An automatic loading and unloading equipment based on a unmanned carrier

Abstract

This invention discloses an automated picking and unloading device based on an unmanned transport vehicle (ARTV), relating to the field of ARTV. It solves the problem that existing ARTV-based automated picking and unloading devices lack flexibility and efficiency in adjusting the center of gravity, affecting loading, unloading, and transportation efficiency. The device includes a vehicle body, a loading / unloading mechanism, and a counterweight mechanism. The loading / unloading mechanism includes forks, a counterweight mechanism turntable, a counterweight box, and support wheels. A guide groove is provided on the bottom surface of the turntable. This invention controls the lifting, rotating, and sliding of the forks through the loading / unloading mechanism to complete the automated picking and unloading operations. Furthermore, during the fork orientation switching process, the rotation angle of the turntable is adjusted in conjunction with the counterweight mechanism, allowing the counterweight box to slide away from the goods. Simultaneously, the support wheels are controlled to move towards the goods, improving the stability of the vehicle body during loading and unloading. Additionally, the counterweight box can be unloaded from the guide groove when loading and unloading are complete, reducing energy consumption.

Description

Technical Field

[0001] This invention relates to the field of unmanned transport vehicle technology, specifically to an automated picking and unloading device based on an unmanned transport vehicle. Background Technology

[0002] In fields such as intelligent manufacturing and warehousing logistics, Automated Guided Vehicles (AGVs) are core equipment for material handling. Their load adaptability, operational stability, and degree of automation in loading and unloading directly determine the operational efficiency of the entire logistics system.

[0003] Currently, the picking and unloading operations of automated guided vehicles (AGVs) largely rely on manual labor or forklifts, resulting in low loading and unloading efficiency and automation. Existing AGVs with automatic loading and unloading typically use fixed counterweight boxes, whose position and total mass are difficult to dynamically adjust based on load weight and operating conditions after leaving the factory. When the goods carried by the AGV are light, the fixed counterweight leads to a low center of gravity and excessive redundant weight, increasing drive energy consumption and tire wear. When the goods are heavy or the center of gravity shifts, the fixed counterweight cannot compensate for changes in the center of gravity in real time, easily causing the vehicle to tilt, slip, or even overturn, severely limiting the load range and operational safety of the AGV. Furthermore, in multi-site transfer scenarios in automated warehousing, AGVs need to frequently switch between workstations carrying goods of different weight classes. Fixed or semi-adjustable counterweight systems cannot quickly match the load characteristics of each workstation, resulting in insufficient equipment versatility and flexibility, increasing the company's equipment procurement and maintenance costs. Summary of the Invention

[0004] The purpose of this invention is to provide an automated picking and unloading device based on an unmanned transport vehicle that can improve the efficiency of loading and unloading while reducing energy consumption, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automated picking and unloading device based on an unmanned transport vehicle, comprising a vehicle body, a loading and unloading mechanism, and a counterweight mechanism. The bottom of the vehicle body is provided with multiple sets of drive wheels. The loading and unloading mechanism includes forks mounted on the top of the vehicle body. The loading and unloading mechanism can control the lifting, rotating, and sliding of the forks to complete automated picking and unloading operations. The counterweight mechanism includes a rotating platform rotatably connected to the bottom surface of the vehicle body. The bottom surface of the rotating platform has a guide groove, and a counterweight box and support wheels are provided within the guide groove. The counterweight mechanism can adjust the rotation angle of the rotating platform in conjunction with the fork orientation switching process, thereby allowing the counterweight box to slide towards the side away from the goods and simultaneously controlling the support wheels to move towards the goods for support, improving the stability of the vehicle body during loading and unloading. Simultaneously, the counterweight box can be unloaded from the guide groove when loading and unloading is completed, reducing energy consumption during vehicle movement and facilitating improved equipment loading and unloading efficiency while reducing energy consumption.

