Object pick-up system and heavy roller type object pick-up head and light chain type object pick-up head used for object pick-up system

Abstract

The utility model discloses an object pick-up system, a heavy roller type object pick-up head and a light chain type object pick-up head, wherein the heavy roller type object pick-up head and the light chain type object pick-up head are used for the system. The object pick-up head comprises a light object pick-up head and a heavy object pick-up head. The object picking head is used for grabbing objects of different sizes and random shapes and grabbing the objects from the surface and conveying the objects to an object collecting box of the object picking system, and the object picking head is connected to the object collecting box through an adjustable supporting assembly. Each object picking head is provided with three blocks including an upper block, a lower left block and a lower right block. The left lower block and the right lower block are connected with each other through a lower block bracket with an angle and connected with the adjustable supporting assembly. The upper block is connected to the lower block through a spring hinge, so that the upper block is pushed towards the lower block to grasp an object in the middle of the upper block. The light object pick-up head is a chain type pick-up head, and the heavy object pick-up head is a roller type pick-up head.

Description

Technical Field

[0001] The utility model relates to the field of object picking and transportation, in particular to an object picking head used in an object picking system. Background Art

[0002] Generally speaking, common object picking systems currently available are integrated or split. For example, excavators and dump trucks used for loading and transporting soil in agricultural and construction applications, heavy cranes used for loading and transporting debris in construction applications, motorized lifts used for lifting and placing goods in shipping and transportation applications, and manually controlled object picking systems that can be mounted on ground vehicles, such as the system shown in U.S. patent application US2022 / 0007560 A1 published by Frei et al. on January 13, 2022. However, these object picking systems all have some limitations. Among them, one limitation is that the object picking head often causes damage to the object when grabbing the picked object. Although this is not a problem in soil and rock debris applications, in other applications, the objects may be fragile and valuable, such as when the picked objects are tools, electronic equipment, mechanical components, etc. Another limitation is that these systems cannot grasp and transfer objects of different sizes and random shapes from a surface (such as the ground) to an object collection box.

[0003] Therefore, an object picking head for an object picking system is needed to solve the above problems. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide an object picking head for an object picking system, so that it can at least solve part of the above problems.

[0005] To solve the above technical problems, the object picking head for an object picking system provided by the utility model includes multiple embodiments, including a light object picking head and a heavy object picking head. The object picking head can be part of an object picking system, used to grab objects of different sizes and random shapes and transfer them from a surface (e.g., the ground) to an object collection box of the object picking system. In one embodiment, the object picking system includes a wheeled base for supporting the object collection box and moving around the surface to place the object picking head in an appropriate position for grabbing the object. One or more wheels of the wheeled base can be powered by a motor, and the wheeled base can be a parallel self-propelled system known in the prior art. A folding operating table assembly can be connected to the wheeled base structure to support an operator in a sitting or standing position. The operating table assembly includes an operating control assembly for manually controlling various components of the object picking system. The folding operating table assembly can be folded (rotated) upward to allow the operator to walk behind the object picking system while operating the operating control assembly. One or more light and / or heavy object picking heads can be connected to the object picking system.

[0006] The object picking head for the object picking system can be used with or without the above-mentioned object picking system. The object picking head can grab objects from a first surface (e.g., ground, first container, or first conveyor belt) and transport them to another surface (e.g., ground, second container, or second conveyor belt). Both light and heavy object picking heads can be connected to the container / system using an adjustable support assembly to raise, lower, and tilt relative to the container / system. Both light and heavy object picking heads have three blocks, including an upper block and a lower block, and the lower block includes a lower left block and a lower right block. The lower block is connected to the adjustable support assembly and connected to each other by an angled lower block bracket, forming a "groove" between the lower blocks. The upper block is connected to one of the lower blocks by a spring hinge so that the upper block is pushed to the lower block to grip the object therebetween.

[0007] The light object picking head is a chain-based picking head, comprising an upper chain block and a lower chain block, wherein the lower chain block comprises a left lower chain block and a right lower chain block. The upper chain block comprises two chains mounted on a driving sprocket and an idler sprocket. The driving sprocket is mounted on a drive shaft driven by a rotary actuator. As used herein, non-limiting examples of rotary actuators include electric motors and hydraulic motors. Each link of the chain comprises two relatively extending chain side flanges connected thereto to increase the surface area of ​​the chain block in contact with the object gripped between the chain blocks.

[0008] The heavy object picking head is a roller or disc based picking head, including an upper roller block and a lower roller block, and the lower roller block includes a lower left roller block and a lower right roller block. Each roller block includes a plurality of relatively thin rollers or discs driven by a roller drive. Each roller includes roller teeth around its periphery for engaging an object. The roller teeth are inclined in the direction in which the object is pushed (the rear of the object picking head). The roller blocks can be belt driven, connecting rod driven or gear driven.

[0009] Specifically, the utility model provides a heavy-duty roller-type object picking head for an object picking system, comprising:

[0010] An upper roller block having a plurality of first object conveying rollers;

[0011] A lower left roller block having a plurality of second object conveying rollers;

[0012] a lower right roller block having a plurality of third object transfer rollers; and

[0013] at least two roller drivers for driving a plurality of first, second and third object transport rollers;

[0014] wherein: the lower right roller block is connected to the lower left roller block via an angle bracket, thereby forming a groove between the lower right roller block and the lower left roller block; and

[0015] The upper roller block is connected to one of the lower roller blocks by at least one spring hinge so that the upper roller block is pushed toward the lower roller block to clamp an object therebetween.

[0016] A further improvement, wherein: a plurality of first object conveying rollers extend between other plurality of first object conveying rollers to form a staggered arrangement;

[0017] A plurality of second object conveying rollers extend between other plurality of second object conveying rollers to form a staggered arrangement; and

[0018] A plurality of third object conveying rollers extend between other plurality of third object conveying rollers to form a staggered arrangement.

