the side panel of the third conveyor, for driving the driving bracket to switch states. Furthermore, the driving bracket includes a driving plate, two first connecting arms, two second connecting arms and two third connecting arms; one end of the two first connecting arms are respectively hingedly connected to the two sides of the middle part of the driving plate, and the other end of the two first connecting arms are respectively hingedly connected to one end of the two third connecting arms; one end of the two second connecting arms are respectively hingedly connected to the two sides of the driving plate close to one end of the driving cylinder, and the other end of the two second connecting arms are respectively hingedly connected to the other end of the two third connecting arms; a first pulley is provided on the side of the second connecting arm away from the driving plate, a second pulley is provided on the side of the hinge between the first connecting arm and the third connecting arm away from the driving plate, and a third pulley is provided on the side of the hinge between the second connecting arm and the third connecting arm away from the driving plate; the first pulley is adjacent to the third pulley; the first pulley, the second pulley and the third pulley are slidingly connected to the guide slide groove; the grabbing assembly is arranged at the end of the driving plate away from the driving cylinder. Furthermore, the guide slide groove includes a first slide groove for sliding the first pulley, a second slide groove for sliding the second pulley and the third pulley, and a third slide groove for placing the driving bracket in a second state; the third slide groove is located at one end of the first slide groove and the second slide groove close to the driving cylinder, and is connected to the first slide groove and the second slide groove; when the driving bracket is in the first state, the first pulley is located in the first slide groove, and the second pulley and the third pulley are located in the second slide groove; when the driving bracket is in the second state, the first pulley and the third pulley are located in the third slide groove; further, the driving cylinder is a single-cylinder cylinder; a driving rod is provided at one end of the third conveyor away from the driving bracket; a second fixed shaft is provided at the hinge of the second connecting arm and the third connecting arm; one end of the driving cylinder is hinged on the driving rod, and the output end of the driving cylinder is hinged on the second fixed shaft; further, the grabbing component is a suction cup.

[0009] As a preferred solution, four independently moving Mecanum wheel mechanisms are provided at the bottom of the base, and the four Mecanum wheel mechanisms are symmetrically installed on both sides of the base; the Mecanum wheel mechanism includes a Mecanum wheel, a travel drive element and a shock absorbing assembly; the output end of the travel drive element is connected to the Mecanum wheel through a transmission; the Mecanum wheel is installed at the bottom of the base through the shock absorbing assembly. Furthermore, the shock absorbing assembly includes a shock absorbing fixed plate, a shock absorbing movable plate, an upper Y-shaped connecting rod, a lower Y-shaped connecting rod, and a pair of shock absorbers; one end of the upper Y-shaped connecting rod is hinged to the upper part of one side of the shock absorbing fixed plate, and the other end is hinged to the upper part of one side of the shock absorbing movable plate; an upper hinge shaft is provided at the hinge of the upper Y-shaped connecting rod and the shock absorbing fixed plate; one end of the lower Y-shaped connecting rod is hinged to the lower part of one side of the shock absorbing fixed plate, and the other end is hinged to the lower part of one side of the shock absorbing movable plate; a lower hinge shaft is provided at the hinge of the lower Y-shaped connecting rod and the shock absorbing movable plate; one end of a pair of shock absorbers is respectively hinged to the two ends of the upper hinge shaft, and the other end of a pair of shock absorbers is respectively hinged to the two ends of the lower hinge shaft; the walking drive element is fixedly installed on a side of the shock absorbing movable plate close to the shock absorbing fixed plate; the Mecanum wheel is located on a side of the shock absorbing movable plate away from the shock absorbing fixed plate, and is transmission-connected to the output end of the walking drive element; the side of the shock absorbing fixed plate away from the shock absorbing movable plate is fixedly connected to the base. Furthermore, a bearing seat is provided on one side of the shock-absorbing movable plate close to the shock-absorbing fixed plate, a rolling bearing is provided in the bearing seat, and the rolling bearing rotates with a coupling; the travel drive element is fixedly installed on the bearing seat, and the output end of the travel drive element is connected to one end of the coupling, and the other end of the coupling is fixedly connected to the Mecanum wheel.

[0010] The beneficial effects of the present invention after adopting the above structure are as follows: the structural design of the three-stage conveyor can realize the stacking and destacking functions, and can effectively improve the flexibility of the conveying equipment; the cooperation between the rotary chassis and the mechanical arms can make the second conveyor turn and lift in all directions, so that it can be applied to various working environments; by structurally designing the steering drive device, the first conveyor belt driving element can simultaneously drive the first conveyor belt transmission mechanism and the third conveyor belt transmission mechanism to work, which can effectively reduce the production cost and reduce the weight of the third conveyor, making its operation more stable; the whole equipment can be moved in all directions through four independently moving Mecanum wheel mechanisms, effectively improving the flexibility of the equipment; the Mecanum wheel can be damped by a compact shock-absorbing assembly, thereby improving the stability of the whole equipment during walking; by structurally improving the universal connection mechanism, the connection and adjustment between the first conveyor and the second conveyor are more stable and smooth, thereby improving the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described in detail below in conjunction with the embodiments in the accompanying drawings, but this does not constitute any limitation to the present invention.