[0006] Preferably, the counterweight mechanism further includes two sets of drive rods slidably connected to the inner wall of the guide groove, the bottom of the counterweight box has multiple sets of rolling grooves, the rolling grooves contain rolling balls, the side of the counterweight box has a clamping groove, the drive rods are provided with electric clamping blocks that can clamp and fix the clamping grooves, the bottom of the vehicle body has four sets of communicating grooves that can communicate with the guide groove, and the guide grooves are provided with control components for controlling the movement of the counterweight box and the support wheels, which facilitates improving the stability of the vehicle body during cargo loading and unloading.

[0007] Preferably, the loading and unloading mechanism further includes a rotating disk rotatably connected to the top surface of the vehicle body. A scissor lift is mounted on the rotating disk, and a lifting platform is located at the top of the scissor lift. Guide frames are fixedly connected to both sides of the lifting platform, and sliding rods are slidably connected within the guide frames. The forks are fixedly mounted on the sliding rods. A first threaded rod capable of rotation is located within the guide frames, passing through and threadedly connected to the sliding rods. The vehicle body can control the rotation direction of the rotating disk. A connecting shaft is coaxially fixedly connected to the bottom of the rotating disk, and the bottom of the connecting shaft is coaxially fixedly connected to the top surface of the rotating platform. This facilitates control of the lifting, rotation, and sliding of the forks, enabling automatic loading and unloading of goods.

[0008] Preferably, the control component includes a drive plate slidably connected to the inner wall of the guide groove, a fixed frame fixedly connected to the bottom surface of the drive plate, a sliding plate slidably connected in the horizontal direction inside the fixed frame, the bottom surface of the sliding plate being rotatably connected to the support wheel, a first spring fixedly connected to the side of the sliding plate and fixedly connected to the fixed frame, and a drive component for driving the drive plate and the drive rod to move inside the rotating table, so as to facilitate control of the movement state of the counterweight box and the support wheel.

[0009] Preferably, the control component further includes a connecting plate installed in the sliding plate. The sliding plate has a device groove. The connecting plate can reciprocate in the horizontal direction in the device groove without completely disengaging from the device groove. The inner wall of the fixed frame has multiple sets of oblique tooth grooves evenly provided. Two sets of oblique tooth blocks that can be slidably connected in the device groove and can be unidirectionally engaged with the oblique tooth grooves on both sides are respectively connected. A second spring is fixedly connected between the two sets of oblique tooth blocks. A trapezoidal block that can push the oblique tooth block to slide at the inclined surface position is fixedly connected on the connecting plate.

[0010] Preferably, the driving component includes a driving block fixedly mounted on the driving plate, and a second threaded rod capable of rotatable operation is provided on the rotating platform. The second threaded rod passes through the driving block and is threadedly connected to the driving block. A transmission component is provided in the guide groove for synchronously controlling the driving rod and the driving plate to move in opposite directions, so as to facilitate driving the driving plate and the driving rod to move.

[0011] Preferably, the transmission component includes two sets of gear belts installed in the guide groove, and four sets of transmission wheels are rotatably connected in the guide groove. The inner wall of each set of gear belts is respectively connected to the two sets of transmission wheels. The side of the drive plate is provided with a first tooth groove that meshes with the gear belt, and the side of the drive rod is provided with a second tooth groove that meshes with the gear belt, so as to facilitate synchronous control of the drive rod and the drive plate to move in opposite directions.

[0012] Preferably, a lifting plate is slidably connected to the counterweight box in the vertical direction. The counterweight box has multiple sets of connecting holes that communicate with the top surface of the rolling groove. Multiple sets of brake pads are fixedly connected to the bottom surface of the lifting plate. The brake pads are slidably connected to the inner wall of the connecting holes in the vertical direction. A tension spring is fixedly connected to the bottom surface of the lifting plate and fixedly connected to the inner wall of the counterweight box, which facilitates the limiting control of the movement state of the counterweight box.

