Automatic goods taking and unloading equipment based on automatic guided vehicle

Abstract

The invention discloses automatic goods taking and unloading equipment based on an automatic guided vehicle, relates to the field of automatic guided vehicles, and solves the problems that when an existing automatic goods taking and unloading equipment based on the automatic guided vehicle is used, adjustment of the gravity center is not flexible and efficient enough, and the loading, unloading and transportation efficiency is affected. The loading and unloading mechanism comprises a pallet fork, a balance weight mechanism rotating table, a balance weight box and supporting wheels, a guide groove is formed in the bottom face of the rotating table, lifting, rotating and sliding of the pallet fork are controlled through the loading and unloading mechanism, automatic cargo taking and unloading operation of cargoes is completed, the rotating angle of the rotating table is adjusted in a linkage mode in the direction switching process of the pallet fork, and the cargo taking and unloading efficiency is improved. Through the counterweight mechanism, the counterweight box can slide towards the side away from the goods, the supporting wheels are synchronously controlled to move and support towards the side of the goods, the stability of the vehicle body in the goods loading and unloading process is improved, meanwhile, the counterweight box can be unloaded from the guide groove when goods loading and unloading are completed, and energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned vehicles, in particular to an automatic loading and unloading equipment based on an unmanned vehicle. BACKGROUND

[0002] In the field of intelligent manufacturing and warehouse logistics, as the core equipment for material transfer, the load adaptability, running stability and automatic loading and unloading degree of the unmanned vehicle (AGV) directly determine the operation efficiency of the entire logistics system.

[0003] At present, the loading and unloading operation of the unmanned vehicle is mostly dependent on manual operation or forklift operation, and the loading and unloading efficiency and the degree of automation are low. The weight distribution system of some existing unmanned vehicles that can automatically load and unload is usually designed with fixed counterweight boxes, and the position and total weight of the counterweight boxes are difficult to dynamically adjust according to the load weight and operation conditions after leaving the factory. When the weight of the goods carried by the unmanned vehicle is light, the fixed counterweight will cause the center of gravity of the whole vehicle to be low and the redundant weight to be too large, increasing the driving energy consumption and tire wear; when the weight of the goods is heavy or the center of gravity is offset, the fixed counterweight cannot compensate for the change of the center of gravity in real time, which easily causes the vehicle body to tilt, slip or even overturn, seriously restricting the load range and running safety of the unmanned vehicle. In addition, in the multi-site transfer scene of automatic warehouse, the unmanned vehicle needs to frequently switch between different weight grade goods stations for operation, and the fixed counterweight or semi-adjustable counterweight system cannot quickly match the load characteristics of each station, resulting in insufficient versatility and flexibility of the equipment, and increasing the equipment procurement and operation cost of enterprises. SUMMARY

[0004] The purpose of the present application is to provide an automatic loading and unloading equipment based on an unmanned vehicle, which can improve the loading and unloading efficiency of the equipment and reduce energy consumption, so as to solve the problems in the background art.

[0005] To achieve the above object, the present application provides the following technical scheme: An automatic loading and unloading equipment based on an unmanned carrier vehicle, comprising a vehicle body, a loading and unloading mechanism and a counterweight mechanism, the bottom of the vehicle body is provided with a plurality of driving wheels, the loading and unloading mechanism comprises a fork mounted above the vehicle body, the loading and unloading mechanism can control the lifting, rotation and sliding of the fork, complete the automatic loading and unloading operation of the goods, the counterweight mechanism comprises a rotating table rotatably connected with the bottom surface of the vehicle body, the bottom surface of the rotating table is provided with a guide groove, the guide groove is provided with a counterweight box and a supporting wheel, the counterweight mechanism can link the rotating angle of the rotating table during the switching of the fork, so that the counterweight box can slide towards the side away from the goods, and the supporting wheel is synchronously controlled to move and support the goods, thereby improving the stability of the vehicle body during the loading and unloading of the goods, and the counterweight box can be unloaded from the guide groove after the loading and unloading of the goods is completed, thereby reducing the energy consumption during the driving of the vehicle body, improving the loading and unloading efficiency of the equipment and reducing the energy consumption.