[0019] Further improvement, the upper roller block comprises:

[0020] First front plate;

[0021] First rear plate;

[0022] a plurality of first drive shafts extending through a plurality of first bushings in the first front plate and the first rear plate; wherein a plurality of first object transfer rollers are mounted on the plurality of first drive shafts in an axially spaced relationship; and

[0023] The at least two roller drives include a first roller drive for driving a plurality of first drive shafts;

[0024] The lower left roller block comprises:

[0025] Second front plate;

[0026] Second rear plate;

[0027] a plurality of second drive shafts extending through a plurality of second bushings in the second front plate and the second rear plate; wherein a plurality of second object transfer rollers are mounted on the plurality of second drive shafts in an axially spaced relationship; and

[0028] The at least two roller drives include a second roller drive for driving a second plurality of drive shafts; and

[0029] The lower right roller block comprises:

[0030] third front plate;

[0031] The third rear plate;

[0032] a plurality of third drive shafts passing through a plurality of third bushings in the third front plate and the third rear plate; wherein a plurality of third object transfer rollers are mounted on the plurality of third drive shafts in an axially spaced relationship; and

[0033] The at least two roller drives include a third roller drive for driving a plurality of third drive shafts.

[0034] A further improvement, wherein: a roller in one first drive shaft extends between two rollers on a first drive shaft adjacent to the first drive shaft, forming a staggered installation arrangement of the rollers;

[0035] The roller in one second drive shaft extends between two rollers on a second drive shaft adjacent to the second drive shaft, forming a staggered roller installation arrangement; and

[0036] The roller in one third drive shaft extends between two rollers on a third drive shaft adjacent to the third drive shaft, forming a staggered roller installation arrangement.

[0037] In a further improvement, each of the plurality of first object conveying rollers includes an outer periphery and a plurality of first roller teeth surrounding the outer periphery; and

[0038] Each of the plurality of second object transfer rollers includes an outer periphery and a plurality of second roller teeth surrounding the outer periphery;

[0039] Each of the plurality of third object transport rollers includes an outer periphery and a plurality of third roller teeth surrounding the outer periphery;

[0040] Each of the plurality of first, second and third roller teeth is inclined toward a direction in which an object will be pushed by the object picking head.

[0041] As a further improvement, the upper roller block, the lower left roller block and the lower right roller block are all belt-driven.

[0042] As a further improvement, the upper roller block, the lower left roller block and the lower right roller block are all connected by connecting rod transmission.

[0043] As a further improvement, the upper roller block, the lower left roller block and the lower right roller block are all gear-driven.

[0044] As another improvement of the utility model, the utility model also provides a light chain-type object picking head for an object picking system, comprising: an upper chain block, comprising:

[0045] a first drive shaft;

[0046] A first driving sprocket mounted on the first drive shaft;

[0047] a second driving sprocket mounted on the first drive shaft;

[0048] a plurality of first idler sprockets;

[0049] a plurality of second idler sprockets;

[0050] A first object conveying chain mounted on a first driving sprocket and a plurality of first idle sprockets;

[0051] A second object conveying chain mounted on the second driving sprocket and the plurality of second idler sprockets; and

[0052] a first chain drive for driving a first drive shaft;

[0053] The lower left chain block includes:

[0054] A third drive shaft;

[0055] a third driving sprocket mounted on the third drive shaft;

[0056] a plurality of third idler sprockets; and

[0057] A third object conveying chain mounted on the third driving sprocket and the plurality of third idler sprockets; and

[0058] The lower right chain block includes:

[0059] Fourth drive shaft;

[0060] a fourth driving sprocket mounted on a fourth drive shaft;

[0061] a plurality of fourth idler sprockets;

[0062] a fourth object conveying chain mounted on a fourth driving sprocket and a plurality of fourth idler sprockets; and wherein:

[0063] The right lower chain block is connected to the left lower chain block by an angle bracket so that a groove is formed between the right lower chain block and the left lower chain block; the upper chain block is connected to one of the lower chain blocks by at least one spring hinge so that the upper chain block is pushed toward the lower chain block to clamp an object therebetween; and

[0064] The object picking head also includes at least one second chain drive device for driving the third drive shaft and the fourth drive shaft.

[0065] As a further improvement, the first chain drive device and at least one second chain drive device use rotary actuators.

[0066] In a further improvement, the first object conveying chain includes a plurality of first chain links;

[0067] The second object conveying chain includes a plurality of second chain links;

[0068] The third object conveying chain includes a plurality of third chain links; and

[0069] The fourth object conveying chain includes a plurality of fourth chain links;

[0070] Each of the plurality of first links, second links, third links and fourth links includes two oppositely extending chain side flanges connected thereto.

[0071] As another improvement of the utility model, the utility model also provides an object picking system, comprising: an object collection box; and

[0072] At least one object picking head for grabbing objects and conveying the objects to an object collection box, the at least one object picking head comprising a heavy-duty roller-type object picking head, the heavy-duty roller-type object picking head comprising:

[0073] An upper roller block having a plurality of first object conveying rollers;

[0074] A lower left roller block having a plurality of second object conveying rollers;

[0075] a lower right roller block having a plurality of third object transfer rollers; and

[0076] at least two roller drivers for driving a plurality of first, second and third object transport rollers;

[0077] wherein: the lower right roller block is connected to the lower left roller block via an angle bracket, thereby forming a groove between the lower right roller block and the lower left roller block; and

[0078] The upper roller block is connected to one of the lower roller blocks by at least one spring hinge so that the upper roller block is pushed toward the lower roller block to clamp an object therebetween.

[0079] Further improvement, the at least one object picking head also includes a light chain object picking head, and the light chain object picking head includes:

[0080] An upper chain block having a first object conveying chain;

[0081] a lower left chain block having a second object conveying chain; and

[0082] The lower right chain block has a third object conveying chain.

[0083] Further improvement, the at least one object picking head also includes a second heavy-duty roller-type object picking head, and the second heavy-duty roller-type object picking head includes:

[0084] a second upper roller block having a plurality of fourth object conveying rollers;

[0085] A second lower left roller block having a plurality of fifth object conveying rollers;

[0086] The second lower right roller block has a plurality of sixth object conveying rollers.

