Full-automatic picking unmanned vehicle equipment

Abstract

The invention relates to the field of water pump sorting unmanned vehicles, in particular to full-automatic sorting unmanned vehicle equipment which comprises an unmanned vehicle body, and the upper end of the unmanned vehicle body is fixedly connected with a sorting frame; the automatic sorting mechanism comprises a rotating shaft rotationally connected to the side wall of the sorting frame, a swing rod is fixedly connected to the side wall of the rotating shaft, a sliding groove is formed in the side wall of the swing rod, a sliding block is slidably connected to the inner wall of the sliding groove, a pin shaft is fixedly connected to the side wall of the sliding block, and a grabbing rod is rotationally connected to the side wall of the pin shaft; the lower end of the grabbing rod is fixedly connected with an electric suction cup, a groove is formed in the side wall of the sorting frame, the inner wall of the groove is slidably connected with a U-shaped block, and the side wall of the grabbing rod is slidably connected with the inner wall of the U-shaped block. Goods can be quickly sorted and placed on the unmanned vehicle body, the whole process is automatic, manual interference is not needed, the sorting efficiency is higher, manpower is saved, the adopted mechanical structure is low in failure rate and low in manufacturing cost, and the unmanned vehicle is suitable for small and medium-sized enterprises.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned picking vehicles, and in particular to a fully automatic unmanned picking vehicle. Background Art

[0002] With the development of the logistics industry, the pressure of sorting goods is increasing, which requires a lot of manpower and material resources, especially large and heavy goods, which cannot be handled by manpower. Moreover, under strong pressure, efficiency will decrease over time.

[0003] At present, when goods are sorted and stacked, they are mostly transported to designated locations through conveying devices, and then sorted and stacked manually, and then moved into warehouses for storage. This method of picking goods is not only inefficient, but also very wasteful of manpower, requiring a large amount of manpower to handle, increasing costs, and some large companies will use expensive picking robots, which are not suitable for small and medium-sized enterprises due to their high cost.

[0004] Based on this, we propose a fully automatic picking unmanned vehicle equipment. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art and to propose a fully automatic picking unmanned vehicle equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A fully automatic picking unmanned vehicle equipment, comprising an unmanned vehicle body, wherein the upper end of the unmanned vehicle body is fixedly connected with a picking frame; An automatic picking mechanism, the automatic picking mechanism comprises a rotating shaft rotatably connected to the side wall of the picking frame, the side wall of the rotating shaft is fixedly connected with a swing rod, the side wall of the swing rod is provided with a slide groove, the inner wall of the slide groove is slidably connected with a slider, the side wall of the slider is fixedly connected with a pin shaft, the side wall of the pin shaft is rotatably connected with a grabbing rod, the lower end of the grabbing rod is fixedly connected with an electric suction cup, the side wall of the picking frame is provided with a groove, the inner wall of the groove is slidably connected with a U-shaped block, the side wall of the grabbing rod is slidably connected to the inner wall of the U-shaped block, the inner wall of the groove is fixedly connected with a sliding rod, the side wall of the sliding rod is slidably connected to the U-shaped block, and the rotating shaft is arranged through the picking frame; A dust removal mechanism, the dust removal mechanism comprising a dust removal frame; The adjusting mechanism comprises a cavity opened in the rocker arm, a sliding plug is sealingly and slidingly connected to the inner wall of the cavity, a return spring is fixedly connected between the sliding plug and the bottom of the cavity, the upper end of the sliding plug is fixedly connected to a connecting rod, the upper end of the connecting rod passes through the inner wall of the slide groove and is fixedly connected to the slider, an air intake groove is opened in the rotating shaft, the air intake groove is connected to the cavity through a second connecting pipe, the side wall of the picking rack is fixedly connected to a rotating joint through a bracket, the side wall of the dust removal rack is fixedly connected to a vertical cylinder, the inner wall of the vertical cylinder is sealingly and slidingly connected to a slide plate, a spring is fixedly connected between the slide plate and the top of the vertical cylinder, the side wall of the vertical cylinder is fixedly connected to a one-way air intake pipe, the side wall of the vertical cylinder is fixedly connected to a one-way air supply pipe, and the other end of the one-way air supply pipe is fixedly connected to the rotating joint.

[0007] Preferably, the automatic picking mechanism also includes a rectangular block slidably connected to the inner wall of the picking frame, the upper end of the rectangular block is fixedly connected to a rack, the side wall of the rotating shaft located in the picking frame is fixedly connected to a first gear, and the first gear is meshingly connected to the rack.