[0012] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0013] Figure 2 It is a schematic diagram of the structure of the rotary device in an embodiment of the present invention;

[0014] Figure 3 It is a structural exploded view of the rotary device in the embodiment of the present invention;

[0015] Figure 4 It is a structural cross-sectional view of the rotary device in the embodiment of the present invention;

[0016] Figure 5 The structure of the steering drive device in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0017] Figure 6 The structure of the steering drive device in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0018] Figure 7 A partial structural cross-sectional view of a steering drive device in an embodiment of the present invention;

[0019] Figure 8 It is a structural schematic diagram of a universal connection mechanism in an embodiment of the present invention;

[0020] Fig. 9 It is a structural exploded view of the first conveyor in an embodiment of the present invention;

[0021] Fig.10 It is a structural schematic diagram of a lifting cylinder in an embodiment of the present invention;

[0022] Fig.11 It is a structural schematic diagram of a belt tensioning assembly in an embodiment of the present invention;

[0023] Fig.12 It is a structural schematic diagram of the third conveyor in an embodiment of the present invention;

[0024] Fig.13 The structure of the driving bracket in the first state according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0025] Fig.14 The structure of the driving bracket in the first state according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0026] Fig.15 The structure of the driving support in the second state according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0027] Fig.16The structure of the driving support in the second state according to the embodiment of the present invention is shown in FIG. Figure 2

[0028] Fig.17 The structure of the Mecanum wheel mechanism in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0029] Fig.18 The structure of the Mecanum wheel mechanism in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0030] Fig.19 4 is a partial structural cross-sectional view of a Mecanum wheel mechanism in an embodiment of the present invention.

[0031] In the figure: 1-base, 2-rotating device, 3-first conveyor, 4-second conveyor, 5-third conveyor, 6-steering drive device, 7-universal connection mechanism, 8-driving bracket, 9-Mecanum wheel mechanism;

[0032] 21-rotating chassis, 22-mechanical arm fixed base, 23-first mechanical arm, 24-second mechanical arm, 25-third mechanical arm, 26-assisting gas spring, 27-rotating driving element, 28-first mechanical arm driving element, 29-second mechanical arm driving element; 211-outer fixed ring, 212-inner fixed ring, 213-cylindrical rotor, 214-driving gear;

[0033] 31-movable frame, 32-fixed frame, 33-first conveyor belt driving element, 34-first conveyor belt, 35-lifting cylinder, 36-smoothing plate; 312-fifth driven wheel group, 314-sixth driven wheel group, 315-slide; 322-seventh driven wheel group, 324-eighth driven wheel group, 325-slide rail;

[0034] 41-second conveyor belt frame, 43-first driven wheel set, 44-second driven wheel set, 45-second conveyor belt, 47-belt tensioning assembly; 471-tensioning fixing plate, 472-Y-shaped fork, 473-first guide roller shaft, 474-second guide roller shaft, 475-tensioning roller, 476-guide roller;

[0035] 51-third conveyor belt frame, 53-third driven wheel set, 54-fourth driven wheel set, 55-third conveyor belt, 57-guide chute; 571-first chute, 572-second chute, 573-third chute;

[0036] 61-upper fixed plate, 62-lower fixed plate, 63-first steering gear, 64-second steering gear, 65-steering drive element, 66-first transmission shaft, 67-second transmission shaft, 68-steering drive wheel, 69-steering driving wheel; 661-first transmission wheel; 671-second transmission wheel;

[0037] 71-first connecting shaft, 72-first universal joint, 73-second connecting shaft, 74-second universal joint, 75-third connecting shaft;

[0038] 81-driving plate, 82-first connecting arm, 83-second connecting arm, 84-third connecting arm, 85-driving cylinder, 86-first pulley, 87-second pulley, 88-third pulley, 89-grabbing assembly; 851-driving rod;

[0039] 91-Mecanum wheel, 92-travel drive element; 941-shock-absorbing fixed plate, 942-shock-absorbing movable plate, 943-upper Y-shaped connecting rod, 944-lower Y-shaped connecting rod, 945-shock absorber, 946-upper articulated shaft, 947-lower articulated shaft, 948-bearing seat, 949-coupling shaft. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are further described below in conjunction with the accompanying drawings:

[0041] like Figure 1-19The illustrated tobacco stacking and depalletizing integrated trolley comprises a base 1, on which a slewing device 2 and a rotatable and retractable first conveyor 3 are provided; a second conveyor 4 is provided on the slewing device 2, and the slewing device 2 can drive the second conveyor 4 to tilt and rotate; a steering drive device 6 is provided at one end of the second conveyor 4; a third conveyor 5 is provided on the steering drive mechanism, and the steering drive device 6 can drive the third conveyor 5 to rotate relative to the second conveyor 4, and the conveyor belt transmission mechanism in the second conveyor 4 is connected to the conveyor belt transmission mechanism in the third conveyor 5 through the steering drive device 6; a universal connection mechanism 7 is provided at one end of the first conveyor 3, and the end of the universal connection mechanism 7 away from the first conveyor 3 is connected to the other end of the second conveyor 4; when the slewing device 2 drives the second conveyor 4 to tilt or rotate, the first conveyor 3 will rotate and rotate accordingly The user can adjust the rotation angle, height and inclination of the second conveyor 4 through the slewing device 2. During the rotation of the second conveyor 4, the first conveyor belt will rotate accordingly, thereby adapting the second conveyor 4. When the angle of the second conveyor 4 after rotation still does not meet the use requirements, the third conveyor 5 can be driven to rotate to a suitable position through the steering drive device 6. This structure can make the ports of the first conveyor 3 and the third conveyor 5 correspond to the storage position and current placement position of the materials, so as to facilitate palletizing / depalletizing. During palletizing, the materials enter from the port of the first conveyor 3, pass through the second conveyor 4, and are output from the port of the third conveyor 5. During depalletizing, the belts on the first conveyor 3, the second conveyor 4, and the third conveyor 5 are reversed, and the materials enter from the port of the third conveyor 5, pass through the second conveyor 4, and are output from the port of the first conveyor 3. The structural design of the three-stage conveyor can realize the functions of palletizing and depalletizing, and can effectively improve the flexibility of the conveying equipment, thereby improving the scope of application of the palletizing and depalletizing integrated trolley.