[0087] A further improvement is that: a plurality of first object conveying rollers extend between other plurality of first object conveying rollers to form a staggered arrangement.

[0088] A plurality of second object conveying rollers extend between other plurality of second object conveying rollers to form a staggered arrangement; and

[0089] A plurality of third object conveying rollers extend between other plurality of third object conveying rollers to form a staggered arrangement.

[0090] A further improvement also includes a wheeled base having a base cover that supports the object collection box.

[0091] A further improvement also includes an electrically controlled clutch connecting the wheeled base to the base cover.

[0092] A further improvement further includes an operating table assembly having an operating control assembly, wherein the operating table assembly is connected to the base cover.

[0093] A further improvement further includes an adjustable support assembly for raising, lowering and tilting the at least one object picking head relative to the object collection box.

[0094] The above and other features of this patent will be further described in the following specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0096] Figure 1 It is an environmental isometric left front view of the first embodiment of the object picking system of the present invention.

[0097] Figure 2 yes Figure 1 Isometric right front view of the environment of the object picking system.

[0098] Figure 3 It is an environmental isometric left side view of the second embodiment of the object picking system of the utility model (with a lightweight object picking head).

[0099] Figure 4 yes Figure 3 Isometric left front view of the object picking system environment.

[0100] Figure 5 It is an environmental isometric left front view of the third embodiment of the object picking system of the present invention (with a heavy-duty object picking head).

[0101] Figure 6 yes Figure 5 Isometric right front view of the environment of the object picking system.

[0102] Figure 7 yes Figure 1-4 Isometric top rear view of a medium to light object pickup head.

[0103] Figure 8 yes Figure 1-4 and an isometric upper right side view of the light object picking head in 7.

[0104] Fig. 9 yes Figure 1-2 and an isometric top-down rear view of the heavy object pickup head in 5-6.

[0105] Fig.10 yes Figure 1-2 and an isometric upper right side view of the heavy object picking head in 5-6.

[0106] Fig.11a yes Figure 1-2 and isometric side views of the internal components of a belt drive embodiment of a roller block of a heavy object picking head in 5-6.

[0107] Fig.11b yes Figure 1-2 and isometric side views of the internal components of the connecting rod transmission embodiment of the roller block of the heavy object picking head in 5-6.

[0108] Fig.11c yes Figure 1-2 and isometric side views of the internal components of the gear transmission embodiment of the roller block of the heavy object picking head in 5-6.

[0109] Fig.12 yes Figure 1-2 and an isometric side view of two gear-driven roller blocks connected in series of the heavy object picking head in 5-6.

[0110] Fig.13 yes Figure 1-2 Isometric left front view of the base cover and folding table assembly of the object picking system.

[0111] Fig.14 yes Figure 3-6 Isometric left front view of the base cover and folding table assembly of the object picking system.

[0112] Fig.15 yes Figure 1-6 Isometric left front view of the folding table assembly of the object picking system.

[0113] Fig.16a yes Fig.15 An isometric right front view of a folding operator station assembly of the invention, wherein the assembly is in a sit-down, ride-on operator configuration.

[0114] Fig.16b yes Fig.15 An isometric right front view of a folding operator station assembly of the invention, wherein the assembly is in a standing, riding operator configuration.

[0115] Fig.16c yes Fig.15 An isometric right front view of a folding operator station assembly of FIG. 1 , wherein the assembly is in a folded, walk-behind operator configuration.

[0116] Fig.17 yes Fig.15 Isometric left front view of the operator control assembly of the operator station assembly.

[0117] Fig.18a yes Figure 1-6 Isometric view of a parallel self-propelled system for an object picking system with its wheels in a parallel configuration.

[0118] Fig.18b yes Fig.18a Isometric view of a parallel self-propelled system with its wheels in a rotating-on-place configuration.

[0119] Like reference numerals denote corresponding features consistently throughout the drawings. DETAILED DESCRIPTION

[0120] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0121] Figure 1 and Figure 2 A first embodiment of an object picking system 100 having a light object picking head 104 and a heavy object picking head 106 is shown. The object picking system 100 includes an object collection box or cage 102 mounted on a system base 108. The system base 108 may include a plurality of powered and / or non-powered wheels 110 for moving the object picking system 100 along a surface such as a ground G. The object picking heads 104, 106 grasp an object O on the ground G and push it into the object collection box or cage 102, as described in detail below. An operating station assembly 112 is connected to the base 108 and includes an operating control assembly 114 for controlling various components of the object picking system 100. It should be noted that the light object picking head 104 and the heavy object picking head 106 can be used with any type of object collection box, whether fixed or movable, and the collection box of the above-mentioned object picking system 100 is only an example of a container for receiving objects from the object picking heads 104, 106. It should also be noted that when multiple pick-up heads are used, it is also contemplated that a combination of light and heavy pick-up heads may be used, and the system is not limited to using a single type of pick-up head.

[0122] Figure 3 and Figure 4 A second embodiment of an object picking system 300 having only a lightweight object picking head 104 is shown in FIG. The object picking system 300 includes an object collection box or cage 302 mounted on a system base 308. The system base 308 may include a plurality of powered and / or non-powered wheels 310 for moving the object picking system 300 along a surface. The lightweight object picking head 104 grabs objects on the ground and pushes them into the object collection cage 302, as described in detail below. An operating station assembly 312 is connected to the base 308 and includes an operating control assembly 314 for controlling the various components of the object picking system 300. It should be noted that the lightweight object picking head 104 can be used with any type of object collection box, which can be fixed or movable, and the collection box in the above-mentioned object picking system 300 is only an example of a container for receiving objects from the lightweight object picking head 104.

