Multi-machine cooperation type sorting unmanned vehicle

Abstract

The invention discloses a multi-machine cooperation type sorting unmanned vehicle and belongs to the technical field of sorting unmanned vehicles. The multi-machine cooperation type sorting unmanned vehicle comprises a vehicle frame, a mounting frame is fixedly connected to the upper end of the vehicle frame, a rotating shaft is rotationally connected to the top in the mounting frame, and a mechanical claw is fixedly connected to the side wall of the rotating shaft; the sorting mechanism comprises two sliding grooves symmetrically formed in the upper end of the mounting frame, the inner wall of each sliding groove is slidably connected with a sliding block, the side wall of each sliding block is fixedly connected with a rack, the upper end of the rotating shaft penetrates through the upper end of the mounting frame and is fixedly connected with a gear, and the gear is in engaged connection with the two racks. And the side wall of the mounting frame is fixedly connected with an L-shaped frame. The motor is started to drive the mechanical claw to rotate in a reciprocating mode, then the mechanical claw can grab goods, then the goods are placed on the conveying line after being rotated by a certain angle, the goods can be continuously sorted and conveyed in such a reciprocating mode, and compared with manual carrying and sorting, the efficiency is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting unmanned vehicles, and in particular to a multi-machine cooperative sorting unmanned 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 sorting and transporting goods, different goods are usually moved manually to different conveyor lines for transportation. The sorting efficiency is very low and it is a waste of manpower. Some large enterprises will install robots on each conveyor line for sorting and transportation. Since each conveyor line needs to be equipped with at least one robot for sorting, a large number of robots need to be ordered. However, robots are relatively expensive, which will greatly increase the production cost of the enterprise and occupy more land area.

[0004] Based on this, we propose a multi-machine collaborative sorting unmanned vehicle. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a multi-machine collaborative sorting unmanned vehicle.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A multi-machine cooperative sorting unmanned vehicle comprises a vehicle frame, the upper end of the vehicle frame is fixedly connected to a mounting frame, the top of the mounting frame is rotatably connected to a rotating shaft, and the side wall of the rotating shaft is fixedly connected to a mechanical claw; The cam is provided with a plurality of gears, and the plurality of gears are connected to each other by a plurality of gears, and the plurality of gears are connected to each other by a plurality of gears. A driving mechanism is installed on the L-shaped frame.

[0007] Preferably, the driving mechanism includes a motor fixedly connected to the upper end of the L-shaped frame through a bracket, the output end of the motor is fixedly connected to a driving wheel, the upper end of the rotating rod passes through the upper end of the L-shaped frame, the side wall of the rotating rod is fixedly connected to a driven wheel, and the driving wheel is connected to the driven wheel through a synchronous belt.

[0008] Preferably, the side wall of the slide plate is symmetrically provided with two grooves, the inner walls of the two grooves are sealingly and slidingly connected with sealing plates, the side walls of the sealing plates are sealingly and slidingly connected to the inner wall of the T-box, a plurality of springs are fixedly connected between the grooves and the sealing plates, and the slide plate and the two sealing plates divide the interior of the T-box into two parts, a first cavity and a second cavity.

[0009] Preferably, an adjustment mechanism is installed on the mounting frame, and the adjustment mechanism includes two slide cylinders fixedly connected to the side walls of the mounting frame, and the inner walls of the two slide cylinders are sealed and slidably connected with slide plugs, the side wall of the L-shaped frame is fixedly connected to a rotating joint through a bracket, and the upper end of the rotating joint is fixedly connected to an air intake pipe, and an air intake groove is opened in the rotating rod, and the air intake groove is connected to the first cavity through an eighth one-way tube, and the inner wall of the first cavity is fixedly connected to the second one-way tube, and the inner wall of one of the slide cylinders is fixedly connected to the first one-way tube and the third one-way tube, and the other end of the first one-way tube is connected to the air intake pipe.

[0010] Preferably, the adjustment mechanism further comprises a push rod fixedly connected to the side wall of the sliding plug, and the other end of the push rod penetrates the inner wall of the sliding groove and is fixedly connected to the sliding block.