[0008] Preferably, a driving mechanism is installed on the unmanned vehicle body, and the driving mechanism includes a motor fixedly connected to the upper end of the unmanned vehicle body through a bracket, and the output end of the motor is fixedly connected to a fan gear. The inner wall of the picking frame is rotatably connected to a first reciprocating screw, and the side wall of the first reciprocating screw is threadedly connected to the rectangular block. One end of the first reciprocating screw passes through the side wall of the picking frame and is fixedly connected to a second gear.

[0009] Preferably, a stacking mechanism is installed on the unmanned vehicle body, and the stacking mechanism includes a first mounting groove opened at the upper end of the unmanned vehicle body, a mounting block is slidably connected to the inner wall of the first mounting groove, a stacking platform is fixedly connected to the upper end of the mounting block, a second reciprocating screw is rotatably connected to the inner wall of the first mounting groove, the side wall of the second reciprocating screw is threadedly connected to the mounting block, a rotating rod is rotatably connected to the inner wall of the first mounting groove, a first bevel gear is fixedly connected to the side wall of the rotating rod, a second bevel gear is fixedly connected to the side wall of the second reciprocating screw, the first bevel gear is meshed with the second bevel gear, and one end of the rotating rod passes through the side wall of the unmanned vehicle body and is fixedly connected to the third gear.

[0010] Preferably, the dust removal mechanism also includes a second mounting groove opened at the upper end of the unmanned vehicle body, the dust removal frame is slidably connected to the inner wall of the second mounting groove, a dust suction chamber is opened in the dust removal frame, and a plurality of dust suction holes are opened on the inner wall of the dust suction chamber.

[0011] Preferably, the dust removal mechanism also includes a dust removal box fixedly connected to the upper end of the picking frame, the inner wall of the dust removal box is rotatably connected to a shaft rod, the side wall of the shaft rod is fixedly connected to a plurality of fan blades, the dust removal box is connected to the dust suction chamber through a dust suction pipe, the inner wall of the dust removal box is fixedly connected to a filter screen, the inner wall of the dust removal box is provided with a ventilation hole, the side wall of the motor output end is fixedly connected to a driving wheel, one end of the shaft rod passes through the side wall of the dust removal box and is fixedly connected to a driven wheel, and the driving wheel is connected to the driven wheel through a synchronous belt.

[0012] Preferably, a first airbag is fixedly connected between the inner wall of the first mounting groove and the mounting block, a second airbag is fixedly connected between the inner wall of the second mounting groove and the dust removal frame, and the first airbag and the second airbag are connected via a first connecting pipe.

[0013] Preferably, an adjustment mechanism is installed on the rocker arm, and the adjustment mechanism includes a cavity opened in the rocker arm, the inner wall of the cavity is sealingly and slidingly connected with a sliding plug, a return spring is fixedly connected between the sliding plug and the bottom of the cavity, the upper end of the sliding plug is fixedly connected to a connecting rod, the upper end of the connecting rod passes through the inner wall of the slide groove and is fixedly connected to the slider, an air inlet groove is opened in the rotating shaft, and the air inlet groove is connected with the cavity through a second connecting pipe, and the side wall of the picking rack is fixedly connected with a rotating joint through a bracket.

[0014] Preferably, the adjustment mechanism also includes a vertical cylinder fixedly connected to the side wall of the dust removal frame through a fixed shaft, a slide is sealingly and slidably connected to the inner wall of the vertical cylinder, a spring is fixedly connected between the slide and the top of the vertical cylinder, a one-way air inlet pipe is fixedly connected to the side wall of the vertical cylinder, a one-way air supply pipe is fixedly connected to the side wall of the vertical cylinder, and the other end of the one-way air supply pipe is fixedly connected to a rotating joint.

[0015] Preferably, the lower end of the slide plate is fixedly connected to a vertical rod, the lower end of the vertical rod passes through the lower end of the vertical cylinder and is threadedly connected to a threaded rod, and one end of the threaded rod is fixedly connected to a toggle rod.

[0016] Compared with the prior art, the present invention has the following advantages: 1. By setting up an automatic picking mechanism, the goods can be quickly picked and placed on the unmanned vehicle body. The whole process is automated and no human intervention is required. The picking efficiency is higher and manpower is saved. The mechanical structure used has a low failure rate and low cost, making it suitable for small and medium-sized enterprises.

[0017] 2. By setting up a stacking mechanism, the goods picked and placed on the unmanned vehicle body will be stacked layer by layer and neatly arranged, which is convenient for later search and storage.