[0123] Figure 5 and Figure 6A third embodiment of an object picking system 500 having only a heavy object picking head 106 is shown in FIG. The object picking system 500 includes an object collection box or cage 502 mounted on a system base 508. The system base 508 may include a plurality of powered wheels and / or non-powered wheels 510 for moving the object picking system 500 along a surface. The heavy object picking head 106 grabs objects on the ground and pushes them into the object collection cage 502, as described in detail below. An operating station assembly 512 is connected to the base 508 and includes an operating control assembly 514 for controlling the various components of the object picking system 500. It should be noted that the heavy object picking head 106 can be used with any type of object collection box, which can be fixed or movable, and the collection box in the object picking system 500 described above is only an example of a container for receiving objects from the heavy object picking head 106.

[0124] Figure 7 and Figure 8 Details of the light object pickup head 104 are shown. The light object pickup head 104 is connected to the collection container using an adjustable support assembly. The support assembly includes an externally threaded support post 700 and a slide assembly 702. The externally threaded support post 700 extends through an internally threaded slide support ring 704 on the slide assembly 702. The support post drive actuator 706 drives the externally threaded support post 700 to raise and lower the slide assembly 702 relative to the receiver to which the externally threaded support post 700 and the support post drive actuator 706 are connected (as shown below). Fig.13 and Fig.14 ). The tiltable support frame 708 includes a lower frame 710 and an upper frame 712. The upper frame 712 is rotatably connected to the slide assembly 702 through two upper frame bushings 714. The lower frame 710 includes two support brackets 716. The tilt actuator 718 includes an upper end 720 rotatably connected to both sides of the slide assembly 702 and a lower end 722 rotatably connected to the support bracket 716. The tilt actuator driver 724 operates the tilt actuator 718 to extend or retract the lower end 722 relative to the upper end 720. In one embodiment, the tilt actuator 718 can be a screw and the tilt actuator driver 724 can be a rotary actuator, such as an electric motor or a pneumatic motor.

[0125] The light object picking head 104 is a chain-based picking head, comprising an upper chain block 726 and a lower chain block, wherein the lower chain block comprises a left lower chain block 736 and a right lower chain block 738. The left lower chain block 736 and the right lower chain block 738 are connected to the top of the tiltable support frame 708 by an angled lower chain block bracket 740. The bracket 740 keeps the left lower chain block 736 and the right lower chain block 738 at a relative angle. The upper chain block 726 is rotatably connected to the left lower chain block 736 by at least one spring hinge 800 mounted on the bracket 808. A plurality of spring hinges can be used. The spring hinge 800 comprises a spring 802 for pushing the upper chain block 726 toward the left lower chain block 736 and the right lower chain block 738, thereby clamping the object between the chain blocks 726, 736, 738.

[0126] The upper chain block 726 includes two chains 728 mounted on a driving sprocket 804 and a plurality of (four shown in the figure) idle sprockets 806. The driving sprocket 804 is mounted on a drive shaft 732 driven by an upper chain driver 734, which can be a rotary actuator, such as an electric or pneumatic motor, in one embodiment. Each link of the chain 728 includes two relatively extended chain side flanges 730 connected thereto to increase the surface area of ​​contact with the object gripped between the chain blocks 726, 736, 738. The lower left chain block 736 includes a single chain 750 with a chain side flange 752. Similarly, the lower right chain block 738 includes a single chain 742 with a chain side flange 744. The driving sprockets (not shown) of the lower left chain block 736 and the lower right chain block 738 are driven by a lower chain driver 746, which can be a rotary actuator, such as an electric or pneumatic motor, in one embodiment. In the illustrated embodiment, the drive shafts of the lower chain blocks 736, 738 are connected to each other via a universal joint 748 to allow both chains to be driven by a single lower chain drive 746. Alternatively, each lower chain block 736, 738 may include a separate chain drive, actuator or motor. Each chain discussed herein includes a plurality of corresponding links and side flanges.

[0127] Therefore, in summary, the upper chain block includes: a first drive shaft, a first driving sprocket and a second driving sprocket mounted on the first drive shaft, a plurality of first idle sprockets and a plurality of second idle sprockets, a first chain and a second chain mounted on each driving sprocket and the idle sprocket, and a first chain driver for driving the first drive shaft. Similarly, the lower left chain block includes: a third drive shaft, a third driving sprocket mounted on the third drive shaft, a plurality of third idle sprockets, and a third chain mounted on the third driving sprocket and the plurality of third idle sprockets. Similarly, the lower right chain block includes: a fourth drive shaft, a fourth driving sprocket mounted on the fourth drive shaft, a plurality of fourth idle sprockets, and a fourth chain mounted on the fourth driving sprocket and the plurality of fourth idle sprockets. The object picking head also includes at least one second chain driver for driving the third drive shaft and the fourth drive shaft.

[0128] Fig. 9 and Fig.10 Details of the heavy object pickup head 106 are shown. The heavy object pickup head 106 is connected to the collection container using an adjustable support assembly, similar to the light object pickup head 104. The support assembly includes an externally threaded support post 900 and a slide assembly 902. The externally threaded support post 900 extends through an internally threaded slide support ring 904 on the slide assembly 902. The support post drive actuator 906 drives the externally threaded support post 900 to raise and lower the slide assembly 902 relative to the receiver to which the externally threaded support post 900 and the support post drive actuator 906 are connected (see below). Fig.13 and Fig.14 ). The tiltable support frame 908 includes a lower frame 910 and an upper frame 912. The upper frame 912 is rotatably connected to the slide assembly 902 through two upper frame bushings 914. The lower frame 910 includes two support brackets 916. The tilt actuator 918 includes an upper end 920 rotatably connected to both sides of the slide assembly 902 and a lower end 922 rotatably connected to the support brackets 916. The tilt actuator driver 924 operates the tilt actuator 918 to extend or retract the lower end 922 relative to the upper end 920. In one embodiment, the tilt actuator 918 can be a screw and the tilt actuator driver 924 can be a rotary actuator, such as an electric or pneumatic motor.