[0042] Preferably, the second conveyor 4 is composed of a second conveyor belt frame 41 and a second conveyor belt transmission mechanism arranged on the second conveyor belt frame 41; the second conveyor belt transmission mechanism includes a first driven wheel group 43 arranged at the left output end and the right output end of the first deflector 63, a second driven wheel group 44 arranged at the end of the second conveyor belt frame 41 away from the steering drive device 6, a second conveyor belt 45 sleeved on the first driven wheel group 43 and the second driven wheel group 44, and a second conveyor belt driving element arranged on the second conveyor belt frame 41; the second conveyor belt driving element drives the second conveyor belt 45 to bypass the second driven wheel group 44 and the first driven wheel group 43 in sequence and then move to the upper surface of the second conveyor 4, and the second conveyor belt driving element drives the third conveyor belt transmission mechanism to work through the steering drive device 6; the second conveyor belt driving element drives the second conveyor belt transmission mechanism and the third conveyor belt transmission mechanism to work, which can effectively reduce the production cost, and can reduce the weight of the third conveyor 5, making its operation more stable. Furthermore, the second conveyor belt frame 41 is provided with a belt tensioning assembly 47 for tensioning the second conveyor belt 45, and the belt tensioning assembly 47 includes a tensioning fixing plate 471, a Y-shaped fork 472, a first guide roller 473, and a second guide roller 474; the tensioning fixing plate 471 is fixedly connected to the second conveyor belt frame 41; the open end of the Y-shaped fork 472 is rotatably connected to two tensioning rollers 475, The end of the Y-shaped fork 472 away from the open end passes through the tensioning fixing plate 471 and is threadedly connected to an adjusting nut; the first guide roller 473 and the second guide roller 474 are located on both sides of the Y-shaped fork 472, and one end of the first guide roller 473 and the second guide roller 474 are respectively threadedly connected to the tensioning fixing plate 471, and the other end is respectively rotatably connected to the guide roller 476; the belt tensioning assembly 47 has a simple structure and is easy to install and maintain, and the winding method of the belt can be changed according to actual usage; when the second conveyor belt 45 needs to be tensioned, it can be adjusted by simply rotating the Y-shaped fork 472.

[0043] Preferably, the third conveyor 5 is composed of a third conveyor belt frame 51 and a third conveyor belt transmission mechanism arranged on the third conveyor belt frame 51; the third conveyor belt transmission mechanism includes a third driven wheel group 53 arranged at the left output end and the right output end of the second deflector, a fourth driven wheel group 54 arranged at the end of the third conveyor belt frame 51 away from the steering drive device 6, and a third conveyor belt 55 sleeved on the third driven wheel group 53 and the fourth driven wheel group 54; the second conveyor belt driving element drives the third conveyor belt 55 through the steering drive mechanism to successively bypass the fourth driven wheel group 54 and the third driven wheel group 53 and then move to the upper surface of the third conveyor 5.

[0044] Preferably, the first conveyor 3 includes a movable frame 31, a fixed frame 32, and a first conveyor belt driving element 33; one end of the movable frame 31 is connected to the other end of the second conveyor 4 through a universal connection mechanism 7, and the other end of the movable frame 31 is slidably connected to one end of the fixed frame 32; one end of the movable frame 31 is provided with a fifth driven wheel group 312, and the other end of the movable frame 31 is provided with a sixth driven wheel group 314; the lower end of the fixed frame 32 is rotatably connected to the base 1 through a bearing; one end of the fixed frame 32 is provided with a seventh driven wheel group 322, and the other end of the fixed frame 32 is provided with an eighth driven wheel group 324; the first conveyor belt 34 is sleeved on the fifth driven wheel group 312, the sixth driven wheel group 314, the seventh driven wheel group 322, and the eighth driven wheel group 324; the first conveyor belt driving element 33 drives the first conveyor belt 34 It moves to the upper surface of the first conveyor 3 after passing through the eighth driven wheel group 324, the seventh driven wheel group 322, the sixth driven wheel group 314, and the fifth driven wheel group 312 in sequence; when the second conveyor 4 rotates, the second conveyor 4 will drive the movable frame 31 to move through the universal connection mechanism 7, so that the movable frame 31 moves toward the fixed frame 32 or in the opposite direction, and at the same time, the second conveyor 4 will also drive the fixed frame 32 to rotate. Furthermore, the other end of the movable frame 31 is provided with a plurality of slides 315, and one end of the fixed frame 32 is provided with a slide rail 325 adapted to the slide 315, and the slide 315 is slidably connected with the slide rail 325; the cooperation of the slide 315 and the slide rail 325 can reduce the friction coefficient between the movable frame 31 and the fixed frame 32, so that the sliding between the movable frame 31 and the fixed frame 32 is smoother, and the service life of the movable frame 31 and the fixed frame 32 can be improved; the slide 315 and the slide rail 325 can be linear slide rails 325 in the prior art. The first to eighth driven wheel groups 324 are all composed of driven shafts and driven wheels. The installation positions of the first conveyor belt driving element 33 and the second conveyor belt driving element can be installed according to actual needs; further, the side wall of the fixed frame 32 away from the movable frame 31 is provided with a lifting mechanism for straightening the material, and the material on the first conveyor belt can be adjusted by the lifting mechanism to straighten the material and facilitate subsequent processing. As a preferred solution, the lifting mechanism is a lifting cylinder 35, and the output end of the lifting cylinder 35 is provided with a smoothing plate 36. When the output end of the lifting cylinder 35 is extended, the smoothing plate 36 fits the bottom of one side of the material and lifts one side of the material upward, so that the material is turned 90 degrees for subsequent processing; this structure can adjust the placement direction of the material, and has the characteristics of simple structure and convenient control.