[0018] 3. By setting up a dust removal mechanism, during the entire process of picking and stacking goods, the dust removal rack will move back and forth, and the continuous rotation of the motor will drive the driving wheel to rotate, and then drive the driven wheel to rotate, and drive multiple fan blades to rotate, thereby generating a suction force, and then the dust on the goods will enter the dust suction chamber through multiple dust suction holes, and then the dust will enter the dust removal box through the dust suction pipe for storage, so as to synchronously remove dust from the picked goods and keep the surface of the goods clean.

[0019] 4. By setting an adjustment mechanism, during the process of stacking goods, the grabbing rod can automatically adjust its own height according to the height of the stacked goods, thereby facilitating the adaptation to the increasingly high stacked goods and preventing the grabbing rod from knocking down the stacked goods.

[0020] 5. By setting the threaded rod and the toggle rod, when starting to stack, the height of the grabbing rod can be adjusted according to the height of the goods each time. By turning the threaded rod, the position of the toggle rod is adjusted. When the dust removal rack moves to the position closest to the motor, if the toggle rod is closer to the position of the fan gear at this time, the fan gear will rotate and resist the toggle rod, which will push the toggle rod to move upward a greater distance, and then more air will enter the cavity each time, thereby pushing the slider to move upward a greater distance, so that the grabbing rod moves a higher distance each time. On the contrary, the height of the grabbing rod can be adjusted to a smaller height each time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a fully automatic picking unmanned vehicle equipment proposed by the present invention; Figure 2 for Figure 1 A schematic side view of the structure in FIG. Figure 3 for Figure 1 A schematic diagram of the cross-sectional structure of the middle dust removal frame; Figure 4 for Figure 1 A schematic diagram of the cross-sectional structure of the middle picking rack; Figure 5 for Figure 1 Schematic diagram of the cross-sectional structure of the unmanned vehicle body; Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the unmanned vehicle body; Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure of the middle picking rack; Figure 8 for Figure 7 A magnified schematic diagram of the structure at center A; Fig. 9 for Figure 7 A magnified schematic diagram of the structure at B in the figure.

[0022] In the figure: 1. unmanned vehicle body; 2. picking frame; 3. rotating shaft; 4. swing arm; 5. slide groove; 6. slider; 7. pin shaft; 8. grab rod; 9. electric suction cup; 10. groove; 11. U-shaped block; 12. slide rod; 13. first gear; 14. rectangular block; 15. rack; 16. first reciprocating screw; 17. motor; 18. fan gear; 19. second gear; 20. first mounting groove; 21. mounting block; 22. stacking table; 23. second reciprocating screw; 24. first bevel gear; 25. second bevel gear; 26. third gear; 27. second mounting groove; 28. dust removal Frame; 29, dust suction chamber; 30, dust suction hole; 31, dust removal box; 32, shaft; 33, fan blade; 34, dust extraction pipe; 35, filter; 36, driving wheel; 37, driven wheel; 38, first air bag; 39, second air bag; 40, first connecting pipe; 41, cavity; 42, sliding plug; 43, connecting rod; 44, air inlet groove; 45, second connecting pipe; 46, rotating joint; 47, vertical cylinder; 48, slide plate; 49, spring; 50, one-way air supply pipe; 51, vertical rod; 52, threaded rod; 53, toggle rod; 54, one-way air inlet pipe; 55, rotating rod; 56, reset spring. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Reference Figure 1 - Fig. 9 , a fully automatic picking unmanned vehicle equipment, comprising an unmanned vehicle body 1, the upper end of which is fixedly connected with a picking frame 2; The automatic picking mechanism includes a rotating shaft 3 (such as a rotating shaft 3 connected to the side wall of the picking frame 2) Figure 4 As shown), the side wall of the rotating shaft 3 is fixedly connected to a swing rod 4, the side wall of the swing rod 4 is provided with a slide groove 5, the inner wall of the slide groove 5 is slidably connected to a slider 6, the side wall of the slider 6 is fixedly connected to a pin shaft 7, the side wall of the pin shaft 7 is rotatably connected to a grab rod 8, the lower end of the grab rod 8 is fixedly connected to an electric suction cup 9, and the side wall of the picking frame 2 is provided with a groove 10 (as shown Figure 2 As shown), the inner wall of the groove 10 is slidably connected with a C-shaped block 11, the side wall of the grab bar 8 is slidably connected with the inner wall of the C-shaped block 11, the inner wall of the groove 10 is fixedly connected with a slide bar 12, the side wall of the slide bar 12 is slidably connected with the C-shaped block 11, and the rotating shaft 3 is set through the picking frame 2; A dust removal mechanism, the dust removal mechanism comprises a dust removal frame 28; The regulating mechanism includes a cavity 41 provided in the swing rod 4, and a sliding plug 42 (such as Fig. 9 As shown in the figure, a return spring 56 is fixedly connected between the sliding plug 42 and the bottom of the cavity 41, a connecting rod 43 is fixedly connected to the upper end of the sliding plug 42, the upper end of the connecting rod 43 passes through the inner wall of the slide groove 5 and is fixedly connected to the slider 6, an air inlet groove 44 is opened in the rotating shaft 3, and the air inlet groove 44 is connected to the cavity 41 through a second connecting pipe 45, a rotating joint 46 is fixedly connected to the side wall of the picking rack 2 through a bracket, a vertical cylinder 47 is fixedly connected to the side wall of the dust removal rack 28, a slide plate 48 is sealingly and slidably connected to the inner wall of the vertical cylinder 47, a spring 49 is fixedly connected between the slide plate 48 and the top of the vertical cylinder 47, a one-way air inlet pipe 54 is fixedly connected to the side wall of the vertical cylinder 47, the one-way air inlet pipe 54 only allows external air to enter the vertical cylinder 47, a one-way air supply pipe 50 is fixedly connected to the side wall of the vertical cylinder 47, the other end of the one-way air supply pipe 50 is fixedly connected to the rotating joint 46, and the one-way air supply pipe 50 only allows air in the vertical cylinder 47 to enter the air inlet groove 44.