[0129] The heavy object pick-up head 106 is a roller or disc based pick-up head including an upper roller block 926, a lower left roller block 936 and a lower right roller block 938. The lower left roller block 936 and the lower right roller block 938 are connected to the top of the tiltable support frame 908 by an angled lower sprocket bracket 940. The bracket 940 holds the lower left roller block 936 and the lower right roller block 938 at an angle relative to each other. The upper roller block 926 is rotatably connected to the lower left roller block 936 by a spring hinge 1000 mounted on the bracket 1008. The spring hinge 1000 includes a spring 1002 for pushing the upper roller block 926 toward the lower left roller block 936 and the lower right roller block 938, thereby grabbing objects between the blocks 926, 936, 938.

[0130] The upper roller block 926 includes a plurality of relatively thin rollers or discs 928 driven by an upper roller drive 934, as shown below. Fig.11a -c. Each roller 928 includes roller teeth 930 around its periphery. The roller teeth 930 are inclined toward the direction in which the object is pushed (the rear of the heavy object pickup head 106). Similarly, the lower left roller block 936 includes a plurality of relatively thin rollers or discs 950 driven by the lower left roller driver 948, as shown below Fig.11a-c. Each roller 950 includes roller teeth 952 around its periphery. The roller teeth 952 are angled toward the direction in which the object is being pushed (the rear of the heavy object pickup head 106). Like the other roller blocks, the lower right roller block 938 includes a plurality of relatively thin rollers or discs 942 driven by a lower right roller driver 946, as shown below Fig.11a -c. Each roller 942 includes roller teeth 944 around its periphery. The roller teeth 944 are inclined toward the direction in which the object is pushed (the rear of the heavy object pickup head 106). The roller blocks 926, 936, 938 can be belt, connecting rod or gear drive, as described below with respect to Fig.11a Each roller discussed herein comprises a plurality of rollers mounted on adjacent drive shafts in a staggered arrangement, and each roller comprises an outer periphery and a plurality of teeth surrounding the outer periphery.

[0131] In summary, the upper roller block of the heavy-duty roller object picking head includes: a first front plate, a first rear plate, a plurality of first drive shafts extending through a plurality of first sleeves in the first front plate and the first rear plate, a plurality of rollers mounted on the plurality of first drive shafts in an axially spaced relationship, and a first roller driver for driving the plurality of first drive shafts. Similarly, the lower left roller block includes: a second front plate, a second rear plate, a plurality of second drive shafts extending through a plurality of second sleeves in the second front plate and the second rear plate, a plurality of rollers mounted on the plurality of second drive shafts in an axially spaced relationship, and a second roller driver for driving the plurality of second drive shafts. Similarly, the lower right roller block includes: a third front plate, a third rear plate, a plurality of third drive shafts extending through a plurality of third sleeves in the third front plate and the third rear plate, a plurality of rollers mounted on the plurality of third drive shafts in an axially spaced relationship, and a third roller driver for driving the plurality of third drive shafts.

[0132] Fig.11a shows the internal components of a belt drive embodiment of a roller block, Fig.11b The internal components of the connecting rod transmission embodiment of the roller block are shown, Fig.11c The internal components of the gear transmission embodiment of the roller block are shown. All three embodiments include a rectangular front plate 1100 (for clarity, the front plate 1100 is not shown). Fig.11c 1100 and the rear plate 1102. A plurality of (four are shown) drive shafts 1104 extend through the bushings in the front plate 1100 and the rear plate 1102. Each drive shaft 1104 includes a plurality of (four are shown) rollers 1106 mounted thereon in an axially spaced manner. As shown, the rollers 1106 extend between the rollers 1106 mounted on adjacent drive shafts 1104 in a staggered arrangement. The rollers 1106 may include roller teeth 1108 as described above.

[0133] like Fig.11aAs shown, the belt drive roller block embodiment includes a plurality of (four) dual pulleys 1110 mounted on the outer ends of the drive shafts 1104. Three drive belts 1112 extend between adjacent dual pulleys 1110 so that driving any drive shaft 1104 causes all four drive shafts 1104 to be driven.

[0134] like Fig.11b As shown, the connecting rod drive roller block embodiment includes a plurality of (four) eccentrics 1114 mounted on the outer end of the drive shaft 1104. The eccentrics 1114 include radially offset pins 1116, each of which extends through a hole in a relatively flat connecting rod 1118. A drive pin 1120 extends through another hole in the connecting rod 1118 and can be driven by a drive eccentric, which in turn is driven by an actuator or electric motor, resulting in all four drive shafts 1104 being driven.

[0135] like Fig.11c As shown, the gear driven roller block embodiment includes a plurality of (four) drive gears 1122 mounted on the outer end of the drive shaft 1104. Three idler gears 1124 are mounted between adjacent drive gears 1122 so that all drive gears 1122 rotate in the same direction, such as a known gear system. A gear transmission 1126 is connected to one of the drive gears 1122 or the idler gears 1124 so that all drive gears and the drive shaft 1104 are driven.

[0136] Fig.12 Two gear driven roller blocks 1200 are shown connected in series. Although the roller blocks 1200 are shown as gear driven, they may alternatively be connecting rod driven or belt driven. As with the roller blocks previously described, the roller block 1200 includes a rectangular front plate 1202 and a rectangular rear plate (not shown). A plurality of (four shown) drive shafts 1204 extend through bushings in the front plate 1202 and the rear plate. Each drive shaft 1204 includes a plurality of (four shown) rollers 1206 mounted in an axially spaced manner. As shown, the rollers 1206 extend between the rollers 1206 mounted on adjacent drive shafts 1204 in a staggered arrangement. The rollers 1206 may include roller teeth 1208 as previously described. The drive shaft 1204 is driven by a gear drive 1212 via a drive gear 1210, as previously described with respect to the gear driven roller block embodiment, as Fig.11c12. In addition, the front plate 1202 and the rear plate include threaded holes 1214 adjacent to each of the four corners thereof. Two adjacent bottom corner holes of the front plate 1202 are shown to be connected to each other by a fixed link 1216 using bolts 1220, which extend through the holes in the fixed link 1216 and are screwed into the threaded holes 1214. Two adjacent top corner holes of the front plate 1202 are shown to be connected to each other by an adjustable link 1218 using bolts 1220, which extend through curved slots 1222 in the adjustable link 1218 and are screwed into the threaded holes 1214. The curved slots 1222 allow the distance between adjacent top corner holes to adjust the inclination of the roller block 1200 by loosening one of the bolts 1220, moving one roller block 1200 relative to the other roller block 1200, and then tightening the bolts 1220. If the opposite adjustment direction is desired, a fixed link 1216 may be used between adjacent top corner holes and an adjustable link 1218 may be used between two adjacent bottom corner holes.