[0013] Preferably, two sets of shovels are slidably connected in the counterweight box along the horizontal direction. The two sets of shovels are located on both sides of the lifting plate. The bottom slope of the shovel can lift the lifting plate. The electric clamping block can push the shovel to slide horizontally during the clamping process, so as to release the limiting state of the rolling ball when the counterweight box moves with the vehicle body.

[0014] Preferably, an arc-shaped baffle is fixedly connected to the bottom surface of the connecting plate, which facilitates the full folding of the side of the support wheel to sense the position of the obstacle.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention provides an automated picking and unloading device based on an unmanned transport vehicle (ARTV), which solves the problem that existing ARTV-based automated picking and unloading devices are not flexible and efficient in adjusting the center of gravity, affecting loading, unloading, and transportation efficiency. By controlling the lifting, rotation, and sliding of the forks through the loading and unloading mechanism, the device completes the automated picking and unloading of goods. During the switching of the fork orientation, the rotation angle of the turntable is adjusted in conjunction with the device. The counterweight mechanism allows the counterweight box to slide towards the side away from the goods, and simultaneously controls the support wheels to move towards the goods to provide support, improving the stability of the vehicle body during the loading and unloading process. At the same time, the counterweight box can be unloaded from the guide groove when the goods are loaded and unloaded, reducing energy consumption during the vehicle's movement. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a partial structural diagram of the loading and unloading mechanism of the present invention;

[0019] Figure 3 This is a partial structural diagram of the counterweight mechanism of the present invention;

[0020] Figure 4 This is a partial structural diagram of the driving component of the present invention;

[0021] Figure 5 This is a partial structural exploded view of the counterweight mechanism of the present invention;

[0022] Figure 6 for Figure 5 Enlarged view of region A in the middle;

[0023] Figure 7 This is a partial structural cross-sectional view of the counterweight mechanism of the present invention;

[0024] Figure 8 for Figure 7 Enlarged view of region B in the middle;

[0025] Figure 9 for Figure 7 Enlarged view of region C;

[0026] Figure 10 This is a partial structural diagram of the counterweight box of the present invention;

[0027] Figure 11 This is a partial structural diagram of the control component of the present invention;

[0028] Figure 12 for Figure 11 Enlarged view of region D in the middle.

[0029] In the diagram: 1-Vehicle body; 2-Drive wheel; 3-Forks; 4-Rotating table; 5-Guide groove; 6-Counterweight box; 7-Support wheel; 8-Drive rod; 9-Rolling groove; 10-Ball; 11-Clamping groove; 12-Electric clamping block; 13-Connecting groove; 14-Rotating disk; 15-Scissor lift; 16-Lifting platform; 17-Guide frame; 18-Sliding rod; 19-First threaded rod; 20-Connecting shaft; 21-Drive plate; 22-Fixed... 23-Fixed frame; 24-Sliding plate; 25-First spring; 26-Connecting plate; 27-Device groove; 28-Helical toothed block; 29-Second spring; 30-Trapezoidal block; 31-Drive block; 32-Second threaded rod; 33-Gear belt; 34-Transmission wheel; 35-First toothed groove; 36-Second toothed groove; 37-Lifting plate; 38-Connecting hole; 39-Brake pad; 40-Tension spring; 41-Shovel plate; 42-Arc-shaped baffle. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1-10This invention provides a technical solution: an automated picking and unloading device based on an unmanned transport vehicle, comprising a vehicle body 1, a loading and unloading mechanism, and a counterweight mechanism. The bottom of the vehicle body 1 is equipped with multiple sets of drive wheels 2. The loading and unloading mechanism includes forks 3 mounted on top of the vehicle body 1. The loading and unloading mechanism can control the lifting, rotating, and sliding of the forks 3 to complete the automated picking and unloading operations of goods. The counterweight mechanism includes a rotating platform 4 rotatably connected to the bottom surface of the vehicle body 1. The bottom surface of the rotating platform 4 has a guide groove 5, within which a counterweight box 6 and support wheels 7 are located. The counterweight mechanism can adjust the rotation angle of the rotating platform 4 in conjunction with the fork 3's orientation during switching, allowing the counterweight box 6 to slide towards the side away from the goods, and simultaneously controlling the support wheels 7 to move towards the goods for support, improving the stability of the vehicle body 1 during loading and unloading. Simultaneously, the counterweight box 6 can be unloaded from the guide groove 5 when loading and unloading is complete, reducing energy consumption during the vehicle body 1's movement.