[0025] It should be noted that an exhaust hole is provided on the inner wall of the cavity 41 , and an electromagnetic valve is installed in the exhaust hole. By energizing the electromagnetic valve, the air in the cavity 41 is discharged through the exhaust hole, and then the sliding plug 42 is reset under the action of the reset spring 56 .

[0026] The automatic picking mechanism also includes a rectangular block 14 (such as a rectangular block 14) slidably connected to the inner wall of the picking frame 2. Figure 4 As shown), a rack 15 is fixedly connected to the upper end of the rectangular block 14, and a first gear 13 is fixedly connected to the side wall of the rotating shaft 3 located in the picking frame 2, and the first gear 13 is meshedly connected with the rack 15.

[0027] A driving mechanism is installed on the unmanned vehicle body 1, and the driving mechanism includes a motor 17 fixedly connected to the upper end of the unmanned vehicle body 1 through a bracket, and a fan gear 18 is fixedly connected to the output end of the motor 17. The inner wall of the picking frame 2 is rotatably connected to a first reciprocating screw 16, and the side wall of the first reciprocating screw 16 is threadedly connected to the rectangular block 14. One end of the first reciprocating screw 16 passes through the side wall of the picking frame 2 and is fixedly connected to a second gear 19.

[0028] The unmanned vehicle body 1 is provided with a stacking mechanism, which includes a first mounting groove 20 provided at the upper end of the unmanned vehicle body 1, a mounting block 21 being slidably connected to the inner wall of the first mounting groove 20, a stacking platform 22 being fixedly connected to the upper end of the mounting block 21, a second reciprocating screw 23 being rotatably connected to the inner wall of the first mounting groove 20, a side wall of the second reciprocating screw 23 being threadedly connected to the mounting block 21, a rotating rod 55 (combined with a rotating rod 55) being rotatably connected to the inner wall of the first mounting groove 20 Figure 2 and Figure 5), the side wall of the rotating rod 55 is fixedly connected to the first bevel gear 24, the side wall of the second reciprocating screw 23 is fixedly connected to the second bevel gear 25, the first bevel gear 24 is meshed with the second bevel gear 25, and one end of the rotating rod 55 passes through the side wall of the unmanned vehicle body 1 and is fixedly connected to the third gear 26.

[0029] Further, the motor 17 is started, and the rotation of the motor 17 drives the sector gear 18 to rotate. The sector gear 18 first rotates to mesh with the second gear 19, and then drives the second gear 19 to rotate, drives the first reciprocating screw 16 to rotate, and then drives the rectangular block 14 to slide back and forth inside the picking frame 2. The rectangular block 14 slides to the left first (as shown in the attached figure). Figure 4 As shown), the rack 15 is driven to move to the left, and then the first gear 13 is driven to rotate clockwise, thereby driving the rotating shaft 3 to rotate clockwise by a certain angle, and driving the swing rod 4 to rotate clockwise by a certain angle. At this time, the U-shaped block 11 will slide to the right, driving the grabbing rod 8 to move to the right, and the rotation of the swing rod 4 will first lift the grabbing rod 8 upward, and then lower it, and use the electric suction cup 9 to suck the goods. Then, when the rack 15 moves to the right, the grabbing rod 8 will move to the left, and the goods will be lifted and placed on the stacking table 22. This reciprocating process is used to continuously pick and stack the goods. The whole process is automated, no manual intervention is required, the picking efficiency is higher, and manpower is saved.