[0006] Preferably, the counterweight mechanism further comprises two groups of driving rods slidably connected with the inner wall of the guide groove, the bottom of the counterweight box is provided with a plurality of rolling grooves, the rolling grooves are rolling connected with rolling balls, the side of the counterweight box is provided with a clamping groove, the driving rods are provided with electric clamping blocks capable of clamping and fixing the clamping groove, the bottom of the vehicle body is provided with four communication grooves capable of communicating with the guide groove, the guide groove is provided with a control member for controlling the moving state of the counterweight box and the supporting wheel, thereby improving the stability of the vehicle body during the loading and unloading of the goods.

[0007] Preferably, the loading and unloading mechanism further comprises a rotating disc rotatably connected with the top surface of the vehicle body, the rotating disc is provided with a scissor lift, the top end of the scissor lift is provided with a lifting platform, the lifting platform is fixedly connected with guide frames on both sides, the guide frames are slidingly connected with sliding rods, the fork is fixedly installed on the sliding rods, the guide frames are provided with a first threaded rod capable of rotating, the first threaded rod penetrates through the sliding rods and is threadedly connected with the sliding rods, the vehicle body can control the rotating direction of the rotating disc, the bottom of the connecting shaft is coaxially fixedly connected with the top surface of the rotating table, thereby controlling the lifting, rotation and sliding of the fork, completing the automatic loading and unloading operation of the goods.

[0008] Preferably, the control piece comprises a driving plate in sliding connection with the inner wall of the guide groove, the bottom surface of the driving plate is fixedly connected with a fixed frame, the fixed frame is slidingly connected with a sliding plate in the horizontal direction, the bottom surface of the sliding plate is rotatably connected with the support wheel, the side surface of the sliding plate is fixedly connected with a first spring fixedly connected with the fixed frame, the rotating table is provided with a driving piece for driving the driving plate and the driving rod to move, so as to facilitate the control of the moving state of the counterweight box and the support wheel.

[0009] Preferably, the control piece further comprises a connecting plate mounted in the sliding plate, the sliding plate is provided with a device slot, the connecting plate can reciprocatingly slide in the horizontal direction in the device slot and cannot completely separate from the device slot, the inner wall of the fixed frame is uniformly provided with a plurality of inclined tooth grooves, the device slot is slidingly connected with two groups of inclined tooth blocks capable of being one-way connected with the inclined tooth grooves on both sides, respectively, the second spring is fixedly connected between the two groups of inclined tooth blocks, and the connecting plate is fixedly connected with a trapezoidal block capable of sliding the inclined surface position of the inclined tooth block.

[0010] Preferably, the driving piece comprises a driving block fixedly installed on the driving plate, the rotating table is provided with a second threaded rod capable of rotating, the second threaded rod penetrates through the driving block and is in threaded connection with the driving block, the guide groove is provided with a transmission piece for synchronously controlling the driving rod and the driving plate to move in opposite directions, so as to facilitate the movement of the driving plate and the driving rod.

[0011] Preferably, the transmission piece comprises two groups of gear belts installed in the guide groove, the guide groove is rotatably connected with four groups of transmission wheels, the inner wall of each group of gear belts is in transmission with two groups of transmission wheels, respectively, the side surface of the driving plate is provided with a first tooth groove in meshing connection with the gear belt, and the side surface of the driving rod is provided with a second tooth groove in meshing connection with the gear belt, so as to facilitate the synchronous control of the driving rod and the driving plate to move in opposite directions.