[0137] Fig.13 Shows Figure 1 and 2 Details of the base cover 1300, folding table assembly 112, and operating control assembly 114 of the object picking system. Like the base 108, the base cover 1300 is generally circular, but other base and base cover shapes are possible. The base cover 1300 includes a circular center hole 1302 for the clutch 1816 to pass through, as shown below. Fig.18a -b described ( Fig.13 The clutch housing may be disposed relative to the base cover 1400 around the circular center hole 1302, such as Fig.14 The front portion of the base cover 1300 includes a right object picker support frame 1304 and a left object picker support frame 1306. The object picker support frames 1304, 1306 include a support frame top wall 1308, a support frame side wall 1310, and a support frame bottom wall 1312. The center hole 1314 in the bottom wall 1312 allows the external threaded support column to pass through such as Fig.14 As shown, the column 700, 900 is fixed relative to the base cover 1400, and the support frame side wall 1310 engages the rear portion of the side wall of the slider assembly 702, 902 to prevent the slider assembly 702, 902 from rotating with the rotation of the support column 700, 900.

[0138] Fig.14Details of the base cover 1400, the folding operating table assembly 312, and the operating control assembly 314 of the object picking system are shown. The base cover 1400 is substantially similar to the base cover 1300 and includes a circular base cover 1400, a circular center hole 1402, and a clutch housing 1404. However, the base cover 1400 only includes a single object picking head support frame 1406 for supporting a light object picking head 104 or a heavy object picking head 106. The picking head support frame 1406 includes a support frame top wall 1408, a support frame side wall 1410, and a support frame bottom wall 1412. The center hole wall 1412 of the bottom wall allows the external threaded support column 700, 900 to pass through, while the support frame side wall 1410 engages with the rear of the side wall of the slide assembly 702, 902 to prevent the slide assembly 702, 902 from rotating when the support column 700, 900 is driven by the support column drive actuator 706, 906.

[0139] Fig.15 and Fig.16a -c shows the Figure 1-6 Detail of a folding operator table assembly 1500 for use with an object picking system of the present invention. The folding operator table assembly 1500 includes a folding operator support frame 1502 and an operator control assembly 1504. The operator control assembly 1504 is supported by a telescoping mechanism that includes a lower support rod 1506 and an upper telescoping support rod 1508 that telescopes in and out of the lower support rod 1506 to adjust the height of the operator control assembly 1504. The emergency shutoff button 1510 is pressed to remove power from all electrical components of the object picking system 100, 300, 500. The lower support rod 1506 extends through a hole in a rear protrusion 1512 of the base cover 1300, 1400 and includes a notch 1600 ( Fig.16c ), extending through the notch 1600 to the front U-shaped frame member 1514. The rear U-shaped frame member 1518 is rotatably connected to the front U-shaped frame member 1514 by a pivot pin 1532. The right operator support panel 1520 and the left operator support panel 1522 are supported on the inner panel support member 1524 and the outer panel support member 1528. When the rear U-shaped frame member 1518 is in a position such as Fig.15 and 16a -b, the rear end of the rear U-shaped frame member 1518 is supported on the ground by two non-powered casters 1516.

[0140] The inner panel support member 1524 is rotatably supported on the inner panel support member pivot rod 1526 and is rotatably connected to the corresponding support panel 1520, 1522, while the outer panel support member 1528 is rotatably supported on the outer panel support member pivot pin 1534 extending from the bottom of the pivot pin support piece 1530 and is rotatably connected to the corresponding support panel 1520, 1522. These arrangements form two parallelogram structures so that the right operator support panel 1520 and the left operator support panel 1522 remain horizontal regardless of their position. It should be noted that the outer panel support member pivot pin 1534 can be replaced by a single rod 1602, such as Fig.16a shown.

[0141] exist Fig.16a , the operator station assembly 1500 is shown in a sit-down, ride-on operator configuration. In this configuration, the inner panel support member 1524 and the outer panel support member 1528 are vertical, and the right operator support panel 1520 and the left operator support panel 1522 are in a raised position to support a seated operator. The rear end of the rear U-shaped frame member 1518 is supported on casters 1516 to allow the operator station assembly 1500 to follow the movement of the object picking system 100, 300, 500.

[0142] Fig.16b The operator station assembly 1500 is shown in a standing, riding operator configuration. In this configuration, the inner panel support member 1524 and the outer panel support member 1528 are horizontal, and the right operator support panel 1520 and the left operator support panel 1522 are in a lowered position to support a standing operator. As in the sitting configuration, the rear end of the rear U-shaped frame member 1518 is supported on casters 1516 to allow the operator station assembly 1500 to move with the object picking system 100, 300, 500.

[0143] Fig.16c The operator station assembly 1500 is shown in a folded, walk-behind operator configuration. In this configuration, the rear U-shaped frame member 1518 is rotated upward and out of the way to allow the operator to walk unimpeded behind the object picking system 100, 300, 500 while still being able to manipulate the operating control assembly 1504.