[0030] Furthermore, when a cargo is picked and placed on the stacking platform 22, the sector gear 18 will rotate to mesh with the third gear 26, thereby driving the third gear 26 to rotate, driving the rotating rod 55 to rotate, and then driving the first bevel gear 24 to rotate, driving the second bevel gear 25 to rotate, thereby driving the second reciprocating screw 23 to rotate, so that the mounting block 21 slides a certain distance in the first mounting groove 20, thereby moving the stacking platform 22 a certain distance, so that the cargo picked next time can be placed on other positions of the stacking platform 22, and so on. Each time the cargo is placed, the stacking platform 22 will move one station. When the stacking platform 22 moves to the left or right to the maximum limit, it will move in the opposite direction, and the cargo will continue to be stacked on the original bottom cargo, so that the picked cargo is stacked and placed in layers on the unmanned vehicle body 1 in an orderly manner, which is convenient for later search and storage.

[0031] The unmanned vehicle body 1 is provided with a dust removal mechanism, which includes a second mounting groove 27 provided at the upper end of the unmanned vehicle body 1, a dust removal frame 28 slidably connected to the inner wall of the second mounting groove 27, a dust suction chamber 29 provided in the dust removal frame 28, and a plurality of dust suction holes 30 (such as Figure 3 as shown).

[0032] The dust removal mechanism also includes a dust removal box 31 fixedly connected to the upper end of the picking frame 2, the inner wall of the dust removal box 31 is rotatably connected to a shaft rod 32, and a plurality of fan blades 33 are fixedly connected to the side wall of the shaft rod 32. The dust removal box 31 is connected to the dust suction chamber 29 through a dust suction pipe 34, and a filter screen 35 is fixedly connected to the inner wall of the dust removal box 31. A ventilation hole is provided on the inner wall of the dust removal box 31, and a driving wheel 36 is fixedly connected to the side wall of the output end of the motor 17. One end of the shaft rod 32 passes through the side wall of the dust removal box 31 and is fixedly connected to a driven wheel 37. The driving wheel 36 is connected to the driven wheel 37 through a synchronous belt.

[0033] Furthermore, during the entire process of picking and stacking goods, the dust removal rack 28 will move back and forth (the specific principle will be explained later), and the continuous rotation of the motor 17 will drive the driving wheel 36 to rotate, and then drive the driven wheel 37 to rotate, and drive the multiple fan blades 33 to rotate, thereby generating a suction force, and then the dust on the goods will enter the dust suction chamber 29 through the multiple dust suction holes 30, and then the dust will enter the dust removal box 31 through the dust suction pipe 34 for storage, thereby performing synchronous dust removal on the picked goods to keep the surface of the goods clean.

[0034] A first airbag 38 is fixedly connected between the inner wall of the first mounting groove 20 and the mounting block 21 , and a second airbag 39 is fixedly connected between the inner wall of the second mounting groove 27 and the dust removal frame 28 . The first airbag 38 and the second airbag 39 are connected via a first connecting pipe 40 .

[0035] The lower end of the slide plate 48 is fixedly connected with a vertical rod 51 , the lower end of the vertical rod 51 passes through the lower end of the vertical tube 47 and is threadedly connected with a threaded rod 52 , and one end of the threaded rod 52 is fixedly connected with a toggle rod 53 .

[0036] Furthermore, as the goods are stacked layer by layer, their height on the stacking platform 22 will become higher and higher. If the grabbing rod 8 is not adjusted to a higher position accordingly, the grabbing rod 8 will collide with the stacked goods, making it impossible to pick them up. Therefore, whenever the mounting block 21 moves to the right for a certain distance (such as the attached Figure 5As shown), the first airbag 38 will be squeezed, and then the air in the first airbag 38 will be squeezed into the second airbag 39 through the first connecting pipe 40, so that the second airbag 39 will swell, pushing the dust removal frame 28 to move a distance in the direction close to the motor 17. When the mounting block 21 drives the stacking platform 22 to move to the far right, the dust removal frame 28 moves to the position closest to the motor 17. At this time, when the sector gear 18 rotates to abut against the toggle rod 53, it will push the toggle rod 53 to move upward for a distance, thereby squeezing the air in the vertical cylinder 47 into the air inlet groove 44 through the one-way air supply pipe 50, and then the air will enter the cavity 41 through the second connecting pipe 45. The sliding plug 42 is pushed to move upward, and then the sliding plug 42 will drive the sliding block 6 to move upward for a certain distance through the connecting rod 43, so that the grabbing rod 8 moves upward for a certain distance, and the height of the grabbing rod 8 is automatically adjusted to adapt to the increasingly high stacked goods. This reciprocating process is repeated, and the height of the grabbing rod 8 is increased once each time the stacking platform 22 reciprocates, and each time the height is increased, so as to facilitate the adaptation to the increasingly high stacked goods and prevent the grabbing rod 8 from knocking down the stacked goods. When the toggle rod 53 is separated from the sector gear 18, it will be reset under the action of the spring 49. At this time, the external air will enter the vertical cylinder 47 through the one-way air inlet pipe 54.