[0012] Preferably, the counterweight box is slidingly connected with a lifting plate in the vertical direction, the counterweight box is provided with a plurality of communication holes in communication with the top surface of the rolling groove, the bottom surface of the lifting plate is fixedly connected with a plurality of brake pads, the brake pads are slidingly connected with the inner wall of the communication hole in the vertical direction, and the bottom surface of the lifting plate is fixedly connected with a tension spring fixedly connected with the inner wall of the counterweight box, so as to facilitate the limit control of the moving state of the counterweight box.

[0013] Preferably, two groups of shovel plates are connected to the counterweight box in the horizontal direction and slide, the two groups of shovel plates are located on the two sides of the lifting plate respectively, the bottom end of the inclined surface of the shovel plate can shovel the lifting plate, and the electric clamping block can push the shovel plate to slide horizontally during clamping, so that the limiting state of the rolling ball is released when the counterweight box moves with the vehicle body.

[0014] Preferably, the bottom surface of the connecting plate is fixedly connected with an arc-shaped baffle, so that the side surface of the supporting wheel can be fully folded and the position of the obstacle can be perceived.

[0015] Compared with the prior art, the present application has the following advantages: The automatic loading and unloading equipment based on the unmanned carrier vehicle provided by the present application solves the problem that the existing automatic loading and unloading equipment based on the unmanned carrier vehicle is not flexible and efficient in adjusting the center of gravity during use, affecting the loading and unloading and transportation efficiency. Through the control of the lifting, rotation and sliding of the fork by the loading and unloading mechanism, automatic loading and unloading of the goods are completed, and in the process of switching the direction of the fork, the rotation angle of the rotating table is adjusted, the counterweight box is made to slide towards the side away from the goods through the counterweight mechanism, and the supporting wheel is controlled to move and support the goods side at the same time, thereby improving the stability of the vehicle body during the loading and unloading of the goods, and the counterweight box can be unloaded from the guide groove when the loading and unloading of the goods is completed, thereby reducing the energy consumption during the driving of the vehicle body. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the local structure of the loading and unloading mechanism of the present application; Figure 3 It is a schematic diagram of the local structure of the counterweight mechanism of the present application; Figure 4 It is a schematic diagram of the local structure of the driving member of the present application; Figure 5 It is a split view of the local structure of the counterweight mechanism of the present application; Figure 6 It is Figure 5 It is an enlarged view of area A in the present application; Figure 7 It is a sectional view of the local structure of the counterweight mechanism of the present application; Figure 8 It is Figure 7 It is an enlarged view of area B in the present application; Figure 9 It is Figure 7 It is an enlarged view of area C in the present application; Figure 10 It is a schematic diagram of the local structure of the counterweight box of the present application; Figure 11 It is a schematic diagram of the local structure of the control member of the present application; Figure 12 For Figure 11 Zoomed-in view of the D region.

[0017] In the figure: 1 - vehicle body; 2 - drive wheel; 3 - fork; 4 - rotating table; 5 - guide groove; 6 - counterweight box; 7 - support wheel; 8 - drive rod; 9 - rolling groove; 10 - rolling ball; 11 - clamping groove; 12 - electric clamping block; 13 - communication groove; 14 - rotating disc; 15 - scissor lift; 16 - lifting table; 17 - guide frame; 18 - sliding rod; 19 - first threaded rod; 20 - connecting shaft; 21 - drive plate; 22 - fixed frame; 23 - sliding plate; 24 - first spring; 25 - connecting plate; 26 - device groove; 27 - helical tooth groove; 28 - helical tooth block; 29 - second spring; 30 - trapezoidal block; 31 - drive block; 32 - second threaded rod; 33 - gear belt; 34 - transmission wheel; 35 - first tooth groove; 36 - second tooth groove; 37 - lifting plate; 38 - communication hole; 39 - brake pad; 40 - tension spring; 41 - shovel plate; 42 - arc baffle. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0019] Please refer to Figures 1-10 The present application provides a technical solution: an automatic loading and unloading equipment based on an unmanned carrier vehicle, comprising a vehicle body 1, a loading and unloading mechanism, and a counterweight mechanism. The bottom of the vehicle body 1 is provided with a plurality of drive wheels 2. The loading and unloading mechanism comprises a fork 3 mounted above the vehicle body 1. The loading and unloading mechanism can control the lifting, rotation, and sliding of the fork 3, complete the automatic loading and unloading operation of the goods, and the counterweight mechanism comprises a rotating table 4 rotationally connected to the bottom surface of the vehicle body 1. The bottom surface of the rotating table 4 is provided with a guide groove 5, and the guide groove 5 is provided with a counterweight box 6 and a support wheel 7. The counterweight mechanism can link and adjust the rotation angle of the rotating table 4 during the switching of the fork 3, so that the counterweight box 6 can slide towards the side away from the goods, and the support wheel 7 can be synchronously controlled to move and support the side of the goods, thereby improving the stability of the vehicle body 1 during the loading and unloading of the goods. At the same time, the counterweight box 6 can be unloaded from the guide groove 5 after the loading and unloading of the goods is completed, thereby reducing the energy consumption during the driving of the vehicle body 1.