[0045] As a preferred solution, both sides of the first conveyor 3, the second conveyor 4, and the third conveyor 5 are provided with limiting ribs, and the materials can be limited by the limiting ribs to prevent them from falling out during the transmission process.

[0046] As a preferred embodiment, the slewing device 2 includes a slewing chassis 21 arranged on the base 1, a mechanical arm fixed base 22 is provided on the slewing chassis 21, and a slewing driving element 27 for driving the slewing chassis 21 to rotate is provided on the mechanical arm fixed base 22; a first mechanical arm 23 is hingedly connected to one end of the mechanical arm fixed base 22, and a first mechanical arm driving element 28 for driving the first mechanical arm 23 to swing is provided at the hinge; a second mechanical arm 24 is hingedly connected to the other end of the mechanical arm fixed base 22, and a second mechanical arm driving element 29 for driving the second mechanical arm 24 to swing is provided at the hinge; the second mechanical arm 2 4 The third robot arm 25 is hinged at one end away from the robot arm fixed base 22; the end of the first robot arm 23 away from the robot arm fixed base 22 and the end of the third robot arm 25 away from the second robot arm 24 are respectively hinged at the bottom of the second conveyor 4; when the direction of the second conveyor 4 needs to be adjusted, the rotary chassis 21 can be driven to rotate by the rotary drive element 27, so that the second conveyor 4 rotates around the rotary chassis 21 as the axis; when the height and inclination of the second conveyor 4 need to be adjusted, the first robot arm 23 and the second robot arm 24 can be driven to swing accordingly by the first robot arm drive element 28 and the second robot arm drive element 29. Further, the rotary chassis 21 includes an outer fixed ring 211, an inner fixed ring 212 and a plurality of cylindrical rotors 213; the bottom of the inner fixed ring 212 is fixedly connected to the base 1, and the inner side wall of the inner fixed ring 212 is provided with inner gear teeth; the outer fixed ring 211 is sleeved on the inner fixed ring 212 Externally, the robot arm fixed base 22 is arranged on the top of the outer fixed ring 211; a rolling groove for the cylindrical rotor 213 to roll is formed between the inner wall of the outer fixed ring 211 and the outer wall of the inner fixed ring 212, and the cylindrical rotors 213 are staggered and evenly distributed in the rolling groove; the rotary drive element 27 is fixedly connected to the robot arm fixed base 22, and the output end of the rotary drive element 27 is provided with a driving gear 214 meshing with the internal gear teeth on the inner fixed ring 212; compared with the spherical rotor, the cylindrical rotor 213 has a larger contact area with the rolling groove, which is beneficial to load bearing, and the staggered arrangement of the cylindrical rotors 213 can make the force on each side of the rolling groove uniform, thereby improving the service life of the rotary chassis 21. Furthermore, a booster gas spring 26 is hinged on the fixed base 22 of the robot arm, and the other end of the booster gas spring 26 is hinged to the bottom of the second conveyor 4. The booster gas spring 26 provides an upward force for the second conveyor 4; the booster gas spring 26 can reduce the load of the first robot arm driving element 28 and the second robot arm driving element 29, thereby increasing the service life of the equipment and the swing speed of the first robot arm 23 and the second robot arm 24.Furthermore, the first robotic arm driving element 28 includes a first driving motor and a first reducer, the first reducer is arranged on the robotic arm fixed base 22, the output end of the first driving motor is connected to the input end of the first reducer, and the first robotic arm 23 is fixedly connected to the output end of the first reducer; the second robotic arm driving element 29 includes a second driving motor and a second reducer, the second reducer is arranged on the robotic arm fixed base 22, the output end of the second driving motor is connected to the input end of the second reducer, and the second robotic arm 24 is fixedly connected to the output end of the second reducer; the reducer can increase the torque of the driving motor and improve the load capacity of the driving motor.

[0047] As a preferred embodiment, the steering drive mechanism includes the steering drive device 6 including an upper fixed plate 61, a lower fixed plate 62, a first diverter 63, a second diverter, and a steering drive element 65; the first diverter 63 is fixedly connected to the second conveyor 4, the left output end and the right output end of the first diverter 63 are transmission-connected to the conveyor belt transmission mechanism in the second conveyor 4, and the lower output end of the first diverter 63 is connected to the first transmission shaft 66; the lower end of the first transmission shaft 66 is provided with a first transmission wheel 661; the second diverter is fixedly connected to the third conveyor 5, and the left output end and the right output end of the second diverter are transmission-connected to the conveyor belt transmission mechanism in the second conveyor 4, the lower part of the second diverter is fixedly connected to a steering drive wheel 68, and the lower output end of the second diverter is connected to a second transmission shaft 67; the lower end of the second transmission shaft 67 is provided with a second transmission wheel 671; the first transmission wheel 661 is transmission-connected to the second transmission wheel 671; One end of the upper fixed plate 61 is fixedly connected to the second conveyor 4, and the other end is rotatably connected to the upper end of the second diverter; one end of the lower fixed plate 62 is fixedly connected to the lower part of the first diverter 63, and the other end is rotatably connected to the second transmission shaft 67; the steering drive element 65 is arranged on the second conveyor 4, and the output end of the steering drive element 65 is provided with a steering driving wheel 69, and the steering driving wheel 69 is transmission-connected to the steering driving wheel 68; the steering drive element 65 can drive the second diverter to rotate through the steering driving wheel 69 and the steering driving wheel 68; the structure is small in size and can realize the steering function of the third conveyor 5, and the second conveyor belt transmission mechanism and the third conveyor belt transmission mechanism can be driven by one driving element, which effectively reduces the production cost; when steering is required, the steering drive element 65 drives the steering driving wheel 68 to rotate through the steering driving wheel 69, so that the second diverter is steered, thereby driving the third conveyor 5 to steer.