[0037] It should be noted that when the dust removal rack 28 is still one travel position away from the motor 17, even if the toggle rod 53 is extended to its longest length, the sector gear 18 cannot collide with it. When the dust removal rack 28 moves to the position closest to the motor 17, even if the toggle rod 53 is extended to its shortest length, the sector gear 18 can collide with it.

[0038] It is worth mentioning that when stacking begins, the height of the grabbing rod 8 can be adjusted according to the height of the goods each time. By rotating the threaded rod 52, the position of the toggle rod 53 is adjusted. When the dust removal rack 28 moves to the position closest to the motor 17, if the toggle rod 53 is closer to the position of the fan gear 18 at this time, then when the fan gear 18 rotates and contacts the toggle rod 53, it will push the toggle rod 53 to move upward a greater distance, and then more air will enter the cavity 41 each time, thereby pushing the slider 6 to move upward a greater distance, so that the grabbing rod 8 moves a higher distance each time. On the contrary, the height of the grabbing rod 8 can be adjusted to a smaller height each time.

[0039] In the present invention, the unmanned vehicle body 1 drives to the location where the goods are stacked, and then starts the motor 17. The rotation of the motor 17 drives the fan gear 18 to rotate. The fan gear 18 first rotates to mesh with the second gear 19, and then drives the second gear 19 to rotate, drives the first reciprocating screw 16 to rotate, and then drives the rectangular block 14 to slide back and forth inside the picking rack 2. The rectangular block 14 first slides to the left (as shown in the attached figure). Figure 4As shown), the rack 15 is driven to move to the left, and then the first gear 13 is driven to rotate clockwise, thereby driving the rotating shaft 3 to rotate clockwise by a certain angle, and driving the swing rod 4 to rotate clockwise by a certain angle. At this time, the U-shaped block 11 will slide to the right, driving the grabbing rod 8 to move to the right, and the rotation of the swing rod 4 will first lift the grabbing rod 8 upward, and then lower it, and use the electric suction cup 9 to suck the goods. Then, when the rack 15 moves to the right, the grabbing rod 8 will move to the left, and the goods will be lifted and placed on the stacking table 22. This reciprocating process is used to continuously pick and stack the goods. The whole process is automated, no manual intervention is required, the picking efficiency is higher, and manpower is saved.

[0040] When a batch of goods is picked and placed on the stacking platform 22, the fan gear 18 will rotate to mesh with the third gear 26, thereby driving the third gear 26 to rotate, driving the rotating rod 55 to rotate, and then driving the first bevel gear 24 to rotate, driving the second bevel gear 25 to rotate, thereby driving the second reciprocating screw 23 to rotate, so that the mounting block 21 slides a distance in the first mounting groove 20, thereby moving the stacking platform 22 a distance, so that the next picked goods can be placed on other positions of the stacking platform 22, and so on. Each time the goods are placed, the stacking platform 22 will move one station. When the stacking platform 22 moves to the left or right to the maximum limit, it will move in the opposite direction, and the goods will continue to be stacked on the original bottom layer of goods, so that the picked goods are stacked and placed in layers on the unmanned vehicle body 1 in an orderly manner, which is convenient for later search and storage.