[0020] Please refer to Figures 1-4The loading and unloading mechanism in the drawing further comprises a rotating disc 14 rotatably connected to the top surface of the vehicle body 1, a scissor lift 15 arranged on the rotating disc 14, a lifting platform 16 arranged at the top end of the scissor lift 15, guide frames 17 fixedly connected to the two sides of the lifting platform 16, sliding rods 18 slidably connected in the guide frames 17, the cargo forks 3 fixedly installed on the sliding rods 18, a first threaded rod 19 arranged in the guide frames 17 and capable of rotating, the first threaded rod 19 penetrating through the sliding rods 18 and being threadedly connected with the sliding rods 18, the vehicle body 1 being capable of controlling the rotating direction of the rotating disc 14, and a connecting shaft 20 coaxially fixedly connected to the bottom of the rotating disc 14 and coaxially fixedly connected to the top surface of the rotating table 4.

[0021] Please refer to Figures 3-12 The counterweight mechanism in the drawing further comprises two groups of driving rods 8 slidably connected to the inner wall of the guide groove 5, a plurality of rolling grooves 9 arranged in the bottom of the counterweight box 6, rolling balls 10 rollingly connected in the rolling grooves 9, clamping grooves 11 arranged in the side surface of the counterweight box 6, electric clamping blocks 12 arranged on the driving rods 8 and capable of clamping and fixing the clamping grooves 11, four groups of communication grooves 13 arranged in the bottom of the vehicle body 1 and capable of being in communication with the guide groove 5, a control member arranged in the guide groove 5 and used for controlling the moving state of the counterweight box 6 and the supporting wheels 7, the control member comprising a driving plate 21 slidably connected to the inner wall of the guide groove 5, a fixed frame 22 fixedly connected to the bottom surface of the driving plate 21, a sliding plate 23 slidably connected in the fixed frame 22 along the horizontal direction, the bottom surface of the sliding plate 23 being rotatably connected with the supporting wheels 7, the side surface of the sliding plate 23 being fixedly connected with the first springs 24 fixedly connected with the fixed frame 22, the rotating table 4 being provided with a driving member used for driving the driving plate 21 and the driving rods 8 to move, the control member further comprising a connecting plate 25 installed in the sliding plate 23, the bottom surface of the connecting plate 25 being fixedly connected with an arc-shaped baffle 42, the sliding plate 23 being provided with a device groove 26, the connecting plate 25 being capable of reciprocatingly sliding in the device groove 26 along the horizontal direction and not completely separating from the device groove 26, a plurality of oblique tooth grooves 27 being uniformly arranged in the inner wall of the fixed frame 22, two groups of oblique tooth blocks 28 being slidably connected in the device groove 26 and capable of being one-way clamped with the two side oblique tooth grooves 27 respectively, the two groups of oblique tooth blocks 28 being fixedly connected with the second springs 29, and trapezoidal blocks 30 fixedly connected on the connecting plate 25 and capable of sliding the inclined surface position of the oblique tooth blocks 28.

