Front-end cargo grabbing and conveying mechanism of cargo loading and unloading equipment

Abstract

The utility model discloses a front end cargo grabbing and conveying mechanism of loading and unloading equipment, which comprises a mounting base, a vacuum chuck grabbing mechanism, a grabbing mechanism dragging component and a front conveying mechanism, the front conveying mechanism comprises a plurality of front conveying belts capable of synchronously rotating, and the front conveying belts are arranged along the conveying direction; the vacuum suction cup grabbing mechanism and the grabbing mechanism dragging assembly are installed at the front end and the rear end of the installation base correspondingly. The vacuum suction cup grabbing mechanism comprises a servo electric push rod, a rocker arm connecting rod support and a plurality of vacuum suction cups. The grabbing mechanism dragging assembly comprises a dragging motor, a driving screw, a sliding nut, a nut mounting base and a connecting rod. The rocker arm connecting rod support comprises a movable bottom plate, a sliding guide rail base, a plurality of suction cup installation bases and rocker arm connecting rod assemblies, the left side and the right side of the sliding guide rail base are slidably assembled on the left side and the right side of the movable bottom plate, and the end of the servo electric push rod is fixedly connected with the middle of the movable bottom plate.

Description

Technical Field

[0001] The utility model relates to the field of logistics transportation, and particularly relates to a front-end goods grasping and conveying mechanism for a loading and unloading device. Background Art

[0002] During the logistics transportation process, in order to protect products, products are usually placed in packaging boxes and then transported in a centralized manner by freight. Before and after transportation, each packaging box needs to be manually carried onto the vehicle or unloaded from the freight vehicle. Since manual loading and unloading is inefficient and the labor cost is high.

[0003] To solve the above problems, Chinese Patent with application number 2024101726777 discloses an intelligent box grasping and conveying production line, including a front-end grasping and conveying device located at the front side and a lifting and swinging conveyor belt device located at the rear side. The front-end grasping and conveying device is connected to the front end of the lifting and swinging conveyor belt device. The front-end grasping and conveying device includes a transfer support base, a rotating base, a mounting base plate, a front conveyor device, and a grasping device. The rotating base is installed on the upper surface of the transfer support base, and the mounting base plate is connected to the rotating base and can swing left and right together with the rotating base. The front conveyor device includes a front conveyor belt, a front conveyor belt mounting bracket, and a front conveyor belt driving motor. The grasping device includes a suction cup, a suction cup mounting seat, a swing arm, a swing arm driving mechanism, and a push-pull mechanism. Multiple groups of front conveyor belt mounting brackets are respectively installed on the upper surface of the mounting base plate in parallel, and a front conveyor belt is sleeved on each group of front conveyor belt mounting brackets. A front conveyor belt synchronous rotating shaft capable of driving each front conveyor belt to rotate synchronously is provided at the rear end of the front conveyor belt mounting bracket. The front conveyor belt driving motor is connected to the front conveyor belt synchronous rotating shaft through a transmission device and can drive the front conveyor belt synchronous rotating shaft to rotate. Multiple suction cup mounting seats are respectively arranged at the front end positions between adjacent front conveyor belt mounting brackets. A suction cup is connected to the front end of each suction cup mounting seat, and a group of swing arms is connected to the rear end of each suction cup mounting seat. The rear sides of each group of swing arms are respectively connected to a suction cup synchronous connecting rod, and a swing arm driving mechanism capable of controlling the up and down swing of the swing arm is also connected to the rear side of the swing arm. The push-pull mechanism is installed on the middle part of the upper surface of the mounting base plate. The push-pull mechanism is connected to the suction cup synchronous connecting rod at the rear side of the swing arm through a connecting device. The push-pull mechanism can push and pull each suction cup mounting seat to move back and forth relative to the front conveyor belt. When the suction cup mounting seat moves backward between the front conveyor belts and the swing arm driving mechanism drives the swing arm to swing downward, the cardboard box adsorbed by the suction cup can be placed on the conveyor belt and transported backward along with the front conveyor belt. When the swing arm driving mechanism drives the swing arm to swing upward, the suction cup can adsorb the cardboard box located on the front conveyor belt and push it forward by the push-pull mechanism to the stacking position.

[0004] Although the above intelligent box grabbing and conveying production line effectively solves the problem of low efficiency of existing loading and unloading operations, the swing arm drive mechanism and the push-pull mechanism of the grabbing device in the front-end grabbing and conveying device it adopts are intertwined, making installation and maintenance inconvenient. Summary of the Invention

[0005] Aiming at the above deficiencies in the prior art, the purpose of the present utility model is to provide a front-end cargo grabbing and conveying mechanism for a loading and unloading device, which solves the problems that the front-end grabbing and conveying device of the existing loading and unloading device has a relatively complex structure and is inconvenient for installation and maintenance.