[0032] Please see Figures 1-4 The loading and unloading mechanism shown in the figure also includes a rotating disk 14 rotatably connected to the top surface of the vehicle body 1. A scissor lift 15 is provided on the rotating disk 14. A lifting platform 16 is provided at the top of the scissor lift 15. Guide frames 17 are fixedly connected to both sides of the lifting platform 16. A sliding rod 18 is slidably connected inside the guide frame 17. The forks 3 are fixedly installed on the sliding rod 18. A first threaded rod 19 that can rotate is provided inside the guide frame 17. The first threaded rod 19 passes through the sliding rod 18 and is threadedly connected to the sliding rod 18. The vehicle body 1 can control the rotation direction of the rotating disk 14. A connecting shaft 20 is coaxially fixedly connected to the bottom of the rotating disk 14. The bottom of the connecting shaft 20 is coaxially fixedly connected to the top surface of the rotating platform 4.

[0033] Please see Figures 3-12The counterweight mechanism shown in the figure also includes two sets of drive rods 8 that are slidably connected to the inner wall of the guide groove 5. Multiple sets of rolling grooves 9 are provided at the bottom of the counterweight box 6, with rolling balls 10 connected within each groove. A clamping groove 11 is provided on the side of the counterweight box 6. An electric clamping block 12 is provided on the drive rods 8 to clamp and fix the clamping groove 11. Four sets of connecting grooves 13 are provided at the bottom of the vehicle body 1 that communicate with the guide groove 5. A control component for controlling the movement of the counterweight box 6 and the support wheel 7 is provided within the guide groove 5. 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 horizontally within the fixed frame 22. The bottom surface of the sliding plate 23 is rotatably connected to the support wheel 7, and the side surface of the sliding plate 23 is fixedly connected to... A first spring 24 is fixedly connected to the fixed frame 22. The rotating table 4 is provided with a driving component for driving the driving plate 21 and the driving rod 8 to move. The control component also includes a connecting plate 25 installed in the sliding plate 23. An arc-shaped baffle 42 is fixedly connected to the bottom surface of the connecting plate 25. A device groove 26 is opened in the sliding plate 23. 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. Multiple sets of oblique tooth grooves 27 are evenly opened on the inner wall of the fixed frame 22. 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 slidably 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 on the inclined surface is fixedly connected on the connecting plate 25.

[0034] Please see Figures 4-10 The driving components shown in the figure include a driving block 31 fixedly mounted on a driving plate 21, a rotating table 4 with a second threaded rod 32 capable of rotation, the second threaded rod 32 passing through the driving block 31 and threadedly connected to the driving block 31, and a transmission component in the guide groove 5 for synchronously controlling the driving rod 8 and the driving plate 21 to move in opposite directions. The transmission component includes two sets of gear belts 33 installed in the guide groove 5, and four sets of transmission wheels 34 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 driving plate 21 has a first tooth groove 35 that meshes with the gear belt 33, and the side of the driving rod 8 has a second tooth groove 36 that meshes with the gear belt 33.

[0035] Please see Figures 3-9In the diagram, a lifting plate 37 is slidably connected to the counterweight box 6 in the vertical direction. The counterweight box 6 has multiple sets of connecting holes 38 that communicate with the top surface of the rolling groove 9. 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 holes 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. Two sets of shovels 41 are slidably connected to the counterweight box 6 in the horizontal direction. The two sets of shovels 41 are located on both sides of the lifting plate 37. The inclined surface at the bottom end of the shovels 41 can lift the lifting plate 37. The electric clamping block 12 can push the shovels 41 to slide horizontally during the clamping process.