[0011] Preferably, a continuous mechanism is installed on the other slide cylinder, and the continuous mechanism includes a fourth one-way tube and a fifth one-way tube fixedly connected to the inner wall of the other slide cylinder, the other end of the fifth one-way tube is connected to the air intake pipe, the air intake groove is connected to the second cavity through the sixth one-way tube, and the inner wall of the second cavity is fixedly connected to the seventh one-way tube.

[0012] Preferably, the continuous mechanism also includes a first air vent and a second air vent respectively opened on the inner walls of the two slide cylinders, the first one-way tube, the second one-way tube, the third one-way tube and the eighth one-way tube are all equipped with a first solenoid valve on their inner walls, the second solenoid valve is installed on the inner wall of the first air vent, the third solenoid valve is installed on the inner wall of the fourth one-way tube, the fifth one-way tube, the sixth one-way tube and the seventh one-way tube, and the fourth solenoid valve is installed on the inner wall of the second air vent.

[0013] Preferably, a time delay switch is fixedly connected to the inner wall of the T-shaped box, and the time delay switch, the first solenoid valve, the second solenoid valve, the third solenoid valve, the fourth solenoid valve and an external power supply are electrically connected via a wire.

[0014] Preferably, the first solenoid valve and the fourth solenoid valve are energized to be closed, and the second solenoid valve and the third solenoid valve are energized to be opened.

[0015] The present invention has the following beneficial effects: 1. By setting up the sorting mechanism and driving mechanism, starting the motor, driving the mechanical claw to rotate back and forth, the mechanical claw can grab the goods, and then rotate them to a certain angle and place them on the conveyor line. In this way, the goods can be sorted and transported continuously, which is more efficient than manual handling and sorting; 2. By setting up an adjustment mechanism, multiple parallel conveyor lines can be set up on the side of the frame. At this time, the mechanical claw can intermittently sort the goods to different conveyor lines for transportation, which will not increase the transportation burden of the conveyor line, and multiple conveyor lines can share one sorting vehicle. Compared with configuring a manipulator for each production line, it can greatly reduce costs and reduce floor space; 3. By setting up a continuous mechanism, the rotation angle of the mechanical claw can be increased from small to large, and then from large to small, and so on. This allows the mechanical claw to sort goods in a sequence from near to far, and then from far to near. This allows the mechanical claw to transport and sort goods on multiple conveyor lines in a continuous manner, which can improve the sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of a multi-machine cooperative sorting unmanned vehicle proposed by the present invention; Figure 2 for Figure 1 A schematic cross-sectional view of the structure; Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of the middle T-box; Figure 4 for Figure 2 A schematic diagram of the structure enlargement at point A; Figure 5 for Figure 2 A schematic diagram of the structure at B in FIG. Figure 6 for Figure 2 A schematic diagram of the structure at position C in FIG. Figure 7 for Figure 2 A schematic diagram of the structure at D in FIG. Figure 8 for Figure 3 Schematic diagram of the enlarged structure at E in FIG.