[0022] Please refer to Figures 4-10The driving member in the drawing comprises a driving block 31 fixedly installed on the driving plate 21, the rotating table 4 is provided with a second threaded rod 32 capable of rotating, the second threaded rod 32 penetrates through the driving block 31 and is in threaded connection with the driving block 31, the guide groove 5 is provided with a transmission member for synchronously controlling the driving rod 8 and the driving plate 21 to move in opposite directions, the transmission member comprises two groups of gear belts 33 installed in the guide groove 5, four groups of transmission wheels 34 are rotatably connected in the guide groove 5, the inner walls of each group of gear belts 33 are respectively in transmission with the two groups of transmission wheels 34, the side surface of the driving plate 21 is provided with a first gear groove 35 in mesh with the gear belt 33, and the side surface of the driving rod 8 is provided with a second gear groove 36 in mesh with the gear belt 33.

[0023] Please refer to Figures 3-9 The counterweight box 6 in the drawing is provided with a lifting plate 37 slidably connected in the vertical direction, a plurality of communication holes 38 are formed in the counterweight box 6 and are in communication with the top surface of the rolling groove 9, a plurality of brake pads 39 are fixedly connected to the bottom surface of the lifting plate 37 and are slidably connected with the inner walls of the communication holes 38 in the vertical direction, a tension spring 40 is fixedly connected to the inner wall of the counterweight box 6 and is fixedly connected to the bottom surface of the lifting plate 37, two groups of shovel plates 41 are slidably connected in the horizontal direction in the counterweight box 6, and the two groups of shovel plates 41 are respectively located on the two sides of the lifting plate 37. The bottom end of the inclined surface of the shovel plate 41 can shovel the lifting plate 37, and the electric clamping block 12 can push the shovel plate 41 to slide horizontally in the process of clamping.

[0024] Working principle: in use, through the vehicle body 1 control drive wheel 2 drive the upper side of the fork 3 to the desired position, by controlling the orientation of the rotating disc 14 so that the tip of the fork 3 towards the side of the goods, at this time the rotating disc 14 will drive the connecting shaft 20 so that the rotating table 4 synchronous adjustment orientation, so that the support wheel 7 is close to the side of the goods, counterweight box 6 is away from the side of the goods, support wheel 7 using universal wheel can be flexible rolling when the rotating table 4 rotation, the bottom of the counterweight box 6 groups of ball 10 can also be arbitrary rolling inside the rolling groove 9, improve the support force of the counterweight box 6, at the same time makes the moving direction of the counterweight box 6 more flexible, by controlling the scissors elevator 15 to adjust the height of the lifting platform 16, so that the fork 3 aligns the bottom of the goods, then control the first screw rod 19 rotation, drive the sliding rod 18 push fork 3 to the bottom of the goods to slide into the bottom of the goods or the bottom of the goods into the tray, at this time the second screw rod 32 synchronous rotation operation, drive block 31 and drive plate 21 to the side of the goods to move, drive plate 21 side through the side of the first gear slot 35 drive gear belt 33 rotation, gear belt 33 drive the second gear slot 36 so that the drive rod 8 away from the side of the goods to slide, so that the support wheel 7 close to the goods, counterweight box 6 away from the goods, support wheel 7 and counterweight box 6 are sliding into the communication groove 13, when the drive plate 21 push the fixed frame 22 and the sliding plate 23 to the side of the goods to move, if the front end is not blocked, the support wheel 7 will continue to move to the side of the goods to the set distance, the sliding plate 23 is limited by the oblique tooth block 28 to the oblique tooth slot 27, will not slide in the fixed frame 22, the sliding plate 23 is limited by the limiting block inside the fixed frame 22 to make the sliding plate 23 also can't slide out of the fixed frame 22, at this time the sliding plate 23 and the position of the support wheel 7 is relatively fixed, when the scissors elevator 15 continues to move up, the fork 3 moves up to lift the goods, at this time the whole will take the support wheel 7 as the axis to form a lever, the distance between the goods and the support wheel 7 is the power arm, the distance between the counterweight box 6 and the support wheel 7 is the resistance arm, at this time because the support wheel 7 moves to the side of the goods for a distance, so that the power arm is shortened, the resistance arm is lengthened, so that the required counterweight box 6 weight is reduced, more effectively improve the stability of the equipment in the lifting process.