[0048] As a preferred embodiment, the universal joint connection mechanism includes a first connecting shaft 71, a first universal joint 72, a second connecting shaft 73, a second universal joint 74, and a third connecting shaft 75; one end of the first connecting shaft 71 is fixedly connected to the other end of the first conveyor 3, and the other end of the first connecting shaft 71 is fixedly connected to a movable end of the first universal joint 72; one end of the second connecting shaft 73 is fixedly connected to the other movable end of the first universal joint 72, and the other end of the second connecting shaft 73 is fixedly connected to a movable end of the second universal joint 74; one end of the third connecting shaft 75 is fixedly connected to the other movable end of the second universal joint 74, and the other end of the third connecting shaft 75 is fixedly connected to one end of the second conveyor 4. The universal connection mechanism 7 can make the connection and adjustment between the second conveyor 4 and the first conveyor 3 more stable and smooth.

[0049] As a preferred embodiment, the third conveyor 5 is provided with a material grabbing mechanism for grabbing materials onto the third conveyor 5; the material grabbing mechanism includes a grabbing component 89, a driving bracket 8 and a driving cylinder 85; the grabbing component 89 is arranged at one end of the driving bracket 8; the driving bracket 8 has a first state in which one end is erected and extends out of the third conveyor 5 away from the steering drive device 6, so that the grabbing component 89 grabs the material, and a second state in which the grabbing component 89 is folded and retracted into the third conveyor 5, so that the grabbing component 89 places the material on the third conveyor 5; guide grooves 57 for guiding the driving bracket 8 to switch states are provided on the side panels on both sides of the third conveyor 5; one end of the driving cylinder 85 is connected to the driving bracket 8, and the other end is connected to the side panel of the third conveyor 5, so as to drive the driving bracket 8 to switch states. When in use, the driving cylinder 85 drives the driving bracket 8 to extend out of one end of the third conveyor 5, so that the grabbing component 89 grabs the material; during the extension of the driving bracket 8, the guide chute 57 guides the driving bracket 8 to gradually stand up, so that the grabbing component 89 is higher than the conveying surface of the third conveyor 5, and maintains this state to continue to extend toward one end of the third conveyor 5; after the grabbing component 89 grabs the material, the driving cylinder 85 drives the driving bracket 8 to retract, and the grabbing component 89 grabs the material to the conveying surface of the third conveyor 5; during the retraction of the driving bracket 8, the guide chute 57 guides the driving bracket 8 to drive the material to the conveying surface of the third conveyor 5 in the first state of standing up, and then guides the driving bracket 8 to gradually fold, so that the material separates from the grabbing component 89 and falls on the conveying surface of the third conveyor 5, and is transported by the third conveyor 5 to the second conveyor for subsequent processing. Further, the driving bracket 8 includes a driving plate 81, two first connecting arms 82, two second connecting arms 83 and two third connecting arms 84; one end of the two first connecting arms 82 is respectively hingedly connected to the two sides of the middle of the driving plate 81, and the other end of the two first connecting arms 82 is respectively hingedly connected to one end of the two third connecting arms 84; one end of the two second connecting arms 83 is respectively hingedly connected to the two sides of one end of the driving plate 81 close to the driving cylinder 85, and the other end of the two second connecting arms 83 is respectively hingedly connected to the other end of the two third connecting arms 84. The second connecting arm 83 is hinged at one end and the second pulley 86 is provided on the side away from the driving plate 81; the second pulley 87 is provided on the side away from the driving plate 81 at the hinge of the first connecting arm 82 and the third connecting arm 84; the third pulley 88 is provided on the side away from the driving plate 81 at the hinge of the second connecting arm 83 and the third connecting arm 84; the first pulley 86 is adjacent to the third pulley 88; the first pulley 86, the second pulley 87 and the third pulley 88 are slidably connected to the guide groove 57; the grabbing assembly 89 is arranged at one end of the driving plate 81 away from the driving cylinder 85.The driving plate 81, the first connecting arm 82, the second connecting arm 83 and the third connecting arm 84 are combined to form a movable quadrilateral structure, which enables the driving bracket 8 to have the functions of standing up and folding; standing up can prevent the driving bracket 8 from colliding with the parts on the third conveyor 5 when extending out of one end of the third conveyor 5, and can drive the material to the conveying surface of the third conveyor 5; folding can prevent the driving bracket 8 from affecting the normal conveying of the third conveyor 5, and can separate the material from the grabbing component 89; the first pulley 86, the second pulley 87, and the third pulley 88 can reduce the friction between the driving bracket 8 and the slide groove, which can effectively improve the service life of the equipment while making the movement of the driving bracket 8 smoother. The guide slide groove 57 includes a first slide groove 571 for the first pulley 86 to slide, a second slide groove 572 for the second pulley 87 and the third pulley 88 to slide, and a third slide groove 573 that can put the driving bracket 8 in the second state; the third slide groove 573 is located at one end of the first slide groove 571 and the second slide groove 572 close to the driving cylinder 85, and is connected with the first slide groove 571 and the second slide groove 572; when the driving bracket 8 is in the first state, the first pulley 86 is located in the first slide groove 571, and the second pulley 87 and the third pulley 88 are located in the second slide groove 572; when the driving bracket 8 is in the second state, the first pulley 86 and the third pulley 88 are located in the third slide groove 573. When the driving cylinder 85 drives the driving bracket 8 to extend, the driving bracket 8, under the power of the driving cylinder 85, causes the first pulley 86 to enter the first slide groove 571, and the second pulley 87 and the third pulley 88 to enter the second slide groove 572. Through the cooperation of the first slide groove 571 and the second slide groove 572, the driving bracket 8 can maintain the first state and extend toward one end of the third conveyor 5; when the driving cylinder 85 drives the driving bracket 8 to retract, the first pulley 86 disengages from the first slide groove 571, and enters the third slide groove 573 together with the second pulley 87, so that the driving bracket 8 is gradually folded and maintained in the second state. Further, the driving cylinder 85 is a single cylinder cylinder; the end of the third conveyor 5 away from the driving bracket 8 is provided with a driving rod 851; the second connecting arm 83 and the third connecting arm 84 are hinged at a second fixed shaft; one end of the driving cylinder is hinged on the driving rod 851, and the output end of the driving cylinder is hinged on the second fixed shaft; the movable design at both ends allows the cylinder to be placed at a certain angle, which is conducive to the state switching of the driving bracket 8. Further, the grabbing component 89 is a suction cup, and the structure of the suction cup itself can be used to quickly grab the material, and no power structure is required, with the characteristics of simple structure and easy use; of course, the grabbing component 89 can also adopt a clamping claw structure; further, the plane of the open end of the suction cup can be kept parallel or substantially parallel to the material grabbing surface, which is conducive to the suction cup grabbing the material. The automatic destacking function can be realized through the cooperation of the material grabbing mechanism and the steering drive device 6, effectively improving the destacking efficiency.