[0017] In the figure: 1, frame; 2, mounting frame; 3, rotating shaft; 4, mechanical claw; 5, slide groove; 6, slider; 7, rack; 8, gear; 9, L-shaped frame; 10, rotating rod; 11, T-shaped box; 12, slide plate; 13, driving rod; 14, limiting rod; 15, connecting rod; 16, limiting groove; 17, motor; 18, driving wheel; 19, driven wheel; 20, groove; 21, sealing plate; 211, first cavity; 212, second cavity; 22, spring; 23, slide cylinder; 24, slide Plug; 25. Rotary joint; 26. Inlet pipe; 27. First one-way pipe; 28. Second one-way pipe; 29. ​​Push rod; 30. Third one-way pipe; 31. Fourth one-way pipe; 32. Fifth one-way pipe; 33. Sixth one-way pipe; 34. Seventh one-way pipe; 35. First vent hole; 36. Second vent hole; 37. First solenoid valve; 38. Second solenoid valve; 39. Third solenoid valve; 40. Fourth solenoid valve; 41. Delay switch; 42. Inlet slot; 43. Eighth one-way pipe. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0019] Reference Figure 1 - Figure 8 A multi-machine cooperative sorting unmanned vehicle comprises a vehicle frame 1, a mounting frame 2 is fixedly connected to the upper end of the vehicle frame 1, a rotating shaft 3 is rotatably connected to the top of the mounting frame 2, and a mechanical claw 4 is fixedly connected to the side wall of the rotating shaft 3; The sorting mechanism includes two slide grooves 5 symmetrically opened on the upper end of the mounting frame 2, each slide groove 5 inner wall is slidably connected with a slider 6, each slider 6 side wall is fixedly connected with a rack 7, the upper end of the rotating shaft 3 passes through the upper end of the mounting frame 2 and is fixedly connected with a gear 8, the gear 8 is meshed with the two racks 7, the side wall of the mounting frame 2 is fixedly connected with an L-shaped frame 9, the top of the L-shaped frame 9 is rotatably connected with a rotating rod 10, the side wall of the rotating rod 10 is fixedly connected with a T-shaped box 11, the inner wall of the T-shaped box 11 is slidably connected with a slide plate 12, the side wall of the slide plate 12 is fixedly connected with a driving rod 13, the other end of the driving rod 13 passes through the side wall of the T-shaped box 11 and is fixedly connected with a limiting rod 14, one of the side walls of the rack 7 is fixedly connected with a connecting rod 15 through a bracket, the upper end of the connecting rod 15 is provided with a limiting groove 16, the limiting groove 16 passes through the connecting rod 15, and the side wall of the limiting rod 14 is slidably connected with the inner wall of the limiting groove 16; The L-shaped frame 9 is provided with a driving mechanism.

[0020] The driving mechanism includes a motor 17 fixedly connected to the upper end of the L-shaped frame 9 through a bracket, the output end of the motor 17 is fixedly connected to a driving wheel 18, the upper end of the rotating rod 10 passes through the upper end of the L-shaped frame 9, the side wall of the rotating rod 10 is fixedly connected to a driven wheel 19, and the driving wheel 18 is connected to the driven wheel 19 through a synchronous belt.

[0021] Furthermore, the motor 17 is started to drive the driving wheel 18 to rotate, and then the driven wheel 19 is driven to rotate, thereby driving the rotating rod 10 to rotate, driving the T-box 11 and the driving rod 13 to rotate, and then driving the limiting rod 14 to rotate. The limiting rod 14 will slide back and forth on the inner wall of the limiting groove 16, and the limiting of the limiting rod 14 and the limiting groove 16 will drive the connecting rod 15 to slide back and forth, and then drive one of the racks 7 to move back and forth. Since the rack 7 is meshed and connected with the gear 8, the rack 7 will drive the gear 8 to rotate back and forth through a certain angle, and then drive the rotating shaft 3 to rotate back and forth, and drive the mechanical claw 4 to rotate back and forth, and then the mechanical claw 4 can grab the goods, and then rotate a certain angle and place them on the conveyor line. In this way, the goods can be sorted and transported continuously, which is more efficient than manual handling and sorting.

[0022] It should be noted that, by setting the transmission ratio between the rack 7 and the gear 8, when the rack 7 moves to the maximum stroke, the gear 8 rotates 180 degrees, thereby making the rotation angle range of the gear 8 between 0-180 degrees.

[0023] Two grooves 20 are symmetrically provided on the side wall of the slide plate 12, and the inner walls of the two grooves 20 are sealed and slidably connected with sealing plates 21. The side walls of the sealing plates 21 are sealed and slidably connected with the inner wall of the T-shaped box 11, and a plurality of springs 22 are fixedly connected between the grooves 20 and the sealing plates 21. The slide plate 12 and the two sealing plates 21 divide the interior of the T-shaped box 11 into two parts, a first cavity 211 and a second cavity 212.