[0025] After lifting the goods, the first screw rod 19 is reversed, the fork 3 and the goods are moved to the top of the vehicle body 1, then the second screw rod 32 is also reversed, the counterweight box 6 and the support wheel 7 are completely moved into the guide groove 5, then the rotating table 4 continues to rotate, the counterweight box 6 and the support wheel 7 will not block the rotation of the rotating table 4, the fork 3 can adjust the orientation, and synchronously adjust the position of the counterweight box 6 and the support wheel 7, when unloading, first slide the counterweight box 6 and the support wheel 7 to both sides, then control the fork 3 to stretch out in the required direction and move down to place the goods, then retract the fork 3, and finally retract the counterweight box 6 and the support wheel 7.

[0026] It is worth noting that: when the support wheel 7 slides out to the side of the goods, if the arc-shaped baffle 42 is in contact with the object, it will affect the continuous sliding out of the support wheel 7, at this time the obstacle will push the arc-shaped baffle 42 and the connecting plate 25 to slide horizontally in the device slot 26, the connecting plate 25 drives the inclined surface position of the trapezoidal block 30 to push the inclined tooth block 28 to slide horizontally, compresses the second spring 29, so that the inclined tooth block 28 on both sides slides out of the inclined tooth groove 27, and the limiting is released, then in the process of continuous sliding of the driving plate 21, the position of the arc-shaped baffle 42 and the support wheel 7 remains unchanged, the sliding plate 23 slides horizontally in the fixed frame 22 to compress the first spring 24, and does not affect the continuous sliding out of the counterweight box 6 on the other side, because the side close to the goods is sometimes blocked by goods, and the side away from the goods is generally a passageway, the sliding out of the counterweight box 6 is generally not blocked, the device can ensure that the support wheel 7 and the counterweight box 6 are stretched to the maximum extent, and the stability of the vehicle body 1 during the loading and unloading process is improved, when resetting, the driving plate 21 slides reversely, the obstacle gradually releases the contact with the arc-shaped baffle 42, under the push of the first spring 24, the sliding plate 23 reversely slides to one end position of the fixed frame 22 to complete the resetting and limiting, at this time the inclined surface of the inclined tooth block 28 continuously matches the sliding of the inclined surface of the inclined tooth groove 27, and does not affect the sliding resetting of the sliding plate 23, the compression amount of the first spring 24 and the second spring 29 and the tension spring 40 is small, the service life is long, and the compression fatigue frequency can reach about 5 million times, after being used for a certain number of times, it can be maintained and replaced, and the overall use state of the equipment will not be affected, the steering of the rotating table 4 and the rotating state of the first threaded rod 19 and the second threaded rod 32 are flexibly controlled by different motors inside the machine body.