[0036] Working principle: During use, the vehicle body 1 controls the drive wheel 2 to move the upper fork 3 to the desired position. By controlling the orientation of the rotating disc 14, the tips of the forks 3 are directed towards the cargo. At this time, the rotating disc 14 drives the connecting shaft 20 to synchronously adjust the orientation of the rotating platform 4, so that the support wheel 7 is on the side closer to the cargo and the counterweight box 6 is on the side farther away from the cargo. The support wheel 7 uses casters, which can roll flexibly when the rotating platform 4 rotates. The multiple sets of balls 10 at the bottom of the counterweight box 6 can also roll freely inside the rolling groove 9, improving the counterweight. The supporting force of box 6 also makes the movement direction of counterweight box 6 more flexible. By controlling the scissor lift 15 to adjust the height of the lifting platform 16, the forks 3 are aligned with the bottom of the goods. Then, the first threaded rod 19 is controlled to rotate, driving the sliding rod 18 to push the forks 3 to slide into the bottom of the goods or into the pallet at the bottom of the goods. At this time, the second threaded rod 32 rotates synchronously, driving the drive block 31 and drive plate 21 to move to one side of the goods. The drive plate 21 drives the gear belt 33 to rotate through the first tooth groove 35 on the side. The belt 33 drives the second tooth groove 36, causing the drive rod 8 to slide away from the cargo, thus bringing the support wheel 7 closer to the cargo and the counterweight box 6 away from the cargo. Both the support wheel 7 and the counterweight box 6 slide into the connecting groove 13. When the drive plate 21 pushes the fixed frame 22 and the sliding plate 23 to move towards the cargo, if there is no obstruction at the front end, the support wheel 7 will continue to move towards the cargo to a set distance. The sliding plate 23 is limited by the helical tooth block 28 on the helical tooth groove 27 and will not slide within the fixed frame 22. It is limited by the limiting block inside the fixed frame 22, thus... The sliding plate 23 also cannot slide out of the fixed frame 22. At this time, the position of the sliding plate 23 and the support wheel 7 is relatively fixed. When the scissor lift 15 continues to move upward, the fork 3 moves upward to lift the goods. At this time, the whole will form a lever with the support wheel 7 as the axis. The distance between the goods and the support wheel 7 is the power arm, and 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 a certain distance to the side of the goods, the power arm is shortened and the resistance arm is extended, which reduces the required weight of the counterweight box 6 and more effectively improves the stability of the equipment during the lifting process.

[0037] After the goods are lifted, the first threaded rod 19 rotates in the opposite direction, moving the forks 3 and the goods directly above the vehicle body 1. Then, the second threaded rod 32 also rotates in the opposite direction, moving the counterweight box 6 and the support wheel 7 completely into the guide groove 5. After that, the turntable 4 continues to rotate, and the counterweight box 6 and the support wheel 7 will not obstruct the rotation of the turntable 4. The forks 3 can be adjusted in orientation, and the position of the counterweight box 6 and the support wheel 7 can be adjusted synchronously. When unloading, the counterweight box 6 and the support wheel 7 are first slid out to both sides, then the forks 3 are controlled to extend and move down in the required direction to place the goods. Then the forks 3 are retracted, and finally the counterweight box 6 and the support wheel 7 are retracted.