[0024] An adjusting mechanism is installed on the mounting frame 2, and the adjusting mechanism includes two slide cylinders 23 fixedly connected to the side walls of the mounting frame 2, and the inner walls of the two slide cylinders 23 are sealed and slidably connected with slide plugs 24, the side walls of the L-shaped frame 9 are fixedly connected to the rotating joint 25 through the bracket, and the upper end of the rotating joint 25 is fixedly connected to the air intake pipe 26, and an air intake groove 42 is opened in the rotating rod 10, and the air intake groove 42 is connected with the first cavity 211 through the eighth one-way tube 43, and the eighth one-way tube 43 only allows the air in the air intake groove 42 to enter the first cavity 211, and the inner wall of the first cavity 211 is fixedly connected with the second one-way tube 28, and the second one-way tube 28 only allows the air in the first cavity 211 to be discharged, and the inner wall of one of the slide cylinders 23 is fixedly connected with the first one-way tube 27 and the third one-way tube 30, and the other end of the first one-way tube 27 is connected with the air intake pipe 26, and the first one-way tube 27 only allows the air in the slide cylinder 23 to enter the air intake pipe 26, and the third one-way tube 30 only allows external air to enter the slide cylinder 23.

[0025] The adjustment mechanism further includes a push rod 29 fixedly connected to the side wall of the slide plug 24 , and the other end of the push rod 29 penetrates the inner wall of the slide groove 5 and is fixedly connected to the slide block 6 .

[0026] Furthermore, when the rack 7 moves back and forth, it will drive the slider 6 to slide back and forth on the inner wall of the slide groove 5, and then the slider 6 will drive the slide plug 24 to slide back and forth in a sealed manner through the push rod 29, and then the air in one of the slide cylinders 23 will enter the air intake pipe 26 through the first one-way pipe 27, and then the air will enter the air intake groove 42, and finally the air will enter the first chamber 211 through the eighth one-way pipe 43, pushing the slide plate 12 and the sealing plate 21 to move to the right for a distance (such as Figure 3 and Figure 4 As shown in the figure), the driving rod 13 moves outward for a distance, thereby increasing the overall length of the T-box 11 and the driving rod 13. At this time, when the rotating rod 10 drives the T-box 11 and the driving rod 13 to rotate, the reciprocating distance of the connecting rod 15 will increase, and the reciprocating distance of the rack 7 will increase, so that the gear 8 can rotate a larger angle, and the mechanical claw 4 can rotate a larger angle, and so on. Due to the increase in the reciprocating distance of the rack 7 each time, the reciprocating distance of the sliding plug 24 will increase, and the amount of air pumped into the first chamber 211 each time will increase. Due to the trapezoidal structure of the T-box 11, the sliding plate 12 and The further the sealing plate 21 slides to the right, the larger the space inside the first cavity 211 will be. Therefore, even if the amount of air pumped in each time increases, the sliding distance of the slide plate 12 and the sealing plate 21 can remain unchanged, and then after each reciprocating movement, the increased rotation angle of the mechanical claw 4 will remain the same. Based on this, multiple parallel conveying lines can be set on the side of the frame 1. At this time, the mechanical claw 4 can intermittently sort the goods to different conveying lines for transportation, which will not increase the conveying burden of the conveying lines, and can also allow multiple conveying lines to share a sorting vehicle. Compared with configuring a robot for each production line, it can greatly reduce costs and reduce floor space.

[0027] A continuous mechanism is installed on the other slide 23, and the continuous mechanism includes a fourth one-way tube 31 and a fifth one-way tube 32 fixedly connected to the inner wall of the other slide 23. The fourth one-way tube 31 only allows external air to enter the slide 23. The other end of the fifth one-way tube 32 is connected to the intake pipe 26. The fifth one-way tube 32 only allows the air in the slide 23 to enter the intake pipe 26. The intake groove 42 is connected to the second cavity 212 through the sixth one-way tube 33. The sixth one-way tube 33 only allows the air in the intake groove 42 to enter the second cavity 212. The inner wall of the second cavity 212 is fixedly connected with a seventh one-way tube 34. The seventh one-way tube 34 only allows the air in the second cavity 212 to be discharged.

[0028] The continuous mechanism also includes a first air vent 35 and a second air vent 36 respectively opened on the inner walls of the two slide cylinders 23; the first solenoid valve 37 is installed on the inner walls of the first one-way tube 27, the second one-way tube 28, the third one-way tube 30 and the eighth one-way tube 43; the second solenoid valve 38 is installed on the inner wall of the first air vent 35; the third solenoid valve 39 is installed on the inner walls of the fourth one-way tube 31, the fifth one-way tube 32, the sixth one-way tube 33 and the seventh one-way tube 34; and the fourth solenoid valve 40 is installed on the inner wall of the second air vent 36.