[0027] In use, the counterweight box 6 inside the device is in a detachable state, and multiple groups of counterweight boxes 6 with different counterweights are placed at the positions where they need to be detached. The counterweight boxes 6 are the same in shape and only differ in internal weight. When the goods are transported directly above the vehicle body 1, the vehicle body 1 first carries the counterweight box 6 to the desired placement position, and then rotates the counterweight box 6 to the opposite side of the running direction through the rotating table 4. The electric clamping blocks 12 on both sides are controlled to contact and clamp the clamping grooves 11, the tension spring 40 is pulled back to make the lifting plate 37 move downward, the spade plates 41 on both sides slide to both sides, the lifting plate 37 drives the brake pad 39 to move downward to press and extrude the top surface of the rolling ball 10, thereby realizing the function of automatic brake positioning. The vehicle body 1 then continues to move forward, and the counterweight box 6 can be left in place. At this time, the energy consumed by carrying the counterweight box 6 during transportation can be reduced. When reaching the goods unloading position, the vehicle body 1 is controlled to move to align the counterweight box 6 with the communication groove 13 and the guide groove 5, and then the electric clamping block 12 clamps the clamping groove 11. The electric clamping block 12 drives the spade plates 41 on both sides to move towards the lifting plate 37. The inclined surface of the spade plate 41 lifts the lifting plate 37 by a small distance, and the brake pad 39 moves upward to release the pressing of the rolling ball 10. Thereafter, the vehicle body 1 can move flexibly to the unloading position with the counterweight box 6. Different counterweight boxes 6 with different weights can be flexibly selected for docking and use according to the weight of the goods. Meanwhile, for some scenarios with long-distance transfer, the device can effectively reduce the large amount of energy consumed by the vehicle body 1 in carrying the counterweight box 6 during transfer, thereby improving the flexibility and energy-saving performance of the vehicle body 1. For some short-distance transfer, the vehicle body 1 can be moved together with the counterweight box 6 to realize the carrying, thereby reducing the disassembly and assembly steps of the counterweight box 6. The rolling ball 10 at the bottom of the counterweight box 6 is only used for short-distance auxiliary movement and support of the counterweight box 6, and is not suitable for long-distance transfer. It can also be replaced by a universal wheel to realize the corresponding function according to the needs.

[0028] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0029] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous modifications and changes can be made to the embodiments without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. An automated pick-up and drop-off device based on a trolley, characterized in that, Include: The bottom of the vehicle body (1) is provided with a plurality of groups of drive wheels (2); Also includes: The loading and unloading mechanism includes a fork (3) mounted above the vehicle body (1), and the loading and unloading mechanism can control the lifting, rotation and sliding of the fork (3), complete the automatic picking and unloading operation of the goods; Counterweight mechanism, the bottom surface of the rotating table (4) is rotatably connected with the bottom surface of the vehicle body (1), the bottom surface of the rotating table (4) is provided with a guide groove (5), the guide groove (5) is provided with a counterweight box (6) and a supporting wheel (7), the counterweight mechanism can link adjust the rotating angle of the rotating table (4) during the switching of the fork (3), so that the counterweight box (6) can slide towards the side away from the goods, and the supporting wheel (7) is controlled to move towards the side of the goods at the same time, so as to improve the stability of the vehicle body (1) during the loading and unloading of the goods, and the counterweight box (6) can be unloaded from the guide groove (5) when the loading and unloading of the goods is completed.

2. The automatic loading and unloading equipment based on the unmanned carrier according to claim 1, characterized in that: The counterweight mechanism further comprises two groups of drive rods (8) slidably connected with the inner wall of the guide groove (5), the bottom of the counterweight box (6) is provided with a plurality of rolling grooves (9), the rolling grooves (9) are rolling connected with rolling balls (10), the side of the counterweight box (6) is provided with a clamping groove (11), the drive rod (8) is provided with an electric clamping block (12) capable of clamping and fixing the clamping groove (11), the bottom of the vehicle body (1) is provided with four groups of communication grooves (13) capable of communicating with the guide groove (5), and the guide groove (5) is provided with a control member for controlling the moving state of the counterweight box (6) and the supporting wheel (7).