[0038] It is worth noting that when the support wheel 7 slides out towards the cargo side, if the arc-shaped baffle 42 comes into contact with an object, it will affect the continued 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 within the device groove 26. The connecting plate 25 will drive the inclined surface of the trapezoidal block 30 to push the helical tooth block 28 to slide horizontally, compressing the second spring 29, so that the helical tooth blocks 28 on both sides slide out of the helical tooth groove 27, releasing the limit. After that, as the drive plate 21 continues to slide, the positions of the arc-shaped baffle 42 and the support wheel 7 remain unchanged. The sliding plate 23 slides horizontally within the fixed frame 22, compressing the first spring 24, without affecting the continued sliding out of the counterweight box 6 on the other side. Since there may be cargo blocking the side near the cargo, while the side away from the cargo is generally a passage, the sliding out of the counterweight box 6 is generally not obstructed. This device can ensure that Both the support wheel 7 and the counterweight box 6 extend to their maximum extent to improve the stability of the vehicle body 1 during loading and unloading. During reset, the drive plate 21 slides in the opposite direction, and the obstacle gradually releases its resistance to the arc-shaped baffle 42. Under the push of the first spring 24, the sliding plate 23 slides in the opposite direction to one end of the fixed frame 22 to complete the reset and limit fixation. At this time, the inclined surface of the helical tooth block 28 and the inclined surface of the helical tooth groove 27 continuously slide against each other, which will not affect the sliding reset of the sliding plate 23. The compression of the first spring 24, the second spring 29 and the tension spring 40 is small and the service life is long. The fatigue number of compression can reach about 5 million times. After a certain number of uses, maintenance and replacement can be performed without affecting the overall use of the equipment. The rotation of the rotating table 4 and the rotation state of the first threaded rod 19 and the second threaded rod 32 are flexibly controlled by different motors inside the machine body.

[0039] In use, the counterweight box 6 inside the device is detachable. Multiple counterweight boxes 6 with different weights are placed at the loading and unloading positions. The counterweight boxes 6 have the same shape but different internal weights. When the goods are transported directly above the vehicle body 1, the vehicle body 1 first carries the counterweight box 6 to the required placement position, and then the rotating platform 4 rotates the counterweight box 6 to the opposite side of the driving direction. The electric clamping blocks 12 on both sides are controlled to contact the clamping slots 11 for clamping. The tension spring 40 pulls back, causing the lifting plate 37 to move down. The shovels 41 on both sides slide to the sides. The lifting plate 37 drives the brake pad 39 to move down and press against the top surface of the rolling ball 10 to achieve the function of automatic braking and positioning. The vehicle body 1 then continues to move forward, leaving the counterweight box 6 in place. This reduces the energy consumed in carrying the counterweight box 6 during transportation. When the goods are unloaded, the vehicle body 1 is controlled to move and align the counterweight box 6 with the connecting slot 13 and the guide slot 5 for insertion. The electric clamping is then used to... Block 12 clamps the clamping slot 11. The electric clamping block 12 pushes the shovels 41 on both sides to move towards the lifting plate 37. The inclined surface of the shovel 41 lifts the lifting plate 37 a short distance. The brake pad 39 moves upward to release the resistance to the ball 10. After that, the vehicle body 1 can carry the counterweight box 6 and move flexibly to the unloading position. Different weight counterweight boxes 6 can be selected for docking and use for goods of different weights. At the same time, for some scenarios with long transfer distances, this device can effectively reduce the large amount of energy consumed by the vehicle body 1 in carrying the counterweight box 6 during the transfer process, and improve the flexibility and energy-saving performance of the vehicle body 1. For some short-distance transfers, the vehicle body 1 can carry the counterweight box 6 together to achieve the transportation, reducing the disassembly and assembly steps of the counterweight box 6. The 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 with casters as needed to achieve the corresponding function.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is 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) to complete the automatic picking and unloading operation of the goods; The counterweight mechanism comprises a rotating table (4) rotatably connected to the bottom surface of the vehicle body (1), a guide groove (5) is formed in the bottom surface of the rotating table (4), a counterweight box (6) and a supporting wheel (7) are arranged in the guide groove (5), the counterweight mechanism can adjust the rotating angle of the rotating table (4) during the switching of the forks (3), so that the counterweight box (6) can slide away from the goods, and the supporting wheel (7) can be controlled to move and support the goods, thereby improving 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) after the loading and unloading of the goods is completed, the counterweight mechanism 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) are formed in the bottom of the counterweight box (6), rolling balls (10) are arranged in the rolling grooves (9), a clamping groove (11) is formed in the side surface of the counterweight box (6), and an electric clamping block (12) capable of clamping and fixing the clamping groove (11) is arranged on the driving rod (8), four groups of communication grooves (13) capable of being communicated with the guide groove (5) are formed in the bottom of the vehicle body (1), a control member for controlling the movement state of the counterweight box (6) and the supporting wheel (7) is arranged in the guide groove (5), the control member comprises a driving plate (21) slidably connected to the inner wall of the guide groove (5), a fixed frame (22) is fixedly connected to the bottom surface of the driving plate (21), a sliding plate (23) is slidably connected to the fixed frame (22) in the horizontal direction, the bottom surface of the sliding plate (23) is rotatably connected with the supporting wheel (7), the side surface of the sliding plate (23) is fixedly connected with a first spring (24) fixedly connected with the fixed frame (22), a driving member for driving the driving plate (21) and the driving rod (8) to move is arranged in the rotating table (4), the control member further comprises a connecting plate (25) arranged in the sliding plate (23), a device groove (26) is formed in the sliding plate (23), the connecting plate (25) can reciprocally slide in the horizontal direction in the device groove (26) and cannot completely separate from the device groove (26), a plurality of inclined tooth grooves (27) are uniformly formed in the inner wall of the fixed frame (22), two groups of inclined tooth blocks (28) capable of being one-way clamped with two groups of the inclined tooth grooves (27) on the two sides are slidably connected in the device groove (26), a second spring (29) is fixedly connected between the two groups of inclined tooth blocks (28), a trapezoidal block (30) capable of sliding the inclined surface position of the inclined tooth block (28) is fixedly connected to the connecting plate (25), a lifting plate (37) is slidably connected in the vertical direction in the counterweight box (6), a plurality of communication holes (38) communicated with the top surfaces of the rolling grooves (9) are formed in the counterweight box (6), a plurality of brake pads (39) are fixedly connected to the bottom surface of the lifting plate (37),The brake pad (39) is connected with the inner wall of the communication hole (38) in the vertical direction, and the bottom surface of the lifting plate (37) is fixedly connected with the tension spring (40) fixedly connected with the inner wall of the counterweight box (6).