[0029] A time delay switch 41 is fixedly connected to the inner wall of the T-shaped box 11 , and the time delay switch 41 , the first solenoid valve 37 , the second solenoid valve 38 , the third solenoid valve 39 , the fourth solenoid valve 40 and an external power source are electrically connected via wires.

[0030] The first solenoid valve 37 and the fourth solenoid valve 40 are energized to be closed, and the second solenoid valve 38 and the third solenoid valve 39 are energized to be open.

[0031] Further, when the slide plate 12 slides to abut against the delay switch 41, the delay switch 41 will open, and then the first solenoid valve 37, the second solenoid valve 38, the third solenoid valve 39 and the fourth solenoid valve 40 will be energized, the first solenoid valve 37 and the fourth solenoid valve 40 will be energized to close, and the second solenoid valve 38 and the third solenoid valve 39 will be energized to open, at this time, the slide plug 24 reciprocatingly seals and slides, and the air in the other slide cylinder 23 enters the intake pipe 26 through the fifth one-way pipe 32, and then the air enters the intake groove 42, and then the air in the intake groove 42 enters the second chamber 212 through the sixth one-way pipe 33, at this time, the slide plate 12 and the sealing plate 21 will be pushed to move a distance to the left (such as Figure 3 As shown in the figure, the length of the T-box 11 and the driving rod 13 is reduced, and the reciprocating rotation angle of the mechanical claw 4 is reduced accordingly. In contrast to the above-mentioned increase in the rotation angle of the mechanical claw 4, the corresponding rotation angle of the mechanical claw 4 is reduced each time the mechanical claw 4 reciprocates once. In this way, the mechanical claw 4 sorts the goods in a sequence from near to far and then from far to near, thereby making the mechanical claw 4 carry and sort the goods on multiple conveyor lines continuously, thereby improving the sorting efficiency.

[0032] In the present invention, the motor 17 is started to drive the driving wheel 18 to rotate, and then the driven wheel 19 is driven to rotate, thereby driving the rotating rod 10 to rotate, driving the T-box 11 and the driving rod 13 to rotate, and then driving the limiting rod 14 to rotate. The limiting rod 14 will slide back and forth on the inner wall of the limiting groove 16, and the limiting of the limiting rod 14 and the limiting groove 16 will drive the connecting rod 15 to slide back and forth, and then drive one of the racks 7 to move back and forth. Since the rack 7 is meshed and connected with the gear 8, the rack 7 will drive the gear 8 to rotate back and forth by a certain angle, and then drive the rotating shaft 3 to rotate back and forth, and drive the mechanical claw 4 to rotate back and forth, and then the mechanical claw 4 can grab the goods, and then rotate a certain angle and place them on the conveyor line. In this way, the goods can be sorted and transported continuously, which is more efficient than manual handling and sorting.

[0033] In addition, when the rack 7 moves back and forth, it will drive the slider 6 to slide back and forth on the inner wall of the slide groove 5, and then the slider 6 will drive the slide plug 24 to slide back and forth through the push rod 29. Then the air in one of the slide cylinders 23 will enter the air intake pipe 26 through the first one-way pipe 27, and then the air will enter the air intake groove 42, and finally the air will enter the first chamber 211 through the eighth one-way pipe 43, pushing the slide plate 12 and the sealing plate 21 to move to the right for a distance (such as Figure 3 and Figure 4 As shown in the figure), the driving rod 13 moves outward for a distance, thereby increasing the overall length of the T-box 11 and the driving rod 13. At this time, when the rotating rod 10 drives the T-box 11 and the driving rod 13 to rotate, the reciprocating distance of the connecting rod 15 will increase, and the reciprocating distance of the rack 7 will increase, so that the gear 8 can rotate a larger angle, and the mechanical claw 4 can rotate a larger angle, and so on. Due to the increase in the reciprocating distance of the rack 7 each time, the reciprocating distance of the sliding plug 24 will increase, and the amount of air pumped into the first chamber 211 each time will increase. Due to the trapezoidal structure of the T-box 11, the sliding plate 12 and The further the sealing plate 21 slides to the right, the larger the space inside the first cavity 211 will be. Therefore, even if the amount of air pumped in each time increases, the sliding distance of the slide plate 12 and the sealing plate 21 can remain unchanged, and then after each reciprocating movement, the increased rotation angle of the mechanical claw 4 will remain the same. Based on this, multiple parallel conveying lines can be set on the side of the frame 1. At this time, the mechanical claw 4 can intermittently sort the goods to different conveying lines for transportation, which will not increase the conveying burden of the conveying lines, and can also allow multiple conveying lines to share a sorting vehicle. Compared with configuring a robot for each production line, it can greatly reduce costs and reduce floor space.