[0050] As a preferred solution, four independently moving Mecanum wheel mechanisms 9 are provided at the bottom of the base 1, and the four Mecanum wheel mechanisms 9 are symmetrically installed on both sides of the base 1; the Mecanum wheel mechanism 9 includes a Mecanum wheel 91, a travel drive element 92 and a shock absorbing assembly; the output end of the travel drive element 92 is connected to the Mecanum wheel 91 by transmission; the Mecanum wheel 91 is installed at the bottom of the base 1 through the shock absorbing assembly; the four independently moving Mecanum wheel mechanisms 9 can enable the entire device to move in all directions, thereby improving the flexibility of the device; the shock absorbing assembly can be provided to damp the Mecanum wheel 91, thereby improving the stability of the stacking and depalletizing integrated trolley during movement. Furthermore, the shock absorbing assembly includes a shock absorbing fixed plate 941, a shock absorbing movable plate 942, an upper Y-shaped connecting rod 943, a lower Y-shaped connecting rod 944, and a pair of shock absorbers 945; one end of the upper Y-shaped connecting rod 943 is hinged to the upper part of one side of the shock absorbing fixed plate 941, and the other end is hinged to the upper part of one side of the shock absorbing movable plate 942; an upper hinge shaft 946 is provided at the hinge between the upper Y-shaped connecting rod 943 and the shock absorbing fixed plate 941; one end of the lower Y-shaped connecting rod 944 is hinged to the lower part of one side of the shock absorbing fixed plate 941, and the other end is hinged to the lower part of one side of the shock absorbing movable plate 942; a lower hinge shaft 947 is provided at the hinge between the lower Y-shaped connecting rod 944 and the shock absorbing movable plate 942; a pair of shock absorbers 945 One end of the pair of shock absorbers 945 is respectively hinged at both ends of the upper hinge shaft 946, and the other ends of the pair of shock absorbers 945 are respectively hinged at both ends of the lower hinge shaft 947; the travel drive element 92 is fixedly mounted on the side of the shock absorbing movable plate 942 close to the shock absorbing fixed plate 941; the Mecanum wheel 91 is located on the side of the shock absorbing movable plate 942 away from the shock absorbing fixed plate 941, and is transmission-connected to the output end of the travel drive element 92; the side of the shock absorbing fixed plate 941 away from the shock absorbing movable plate 942 is fixedly connected to the base 1; the shock absorbing structure has the advantages of simple structure, easy maintenance and small space occupation; the shock absorber 945 can adopt any shock absorber 945 or shock absorber in the prior art. Furthermore, a bearing seat 948 is provided on one side of the shock-absorbing movable plate 942 close to the shock-absorbing fixed plate 941, and a rolling bearing is provided in the bearing seat 948, and the rolling bearing rotates with a coupling 949; the travel drive element 92 is fixedly installed on the bearing seat 948, and the output end of the travel drive element 92 is connected to one end of the coupling 949, and the other end of the coupling 949 is fixedly connected to the Mecanum wheel 91; the radial force of the Mecanum wheel 91 can be absorbed by the cooperation of the bearing seat 948, the rolling bearing and the coupling 949, thereby reducing the loss of the travel drive element 92 and improving the service life of the travel drive element 92.