[0041] In addition, as the goods are stacked layer by layer, their height on the stacking platform 22 will become higher and higher. If the grabbing rod 8 is not adjusted to a higher position accordingly, the grabbing rod 8 will collide with the stacked goods, making it impossible to pick them up. Therefore, whenever the mounting block 21 moves a certain distance to the right (such as the attached Figure 5As shown), the first airbag 38 will be squeezed, and then the air in the first airbag 38 will be squeezed into the second airbag 39 through the first connecting pipe 40, so that the second airbag 39 will swell, pushing the dust removal frame 28 to move a distance in the direction close to the motor 17. When the mounting block 21 drives the stacking platform 22 to move to the far right, the dust removal frame 28 moves to the position closest to the motor 17. At this time, when the sector gear 18 rotates to abut against the toggle rod 53, it will push the toggle rod 53 to move upward for a distance, thereby squeezing the air in the vertical cylinder 47 into the air inlet groove 44 through the one-way air supply pipe 50, and then the air will enter the cavity 41 through the second connecting pipe 45. The sliding plug 42 is pushed to move upward, and then the sliding plug 42 will drive the sliding block 6 to move upward for a certain distance through the connecting rod 43, so that the grabbing rod 8 moves upward for a certain distance, and the height of the grabbing rod 8 is automatically adjusted to adapt to the increasingly high stacked goods. This reciprocating process is repeated, and the height of the grabbing rod 8 is increased once each time the stacking platform 22 reciprocates, and each time the height is increased, so as to facilitate the adaptation to the increasingly high stacked goods and prevent the grabbing rod 8 from knocking down the stacked goods. When the toggle rod 53 is separated from the sector gear 18, it will be reset under the action of the spring 49. At this time, the external air will enter the vertical cylinder 47 through the one-way air inlet pipe 54.

[0042] When stacking begins, the height of the grabbing rod 8 can be adjusted each time according to the height of the goods. The position of the toggle rod 53 can be adjusted by rotating the threaded rod 52. When the dust removal rack 28 moves to the position closest to the motor 17, if the toggle rod 53 is closer to the position of the fan gear 18 at this time, then when the fan gear 18 rotates and abuts against the toggle rod 53, it will push the toggle rod 53 to move upward a greater distance, and then more air will enter the cavity 41 each time, thereby pushing the slider 6 to move upward a greater distance, so that the grabbing rod 8 moves a higher distance each time. On the contrary, the height of the grabbing rod 8 can be adjusted to a smaller height each time.

[0043] In addition, during the entire process of picking and stacking goods, the dust removal rack 28 will move back and forth, and the continuous rotation of the motor 17 will drive the driving wheel 36 to rotate, and then drive the driven wheel 37 to rotate, and drive the multiple fan blades 33 to rotate, thereby generating a suction force, and then the dust on the goods will enter the dust suction chamber 29 through the multiple dust suction holes 30, and then the dust will enter the dust removal box 31 through the dust suction pipe 34 for storage, thereby performing synchronous dust removal on the picked goods to keep the surface of the goods clean.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fully automatic picking unmanned vehicle equipment, characterized in that: include: An unmanned vehicle body (1), wherein the upper end of the unmanned vehicle body (1) is fixedly connected to a picking frame (2); An automatic picking mechanism, the automatic picking mechanism comprising a rotating shaft (3) rotatably connected to a side wall of a picking frame (2), the side wall of the rotating shaft (3) being fixedly connected to a swing rod (4), the side wall of the swing rod (4) being provided with a slide groove (5), the inner wall of the slide groove (5) being slidably connected to a slider (6), the side wall of the slider (6) being fixedly connected to a pin shaft (7), the side wall of the pin shaft (7) being rotatably connected to a grabbing rod (8), the lower end of the grabbing rod (8) being fixedly connected to an electric suction cup (9), the side wall of the picking frame (2) being provided with a groove (10), the inner wall of the groove (10) being slidably connected to a U-shaped block (11), the side wall of the grabbing rod (8) being slidably connected to the inner wall of the U-shaped block (11), the inner wall of the groove (10) being fixedly connected to a slide rod (12), the side wall of the slide rod (12) being slidably connected to the U-shaped block (11), and the rotating shaft (3) being arranged to penetrate the picking frame (2); A dust removal mechanism, the dust removal mechanism comprising a dust removal frame (28); The regulating mechanism comprises a cavity (41) provided in a rocker rod (4), the inner wall of the cavity (41) being sealingly and slidably connected to a sliding plug (42), a return spring (56) being fixedly connected between the sliding plug (42) and the bottom of the cavity (41), the upper end of the sliding plug (42) being fixedly connected to a connecting rod (43), the upper end of the connecting rod (43) passing through the inner wall of the slide groove (5) and being fixedly connected to a slider (6), an air inlet groove (44) being provided in the rotating shaft (3), the air inlet groove (44) being connected to the cavity (41) via a second connecting pipe (45). ), the side wall of the picking rack (2) is fixedly connected to a rotating joint (46) via a bracket, the side wall of the dust removal rack (28) is fixedly connected to a vertical cylinder (47), the inner wall of the vertical cylinder (47) is sealingly and slidably connected to a slide plate (48), a spring (49) is fixedly connected between the slide plate (48) and the top of the vertical cylinder (47), the side wall of the vertical cylinder (47) is fixedly connected to a one-way air inlet pipe (54), the side wall of the vertical cylinder (47) is fixedly connected to a one-way air supply pipe (50), and the other end of the one-way air supply pipe (50) is fixedly connected to the rotating joint (46).