2. 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 to the top surface of the vehicle body (1), a scissor lift (15) is arranged on the rotating disc (14), a lifting platform (16) is arranged at the top end of the scissor lift (15), guide frames (17) are fixedly connected to the two sides of the lifting platform (16), sliding rods (18) are slidably connected in the guide frames (17), the fork (3) is fixedly installed on the sliding rods (18), a first threaded rod (19) capable of rotating is arranged in the guide frame (17), the first threaded rod (19) penetrates 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), a connecting shaft (20) is coaxially fixedly connected to the bottom of the rotating disc (14), and the bottom of the connecting shaft (20) is coaxially fixedly connected with the top surface of the rotating table (4).

3. The automatic loading and unloading equipment based on the unmanned carrier according to claim 1, characterized in that: The driving member includes a driving block (31) fixedly installed on the driving plate (21), a second threaded rod (32) capable of rotating is arranged on the rotating table (4), the second threaded rod (32) penetrates the driving block (31) and is threadedly connected with the driving block (31), and 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.

4. The automatic loading and unloading equipment based on the unmanned carrier according to claim 3, characterized in that: The transmission member includes 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 connection with two groups of transmission wheels (34), first tooth grooves (35) in meshing connection with the gear belts (33) are formed in the side surface of the driving plate (21), and second tooth grooves (36) in meshing connection with the gear belts (33) are formed in the side surface of the driving rod (8).

5. The automatic loading and unloading equipment based on the unmanned carrier according to claim 1, characterized in that: Two groups of shovel plates (41) are slidably connected in the counterweight box (6) in the horizontal direction, and the two groups of shovel plates (41) are respectively located on the two sides of the lifting plate (37); the bottom 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 during clamping.

6. The automated pick-up and drop-off equipment based on the unmanned carrier according to claim 1, characterized in that: The bottom surface of the connecting plate (25) is fixedly connected with an arc-shaped baffle (42).

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