[0144] Fig.17 Shows Fig.15Detail of the operator control assembly 1504 of the operator station assembly 1500. The operator station assembly 1500 includes a handle bar 1700 with an end cap 1702. The right side of the handle bar 1700 includes a first right control toggle switch 1704, a second right control toggle switch 1706, a third right control toggle switch 1708, and a fourth right control toggle switch 1710, while the left side includes a first left control toggle switch 1712, a second left control toggle switch 1714, a third left control toggle switch 1716, and a fourth left control toggle switch 1718. In one embodiment, the right control toggle switches 1704, 1706, 1708, 1710 are used to control the light object picking head 104 and / or the heavy object picking head 106. For example, in the object picking system 100, the toggle switch 1704 can select either of the two picking heads 104, 106 to control. The toggle switch 1706 can raise and lower the selected pick head 104, 106 by energizing the associated support column drive actuator 706, 906. The toggle switch 1708 can adjust the tilt of the selected pick head 104, 106 by energizing the associated tilt actuator driver 724. The toggle switch 1710 can control the associated upper chain drive 734 and lower chain drive 746 or upper roller drive 934, lower right roller drive 946 and lower left roller drive 948. In one embodiment, the left toggle switch 1712, 1714, 1716, 1718 is used to control the movement of the object picking system 100, 300, 500, as described below with respect to the parallel self-propelled system 1806.

[0145] Fig.18a and 18b Shows Figure 1-6 Details of the parallel self-propelled system 1806 of the object picking system. Fig.18a and Fig.18b Also shown is a base cover 1800 having a center hole 1802 and a clutch housing 1804, similar to Fig.14 The base cover 1400 shown in FIG. The parallel self-propelled system 1806 includes a first upper bogie 1808 and a second upper bogie 1810. The upper bogies 1808 and 1810 are moved relative to each other by a frame movement actuator 1812. Fig.18a As shown, the wheels 1818 are maintained in a parallel configuration. The electric steering actuator 1814 moves the two frames together to steer all wheels 1818 in the desired direction simultaneously. By driving the frame to move the actuator 1812, as shown Fig.18bAs shown, the wheel 1818 remains in a rotating configuration in place and the electric steering actuator 1814 is not working. The lower X-frame 1820 is used to support four housings for the respective steering shafts of the wheel 1818. One or more wheels can be driven by an electric motor or other type of drive. More details of similar mechanisms of this parallel self-propelled system are in U.S. Patent US 9,789,902 B1 issued on October 17, 2017, U.S. Patent US10,800,030 B1 issued on October 13, 2020, and U.S. Patent US11,414,128 B1 issued on August 16, 2022, all of which are applications by Cui et al., and are hereby incorporated by reference in their entirety.

[0146] The electrically controlled clutch 1816 connects the parallel self-propelled system 1806 (or other type of wheeled base 108) and the base cover 1800. When the clutch 1816 is powered, the base cover 1800 and the rest of the object picking system 100, 300, 500 are locked to the wheeled base 108 and rotate and translate with it. When the clutch 1816 is powered off, the base cover 1800 and the rest of the object picking system 100, 300, 500 can rotate independently relative to the wheeled base 108. In the power-off state, the wheeled base 108 is driven in a specific direction, such as Figure 16a-16b When lowered as shown, the operator station assembly 112 will rotate to the rear of the wheeled base 108 to align with the direction of travel.

[0147] Refer to Fig.17 In one embodiment, the left toggle switch 1712 controls the electric motor to move in a forward or reverse direction (or when the wheels 1818 are in a clockwise / counterclockwise rotation configuration, Fig.18b 1818). The toggle switch 1712 may be variable so that the amount of movement of the toggle switch 1712 determines the speed of the drive wheel 1818. Fig.18a As shown, when the wheels 1818 are in the parallel configuration, the left toggle switch 1714 can control the electric steering actuator 1814 to turn the wheels 1818 in the desired direction. The toggle switch 1716 can be used to lock and unlock the clutch 1816, while the toggle switch 1718 can be used to control the frame movement actuator 1812 to turn the wheels 1818 in the parallel configuration ( Fig.18a ) and in-place rotation configurations ( Fig.18b ) to switch between parallel self-propelled systems 1806.

[0148] It should be understood that the object picking head for the object picking system is not limited to the specific embodiments described above, but covers any and all embodiments within the scope of the general language of the attached claims implemented by the embodiments described herein, and all embodiments of the subject matter claimed in this patent that are otherwise shown in the drawings or that can be made and used by a person of ordinary skill in the art.

Claims

1. A heavy-duty roller-type object picking head for an object picking system, characterized in that: include: An upper roller block having a plurality of first object conveying rollers; A lower left roller block having a plurality of second object conveying rollers; The lower right roller block has a plurality of third object conveying rollers; and at least two roller drivers for driving a plurality of first, second and third object transport rollers; Wherein: the lower right roller block is connected to the lower left roller block through an angle bracket, so that a groove is formed between the lower right roller block and the lower left roller block; and The upper roller block is connected to one of the lower roller blocks by at least one spring hinge so that the upper roller block is pushed toward the lower roller block to clamp an object therebetween.

2. The heavy-duty roller object picking head for an object picking system according to claim 1, characterized in that: in: A plurality of first object conveying rollers extend between other plurality of first object conveying rollers to form a staggered arrangement; A plurality of second object conveying rollers extend between the other plurality of second object conveying rollers to form a staggered arrangement; and A plurality of third object conveying rollers extend between other plurality of third object conveying rollers to form a staggered arrangement.

3. The heavy-duty roller object picking head for an object picking system according to claim 1, characterized in that: The upper roller block comprises: First front plate; First rear plate; a plurality of first drive shafts extending through a plurality of first bushings in the first front plate and the first rear plate; wherein a plurality of first object transfer rollers are mounted on the plurality of first drive shafts in an axially spaced relationship; and The at least two roller drives include a first roller drive for driving a plurality of first drive shafts; The lower left roller block comprises: Second front plate; Second rear plate; a plurality of second drive shafts extending through a plurality of second bushings in the second front plate and the second rear plate; wherein a plurality of second object transfer rollers are mounted on the plurality of second drive shafts in an axially spaced relationship; and The at least two roller drives include a second roller drive for driving a second plurality of drive shafts; and The lower right roller block comprises: third front plate; The third rear plate; a plurality of third drive shafts passing through a plurality of third bushings in the third front plate and the third rear plate; wherein a plurality of third object transfer rollers are mounted on the plurality of third drive shafts in an axially spaced relationship; and The at least two roller drives include a third roller drive for driving a plurality of third drive shafts.