[0051] The above-mentioned transmission connection is belt drive, and it can also adopt conventional transmission methods such as chain drive, gear drive, etc.; the above-mentioned fixed connections are all conventional fixed connection methods such as welding or bolt fixing; the above-mentioned rotating connection is a bearing connection; the above-mentioned rotary drive element 27, the first mechanical arm drive element 28, the second mechanical arm drive element 29, the first conveyor belt drive element 33, the second conveyor belt drive element, the steering drive element 65, and the walking drive element 92 are all composed of a drive motor and a reducer, and the drive motor can adopt a stepper motor or a servo motor.

[0052] The above embodiments are preferred implementation modes of the present invention and are only used to facilitate the description of the present invention. They are not intended to limit the present invention in any form. Any person with ordinary knowledge in the relevant technical field, if they do not depart from the scope of the technical features of the present invention, can make equivalent embodiments by partial changes or modifications to the technical contents disclosed in the present invention, and they still fall within the scope of the technical features of the present invention without departing from the technical features of the present invention.

Claims

1. A tobacco stacking and destacking integrated trolley, comprising a base (1), characterized in that: The base (1) is provided with a rotating device (2) and a rotatable and retractable first conveyor (3); the rotating device (2) is provided with a second conveyor (4), and the rotating device (2) can drive the second conveyor (4) to tilt and rotate; a steering drive device (6) is provided at one end of the second conveyor (4); a third conveyor (5) is provided on the steering drive mechanism, and the steering drive device (6) can drive the third conveyor (5) to rotate relative to the second conveyor (4), and the conveyor belt transmission mechanism in the second conveyor (4) is connected to the conveyor belt transmission mechanism in the third conveyor (5) through the steering drive device (6); a universal connection mechanism (7) is provided at one end of the first conveyor (3), and the end of the universal connection mechanism (7) away from the first conveyor (3) is connected to the other end of the second conveyor (4); when the rotating device (2) drives the second conveyor (4) to tilt or rotate, the first conveyor (3) will rotate and retract accordingly; The slewing device (2) comprises a slewing chassis (21) arranged on a base (1); a mechanical arm fixed base (22) is arranged on the slewing chassis (21); a slewing driving element (27) for driving the slewing chassis (21) to rotate is arranged on the mechanical arm fixed base (22); a first mechanical arm (23) is hingedly connected to one end of the mechanical arm fixed base (22); a first mechanical arm driving element (28) for driving the first mechanical arm (23) to swing is arranged at the hinge; the mechanical arm fixed base (22) is hingedly connected to the first mechanical arm (23); A second mechanical arm (24) is hingedly connected to the other end of the fixed base (22), and a second mechanical arm driving element (29) for driving the second mechanical arm (24) to swing is provided at the hinge; an end of the second mechanical arm (24) away from the mechanical arm fixed base (22) is hingedly connected to a third mechanical arm (25); an end of the first mechanical arm (23) away from the mechanical arm fixed base (22) and an end of the third mechanical arm (25) away from the second mechanical arm (24) are respectively hingedly connected to the bottom of the second conveyor (4); The steering drive device (6) comprises an upper fixed plate (61), a lower fixed plate (62), a first steering gear (63), a second steering gear (64), and a steering drive element (65); the first steering gear (63) is fixedly connected to the second conveyor (4); the left output end and the right output end of the first steering gear (63) are transmission-connected to the conveyor belt transmission mechanism in the second conveyor (4); the lower output end of the first steering gear (63) is connected to a first transmission shaft (66); the lower end of the first transmission shaft (66) is provided with a first transmission wheel (661); the second steering gear (64) is fixedly connected to the third conveyor (5); the left output end and the right output end of the second steering gear (64) are transmission-connected to the conveyor belt transmission mechanism in the second conveyor (4); the lower part of the second steering gear (64) is fixedly connected to a steering drive wheel (68); the second steering gear (64) The lower output end is connected with a second transmission shaft (67); the lower end of the second transmission shaft (67) is provided with a second transmission wheel (671); the first transmission wheel (661) is transmission-connected with the second transmission wheel (671); one end of the upper fixed plate (61) is fixedly connected to the second conveyor (4), and the other end is rotationally connected to the upper end of the second diverter (64); one end of the lower fixed plate (62) is fixedly connected to the lower part of the first diverter (63), and the other end is rotationally connected to the second transmission shaft (67); the steering drive element (65) is arranged on the second conveyor (4), and the output end of the steering drive element (65) is provided with a steering active wheel (69), and the steering active wheel (69) is transmission-connected with the steering drive wheel (68); the steering drive element (65) can drive the second diverter (64) to rotate through the steering active wheel (69) and the steering drive wheel (68).

2. The tobacco stacking and destacking integrated trolley according to claim 1, characterized in that: The rotary chassis (21) comprises an outer fixing ring (211), an inner fixing ring (212) and a plurality of cylindrical rotors (213); the bottom of the inner fixing ring (212) is fixedly connected to the base (1), and the inner side wall of the inner fixing ring (212) is provided with internal gear teeth; the outer fixing ring (211) is sleeved on the outside of the inner fixing ring (212), and the mechanical arm fixed base (22) is arranged on the top of the outer fixing ring (211); a rolling groove for the cylindrical rotors (213) to roll is formed between the inner side wall of the outer fixing ring (211) and the outer side wall of the inner fixing ring (212), and the cylindrical rotors (213) are staggered and evenly distributed in the rolling groove; the rotary drive element (27) is fixedly connected to the mechanical arm fixed base (22), and the output end of the rotary drive element (27) is provided with a driving gear (214) meshing with the internal gear teeth on the inner fixing ring (212).