[0034] In addition, when the slide plate 12 slides to abut against the delay switch 41, the delay switch 41 will open, and then the first solenoid valve 37, the second solenoid valve 38, the third solenoid valve 39 and the fourth solenoid valve 40 will be energized, the first solenoid valve 37 and the fourth solenoid valve 40 will be energized to close, and the second solenoid valve 38 and the third solenoid valve 39 will be energized to open, at this time, the slide plug 24 reciprocatingly seals and slides, and the air in the other slide cylinder 23 enters the intake pipe 26 through the fifth one-way pipe 32, and then the air enters the intake groove 42, and then the air in the intake groove 42 enters the second chamber 212 through the sixth one-way pipe 33, at this time, the slide plate 12 and the sealing plate 21 will be pushed to move a distance to the left (such as Figure 3 As shown in the figure, the length of the T-box 11 and the driving rod 13 is reduced, and the reciprocating rotation angle of the mechanical claw 4 is reduced accordingly. In contrast to the above-mentioned increase in the rotation angle of the mechanical claw 4, the corresponding rotation angle of the mechanical claw 4 is reduced each time the mechanical claw 4 reciprocates once. In this way, the mechanical claw 4 sorts the goods in a sequence from near to far and then from far to near, thereby making the mechanical claw 4 carry and sort the goods on multiple conveyor lines continuously, thereby improving the sorting efficiency.

[0035] When the slide plate 12 and the sealing plate 21 are reset, the delay switch 41 will be disconnected, and then the first solenoid valve 37, the second solenoid valve 38, the third solenoid valve 39 and the fourth solenoid valve 40 will be powered off. The first solenoid valve 37 and the fourth solenoid valve 40 will be powered off and opened, and the second solenoid valve 38 and the third solenoid valve 39 will be powered off and closed.

[0036] 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 multi-machine collaborative sorting unmanned vehicle, characterized in that: include: A vehicle frame (1), wherein the upper end of the vehicle frame (1) is fixedly connected to a mounting frame (2), the top of the mounting frame (2) is rotatably connected to a rotating shaft (3), and the side wall of the rotating shaft (3) is fixedly connected to a mechanical claw (4); The sorting mechanism comprises two slide grooves (5) symmetrically arranged at the upper end of the mounting frame (2), the inner wall of each slide groove (5) is slidably connected to a slider (6), the side wall of each slider (6) is fixedly connected to a rack (7), the upper end of the rotating shaft (3) passes through the upper end of the mounting frame (2) and is fixedly connected to a gear (8), the gear (8) is meshingly connected to the two racks (7), the side wall of the mounting frame (2) is fixedly connected to an L-shaped frame (9), the top of the L-shaped frame (9) is rotatably connected to a rotating rod (10), and the side wall of the rotating rod (10) is fixedly connected to A T-shaped box (11) is connected, the inner wall of the T-shaped box (11) is slidably connected to a slide plate (12), the side wall of the slide plate (12) is fixedly connected to a driving rod (13), the other end of the driving rod (13) passes through the side wall of the T-shaped box (11) and is fixedly connected to a limiting rod (14), one of the side walls of the rack (7) is fixedly connected to a connecting rod (15) through a bracket, a limiting groove (16) is provided at the upper end of the connecting rod (15), the limiting groove (16) passes through the connecting rod (15), and the side wall of the limiting rod (14) is slidably connected to the inner wall of the limiting groove (16); A driving mechanism is installed on the L-shaped frame (9).