4. The heavy-duty roller object picking head for an object picking system according to claim 3, characterized in that: in: The roller in one first drive shaft extends between two rollers on a first drive shaft adjacent to the first drive shaft, forming a staggered roller installation arrangement; The roller in one second drive shaft extends between two rollers on a second drive shaft adjacent to the second drive shaft, forming a staggered roller installation arrangement; and The roller in one third drive shaft extends between two rollers on a third drive shaft adjacent to the third drive shaft, forming a staggered roller installation arrangement.

5. The heavy-duty roller object picking head for an object picking system according to claim 3, characterized in that: Each of the plurality of first object transport rollers includes an outer periphery and a plurality of first roller teeth surrounding the outer periphery; and Each of the plurality of second object transfer rollers includes an outer periphery and a plurality of second roller teeth surrounding the outer periphery; Each of the plurality of third object transport rollers includes an outer periphery and a plurality of third roller teeth surrounding the outer periphery; Each of the plurality of first, second and third roller teeth is inclined toward a direction in which an object will be pushed by the object picking head.

6. The heavy-duty roller object picking head for an object picking system according to claim 3, characterized in that: The upper roller block, the lower left roller block and the lower right roller block are all belt-driven.

7. The heavy-duty roller object picking head for an object picking system according to claim 3, characterized in that: The upper roller block, the lower left roller block and the lower right roller block are all connected by connecting rod transmission.

8. The heavy-duty roller object picking head for an object picking system according to claim 3, characterized in that: The upper roller block, the lower left roller block and the lower right roller block are all gear-driven.

9. A light chain object picking head for an object picking system, characterized in that: include: On-chain blocks include: a first drive shaft; A first driving sprocket mounted on the first drive shaft; a second driving sprocket mounted on the first drive shaft; a plurality of first idler sprockets; a plurality of second idler sprockets; A first object conveying chain mounted on a first driving sprocket and a plurality of first idle sprockets; A second object conveying chain mounted on the second driving sprocket and the plurality of second idler sprockets; and a first chain drive for driving a first drive shaft; The lower left chain block includes: A third drive shaft; a third driving sprocket mounted on the third drive shaft; a plurality of third idler sprockets; and A third object conveying chain, mounted on a third driving sprocket and a plurality of third idle sprockets; and a right lower chain block comprising: Fourth drive shaft; a fourth driving sprocket mounted on a fourth drive shaft; a plurality of fourth idler sprockets; a fourth object conveying chain mounted on a fourth driving sprocket and a plurality of fourth idler sprockets; and wherein: The right lower chain block is connected to the left lower chain block by an angle bracket so that a groove is formed between the right lower chain block and the left lower chain block; the upper chain block is connected to one of the lower chain blocks by at least one spring hinge so that the upper chain block is pushed toward the lower chain block to clamp an object therebetween; and The object picking head also includes at least one second chain drive device for driving the third drive shaft and the fourth drive shaft.

10. The light chain object picking head for an object picking system according to claim 9, characterized in that: The first chain drive and at least one second chain drive employ rotary actuators.

11. The light chain object picking head for an object picking system according to claim 9, characterized in that: The first object conveying chain includes a plurality of first chain links; The second object conveying chain includes a plurality of second chain links; The third object conveying chain includes a plurality of third chain links; and The fourth object conveying chain includes a plurality of fourth chain links; Each of the plurality of first links, second links, third links and fourth links includes two oppositely extending chain side flanges connected thereto.

12. An object picking system, characterized in that: include: an object collection box; and At least one object picking head for grabbing objects and conveying the objects to an object collection box, the at least one object picking head comprising a heavy-duty roller-type object picking head, the heavy-duty roller-type object picking head comprising: An upper roller block having a plurality of first object conveying rollers; A lower left roller block having a plurality of second object conveying rollers; a lower right roller block having a plurality of third object transfer rollers; and at least two roller drivers for driving a plurality of first, second and third object transport rollers; wherein: the lower right roller block is connected to the lower left roller block via an angle bracket, thereby forming a groove between the lower right roller block and the lower left roller block; and The upper roller block is connected to one of the lower roller blocks by at least one spring hinge so that the upper roller block is pushed toward the lower roller block to clamp an object therebetween.

13. The object picking system according to claim 12, characterized in that: The at least one object picking head further comprises a light chain object picking head, the light chain object picking head comprising: An upper chain block having a first object conveying chain; a lower left chain block having a second object conveying chain; and The lower right chain block has a third object conveying chain.

14. The object picking system according to claim 12, characterized in that: The at least one object picking head further comprises a second heavy duty roller type object picking head, wherein the second heavy duty roller type object picking head comprises: a second upper roller block having a plurality of fourth object conveying rollers; A second lower left roller block having a plurality of fifth object conveying rollers; The second lower right roller block has a plurality of sixth object conveying rollers.

15. The object picking system according to claim 12, characterized in that: in: A plurality of first object conveying rollers extend between other plurality of first object conveying rollers to form a staggered arrangement. A plurality of second object conveying rollers extend between the other plurality of second object conveying rollers to form a staggered arrangement; and A plurality of third object conveying rollers extend between other plurality of third object conveying rollers to form a staggered arrangement.

16. The object picking system according to claim 12, characterized in that: Also included is a wheeled base having a base cover that supports the object collection bin.

17. The object picking system according to claim 16, characterized in that: Also included is an electronically controlled clutch connecting the wheeled base to the base cover.

18. The object picking system according to claim 17, characterized in that: Also included is an operator station assembly having an operator control assembly, the operator station assembly being connected to the base cover.

19. The object picking system according to claim 12, characterized in that: Also included is an adjustable support assembly for raising, lowering and tilting the at least one object picking head relative to the object collection box.

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