3. The tobacco stacking and destacking integrated trolley according to claim 1, characterized in that: A boosting gas spring (26) is hinged on the fixed base (22) of the mechanical arm, and the other end of the boosting gas spring (26) is hinged to the bottom of the second conveyor (4). The boosting gas spring (26) provides an upward force for the second conveyor (4).

4. The tobacco stacking and destacking integrated trolley according to claim 1, characterized in that: The universal connection mechanism (7) comprises a first connection shaft (71), a first universal joint (72), a second connection shaft (73), a second universal joint (74), and a third connection shaft (75); one end of the first connection shaft (71) is fixedly connected to the other end of the first conveyor (3), and the other end of the first connection shaft (71) is fixedly connected to a movable end of the first universal joint (72); one end of the second connection shaft (73) is fixedly connected to the other movable end of the first universal joint (72), and the other end of the second connection shaft (73) is fixedly connected to a movable end of the second universal joint (74); one end of the third connection shaft (75) is fixedly connected to the other movable end of the second universal joint (74), and the other end of the third connection shaft (75) is fixedly connected to one end of the second conveyor (4).

5. The tobacco stacking and destacking integrated trolley according to claim 1, characterized in that: The third conveyor (5) is provided with a material grabbing mechanism for grabbing materials onto the third conveyor (5); the material grabbing mechanism comprises a grabbing assembly (89), a driving bracket (8) and a driving cylinder (85); the grabbing assembly (89) is arranged at one end of the driving bracket (8); the driving bracket (8) has a first state in which one end is erected and extends out of the third conveyor (5) away from the steering drive device (6), so that the grabbing assembly (89) grabs the materials, and a second state in which the grabbing assembly (89) is folded and retracted into the third conveyor (5), so that the grabbing assembly (89) places the materials on the third conveyor (5); guide grooves (57) for guiding the driving bracket (8) to switch states are provided on the side panels on both sides of the third conveyor (5); one end of the driving cylinder (85) is connected to the driving bracket (8), and the other end is connected to the side panel of the third conveyor (5), so as to drive the driving bracket (8) to switch states.

6. The tobacco stacking and destacking integrated trolley according to claim 5, characterized in that: The driving bracket (8) comprises a driving plate (81), two first connecting arms (82), two second connecting arms (83) and two third connecting arms (84); one end of the two first connecting arms (82) are respectively hingedly connected to two sides of the middle of the driving plate (81), and the other end of the two first connecting arms (82) are respectively hingedly connected to one end of the two third connecting arms (84); one end of the two second connecting arms (83) are respectively hingedly connected to two sides of one end of the driving plate (81) close to the driving cylinder (85), and the other end of the two second connecting arms (83) are respectively hingedly connected to the other end of the two third connecting arms (84); A first pulley (86) is provided on the side of the connecting arm (83) away from the driving plate (81); a second pulley (87) is provided on the side of the hinge between the first connecting arm (82) and the third connecting arm (84) away from the driving plate (81); a third pulley (88) is provided on the side of the hinge between the second connecting arm (83) and the third connecting arm (84) away from the driving plate (81); the first pulley (86) and the third pulley (88) are adjacent; the first pulley (86), the second pulley (87) and the third pulley (88) are slidably connected to the guide slide groove (57); and the grab assembly (89) is provided at one end of the driving plate (81) away from the driving cylinder (85).

7. The tobacco stacking and destacking integrated trolley according to claim 1, characterized in that: The base (1) is provided with four independently movable Mecanum wheel mechanisms (9), and the four Mecanum wheel mechanisms (9) are symmetrically mounted on two sides of the base (1); the Mecanum wheel mechanism (9) comprises a Mecanum wheel (91), a travel drive element (92), and a shock absorbing assembly; the output end of the travel drive element (92) is transmission-connected to the Mecanum wheel (91); and the Mecanum wheel (91) is mounted on the bottom of the base (1) via the shock absorbing assembly.

8. The tobacco stacking and destacking integrated trolley according to claim 7, characterized in that: The shock absorbing assembly comprises a shock absorbing fixed plate (941), a shock absorbing movable plate (942), an upper Y-shaped connecting rod (943), a lower Y-shaped connecting rod (944), and a pair of shock absorbers (945); one end of the upper Y-shaped connecting rod (943) is hinged to the upper part of one side of the shock absorbing fixed plate (941), and the other end is hinged to the upper part of one side of the shock absorbing movable plate (942); an upper hinge shaft (946) is provided at the hinge between the upper Y-shaped connecting rod (943) and the shock absorbing fixed plate (941); one end of the lower Y-shaped connecting rod (944) is hinged to the lower part of one side of the shock absorbing fixed plate (941), and the other end is hinged to the lower part of one side of the shock absorbing movable plate (942); the lower Y-shaped connecting rod (944) and the shock absorbing movable plate (942) are connected to each other. A lower hinge shaft (947) is provided at a hinged position of the shock absorber (945); one end of a pair of shock absorbers (945) is respectively hinged to the two ends of the upper hinge shaft (946), and the other end of a pair of shock absorbers (945) is respectively hinged to the two ends of the lower hinge shaft (947); the travel drive element (92) is fixedly mounted on a side of the shock absorbing movable plate (942) close to the shock absorbing fixed plate (941); the Mecanum wheel (91) is located on a side of the shock absorbing movable plate (942) away from the shock absorbing fixed plate (941), and is transmission-connected to the output end of the travel drive element (92); and the side of the shock absorbing fixed plate (941) away from the shock absorbing movable plate (942) is fixedly connected to the base (1).

Images