2. The multi-machine cooperative sorting unmanned vehicle according to claim 1, characterized in that: in: The driving mechanism comprises a motor (17) fixedly connected to the upper end of the L-shaped frame (9) via a bracket, the output end of the motor (17) being fixedly connected to a driving wheel (18), the upper end of the rotating rod (10) passing through the upper end of the L-shaped frame (9), the side wall of the rotating rod (10) being fixedly connected to a driven wheel (19), and the driving wheel (18) being connected to the driven wheel (19) via a synchronous belt.

3. The multi-machine cooperative sorting unmanned vehicle according to claim 2, characterized in that: in: The side wall of the slide plate (12) is symmetrically provided with two grooves (20); the inner walls of the two grooves (20) are both sealed and slidably connected to a sealing plate (21); the side wall of the sealing plate (21) is sealed and slidably connected to the inner wall of the T-shaped box (11); a plurality of springs (22) are fixedly connected between the grooves (20) and the sealing plate (21); the slide plate (12) and the two sealing plates (21) divide the interior of the T-shaped box (11) into two parts, a first cavity (211) and a second cavity (212).

4. The multi-machine cooperative sorting unmanned vehicle according to claim 3, characterized in that: in: The mounting frame (2) is provided with an adjustment mechanism, the adjustment mechanism comprising two slide cylinders (23) fixedly connected to the side wall of the mounting frame (2), the inner walls of the two slide cylinders (23) being sealed and slidably connected with a slide plug (24), the side wall of the L-shaped frame (9) being fixedly connected to a rotary joint (25) via a bracket, the upper end of the rotary joint (25) being fixedly connected with an air intake pipe (26), an air intake groove (42) being provided in the rotating rod (10), the air intake groove (42) being connected to the first cavity (211) via an eighth one-way pipe (43), the inner wall of the first cavity (211) being fixedly connected with a second one-way pipe (28), the inner wall of one of the slide cylinders (23) being fixedly connected with a first one-way pipe (27) and a third one-way pipe (30), the other end of the first one-way pipe (27) being connected with the air intake pipe (26).

5. The multi-machine cooperative sorting unmanned vehicle according to claim 4, characterized in that: in: The adjustment mechanism further comprises a push rod (29) fixedly connected to the side wall of the sliding plug (24); the other end of the push rod (29) penetrates the inner wall of the sliding groove (5) and is fixedly connected to the sliding block (6).

6. The multi-machine cooperative sorting unmanned vehicle according to claim 5, characterized in that: in: A continuous mechanism is installed on the other slide cylinder (23), and the continuous mechanism includes a fourth one-way tube (31) and a fifth one-way tube (32) fixedly connected to the inner wall of the other slide cylinder (23), the other end of the fifth one-way tube (32) is connected to the intake pipe (26), the intake groove (42) is connected to the second cavity (212) through the sixth one-way tube (33), and the inner wall of the second cavity (212) is fixedly connected to the seventh one-way tube (34).

7. The multi-machine cooperative sorting unmanned vehicle according to claim 6, characterized in that: in: The continuous mechanism further comprises a first vent hole (35) and a second vent hole (36) respectively provided on the inner walls of the two slide cylinders (23); the inner walls of the first one-way tube (27), the second one-way tube (28), the third one-way tube (30) and the eighth one-way tube (43) are all provided with a first solenoid valve (37); the inner wall of the first vent hole (35) is provided with a second solenoid valve (38); the inner walls of the fourth one-way tube (31), the fifth one-way tube (32), the sixth one-way tube (33) and the seventh one-way tube (34) are all provided with a third solenoid valve (39); and the inner wall of the second vent hole (36) is provided with a fourth solenoid valve (40).

8. The multi-machine cooperative sorting unmanned vehicle according to claim 7, characterized in that: in: A time delay switch (41) is fixedly connected to the inner wall of the T-shaped box (11); the time delay switch (41), the first solenoid valve (37), the second solenoid valve (38), the third solenoid valve (39), the fourth solenoid valve (40) and an external power source are electrically connected via wires.

9. The multi-machine cooperative sorting unmanned vehicle according to claim 8, characterized in that: in: The first solenoid valve (37) and the fourth solenoid valve (40) are powered on and closed, and the second solenoid valve (38) and the third solenoid valve (39) are powered on and opened.

Images