3. The automatic loading and unloading equipment based on the unmanned carrier according to claim 1, characterized in that: The loading and unloading mechanism further comprises a rotating disc (14) rotatably connected with the top surface of the vehicle body (1), the rotating disc (14) is provided with a scissor lift (15), the top end of the scissor lift (15) is provided with a lifting platform (16), the two sides of the lifting platform (16) are fixedly connected with guide frames (17), the guide frames (17) are slidingly connected with sliding rods (18), the fork (3) is fixedly installed on the sliding rods (18), the guide frames (17) are provided with a first threaded rod (19) capable of rotating, the first threaded rod (19) penetrates through the sliding rod (18) and is threadedly connected with the sliding rod (18), the vehicle body (1) can control the rotating direction of the rotating disc (14), the bottom of the rotating disc (14) is coaxially fixedly connected with a connecting shaft (20), and the bottom of the connecting shaft (20) is coaxially fixedly connected with the top surface of the rotating table (4).

4. The automatic loading and unloading equipment based on the unmanned carrier according to claim 2, characterized in that: The control component includes a drive plate (21) that is slidably connected to the inner wall of the guide groove (5). A fixed frame (22) is fixedly connected to the bottom surface of the drive plate (21). A sliding plate (23) is slidably connected in the horizontal direction inside the fixed frame (22). The bottom surface of the sliding plate (23) is rotatably connected to the support wheel (7). A first spring (24) that is fixedly connected to the fixed frame (22) is fixedly connected to the side of the sliding plate (23). The rotating table (4) is provided with a drive component for driving the drive plate (21) and the drive rod (8) to move.

5. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 4, characterized in that: The control component also includes a connecting plate (25) installed in the sliding plate (23). The sliding plate (23) has a device groove (26) in it. The connecting plate (25) can slide back and forth in the horizontal direction in the device groove (26) without completely disengaging from the device groove (26). The inner wall of the fixed frame (22) is evenly provided with multiple sets of oblique tooth grooves (27). Two sets of oblique tooth blocks (28) that can be slidably connected in the device groove (26) and can be unidirectionally engaged with the oblique tooth grooves (27) on both sides respectively are fixedly connected. A second spring (29) is fixedly connected between the two sets of oblique tooth blocks (28). A trapezoidal block (30) that can push the oblique tooth block (28) to slide at the oblique surface position is fixedly connected on the connecting plate (25).

6. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 4, characterized in that: The driving component includes a driving block (31) fixedly mounted on the driving plate (21), and a second threaded rod (32) capable of rotatable operation is provided on the rotating table (4). The second threaded rod (32) passes through the driving block (31) and is threadedly connected to the driving block (31). The guide groove (5) is provided with a transmission component for synchronously controlling the driving rod (8) and the driving plate (21) to move in opposite directions.

7. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 6, characterized in that: The transmission component includes two sets of gear belts (33) installed in the guide groove (5). Four sets of transmission wheels (34) are rotatably connected in the guide groove (5). The inner wall of each set of gear belts (33) is respectively connected to the two sets of transmission wheels (34). The side of the drive plate (21) is provided with a first tooth groove (35) that meshes with the gear belt (33). The side of the drive rod (8) is provided with a second tooth groove (36) that meshes with the gear belt (33).

8. The automatic picking and unloading equipment based on the unmanned carrier according to claim 2, characterized in that: A lifting plate (37) is slidably connected in the vertical direction inside the counterweight box (6). Multiple sets of connecting holes (38) connected to the top surface of the rolling groove (9) are opened inside the counterweight box (6). Multiple sets of brake pads (39) are fixedly connected to the bottom surface of the lifting plate (37). The brake pads (39) are slidably connected to the inner wall of the connecting hole (38) in the vertical direction. A tension spring (40) is fixedly connected to the bottom surface of the lifting plate (37) and fixedly connected to the inner wall of the counterweight box (6).

9. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 8, characterized in that: Two groups of shovels (41) are slidably connected in the horizontal direction in the counterweight box (6), and the two groups of shovels (41) are respectively located on the two sides of the lifting plate (37), the bottom end of the shovels (41) can shovel the lifting plate (37), and the electric clamping block (12) can push the shovels (41) to slide horizontally during clamping.

10. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 5, characterized in that: The bottom surface of the connecting plate (25) is fixedly connected with an arc-shaped baffle (42).

Images