2. The fully automatic picking unmanned vehicle equipment according to claim 1 is characterized in that: The automatic picking mechanism also includes a rectangular block (14) slidably connected to the inner wall of the picking frame (2), the upper end of the rectangular block (14) is fixedly connected to a rack (15), and the side wall of the rotating shaft (3) located in the picking frame (2) is fixedly connected to a first gear (13), and the first gear (13) is meshingly connected to the rack (15).

3. The fully automatic picking unmanned vehicle equipment according to claim 1 is characterized in that: A driving mechanism is installed on the unmanned vehicle body (1), and the driving mechanism includes a motor (17) fixedly connected to the upper end of the unmanned vehicle body (1) through a bracket, and the output end of the motor (17) is fixedly connected to a fan gear (18). The inner wall of the picking frame (2) is rotatably connected to a first reciprocating screw (16), and the side wall of the first reciprocating screw (16) is threadedly connected to the rectangular block (14). One end of the first reciprocating screw (16) passes through the side wall of the picking frame (2) and is fixedly connected to a second gear (19).

4. The fully automatic picking unmanned vehicle equipment according to claim 3 is characterized in that: The unmanned vehicle body (1) is provided with a stacking mechanism, the stacking mechanism comprising a first mounting groove (20) provided at the upper end of the unmanned vehicle body (1), the inner wall of the first mounting groove (20) being slidably connected to a mounting block (21), the upper end of the mounting block (21) being fixedly connected to a stacking platform (22), the inner wall of the first mounting groove (20) being rotatably connected to a second reciprocating screw (23), the side wall of the second reciprocating screw (23) being threadedly connected to the mounting block (21), the inner wall of the first mounting groove (20) being rotatably connected to a rotating rod (55), the side wall of the rotating rod (55) being fixedly connected to a first bevel gear (24), the side wall of the second reciprocating screw (23) being fixedly connected to a second bevel gear (25), the first bevel gear (24) being meshingly connected to the second bevel gear (25), and one end of the rotating rod (55) passing through the side wall of the unmanned vehicle body (1) and being fixedly connected to a third gear (26).

5. The fully automatic picking unmanned vehicle equipment according to claim 4 is characterized in that: The dust removal mechanism further comprises a second mounting groove (27) formed at the upper end of the unmanned vehicle body (1); the dust removal frame (28) is slidably connected to the inner wall of the second mounting groove (27); a dust suction chamber (29) is formed in the dust removal frame (28); and a plurality of dust suction holes (30) are formed on the inner wall of the dust suction chamber (29).

6. The fully automatic picking unmanned vehicle equipment according to claim 5 is characterized in that: The dust removal mechanism further comprises a dust removal box (31) fixedly connected to the upper end of the picking frame (2); the inner wall of the dust removal box (31) is rotatably connected to a shaft (32); the side wall of the shaft (32) is fixedly connected to a plurality of fan blades (33); the dust removal box (31) is communicated with the dust suction chamber (29) via a dust extraction pipe (34); the inner wall of the dust removal box (31) is fixedly connected to a filter screen (35); a vent is provided on the inner wall of the dust removal box (31); a driving wheel (36) is fixedly connected to the side wall of the output end of the motor (17); one end of the shaft (32) passes through the side wall of the dust removal box (31) and is fixedly connected to a driven wheel (37); the driving wheel (36) is connected to the driven wheel (37) via a synchronous belt.

7. The fully automatic picking unmanned vehicle equipment according to claim 5 is characterized in that: A first airbag (38) is fixedly connected between the inner wall of the first mounting groove (20) and the mounting block (21), a second airbag (39) is fixedly connected between the inner wall of the second mounting groove (27) and the dust removal frame (28), and the first airbag (38) and the second airbag (39) are connected via a first connecting pipe (40).

8. The fully automatic picking unmanned vehicle equipment according to claim 7 is characterized in that: The lower end of the slide plate (48) is fixedly connected to a vertical rod (51), the lower end of the vertical rod (51) passes through the lower end of the vertical cylinder (47) and is threadedly connected to a threaded rod (52), and one end of the threaded rod (52) is fixedly connected to a toggle rod (53).

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