[0006] To solve the above technical problems, the present utility model adopts the following technical solutions:

[0007] A front-end cargo grabbing and conveying mechanism for a loading and unloading device, comprising a mounting base, a vacuum suction cup grabbing mechanism, a grabbing mechanism dragging component, and a front conveying mechanism. The front conveying mechanism includes a plurality of front conveyor belts that can rotate synchronously, and the front conveyor belts are arranged along the conveying direction; the vacuum suction cup grabbing mechanism and the grabbing mechanism dragging component are respectively installed at the front end and the rear end of the mounting base; characterized in that

[0008] The vacuum suction cup grabbing mechanism includes a servo electric push rod, a rocker arm link bracket, and a plurality of vacuum suction cups. The rocker arm link bracket includes a movable bottom plate, a sliding rail seat, and a plurality of suction cup mounting seats and rocker arm link components corresponding to the vacuum suction cups one by one; the movable bottom plate is in a "mountain" shape and is composed of a front seat fixing plate, two sliding rail fixing side plates, and a middle linkage plate. The sliding rail fixing side plates and the middle linkage plate are both arranged towards the grabbing mechanism dragging component. The left and right sides of the sliding rail seat are slidably assembled on the two sliding rail fixing side plates. The servo electric push rod is fixedly installed on the middle linkage plate, and the end of the push rod is fixedly connected to the middle of the sliding rail seat; the rocker arm link component is placed between two adjacent front conveyor belts and includes a linkage rotating rod and a plurality of rocker arm support rods. The rocker arm support rods are placed between the suction cup mounting seat and the front seat fixing plate, and the upper and lower ends are respectively rotatably connected to the suction cup mounting seat and the front seat fixing plate through a rotating shaft. One end of the linkage rotating rod is rotatably connected to the rocker arm support rod at the rear end, and the other end is rotatably installed on the sliding rail seat; the vacuum suction cup is installed at the front end of the suction cup mounting seat.

[0009] The dragging component of the grasping mechanism includes a dragging motor, a driving screw, a sliding nut, a nut mounting seat, and a connecting rod. The output end of the dragging motor is connected to a gear transmission mechanism. The rear end of the driving screw is fixedly connected to the gear transmission mechanism. The sliding nut is sleeved on the driving screw and is in threaded cooperation with the driving screw. The sliding nut is fixedly installed on the nut mounting seat. The nut mounting seat is fixedly connected to the middle linkage plate through the connecting rod. In this way, the vacuum suction cup grasping mechanism mainly drives the rocker link bracket connected to it through the telescopic movement of the servo electric push rod, and then drives the rocker rod of the rocker link bracket to rotate forward or backward, so as to drive the vacuum suction cup at the front end of the suction cup mounting seat to rotate to the rear end to suck the goods and then rotate forward, convey the goods to the position where stacking is required, or suck the goods and then move the goods to the front conveying mechanism at the rear side, and the front conveying mechanism conveys the goods backward to complete unloading. The adopted rocker link bracket is mainly composed of a movable bottom plate, a sliding guide rail seat, a plurality of suction cup mounting seats, and a rocker link assembly. The sliding guide rail seat is rotatably connected to the rocker link assembly, and the rocker link assembly is rotatably connected to the suction cup mounting seat. After the sliding guide rail seat is pulled back and forth, it can rotate, thereby driving the change of the position of the vacuum suction cup. The above-mentioned link structure only controls the rotation direction and distance through a servo electric push rod, and is only connected to the dragging component of the grasping mechanism through a connecting rod. There is no interleaving phenomenon during their assembly, and both installation and maintenance are relatively convenient. At the same time, the set dragging component of the grasping mechanism uses the screw-nut cooperation method to push and pull the vacuum suction cup grasping mechanism, and the pushing and pulling structure is stable, the structure is simple, and the installation is convenient.

[0010] Further, two movable plate guiding slide rails arranged at left and right intervals are also installed on the installation base. The lower end of the front seat fixing plate is slidably matched with the movable plate guiding slide rails. In this way, when the dragging component drives the movable bottom plate to move back and forth, the lower end of the movable bottom plate is slidably matched with the guiding slide rails, and the sliding is more stable.

[0011] Further, a sliding guide rail is fixedly installed on each of the two slide rail fixing side plates of the movable bottom plate. Guide sliders matched with the sliding guide rails are fixedly installed at the lower ends of the left and right sides of the sliding guide rail seat. In this way, when the servo electric push rod drives the sliding guide rail seat in the rocker link bracket to move back and forth, the guide sliders at the lower end of the sliding guide rail seat can guide its sliding direction and make its movement more stable.

[0012] Further, each rocker arm link assembly includes four rocker arm struts. A plurality of rocker arm front seats are installed on the front seat fixing plate. Two mounting lugs are provided on each rocker arm front seat. The rocker arm struts in each rocker arm link assembly are rectangularly distributed, corresponding to each other in pairs, and are rotatably installed on the two mounting lugs through a rotating shaft; A plurality of rocker arm rear seats are fixedly installed on the sliding guide rail seat. A lug is provided in the middle of each rocker arm rear seat. The linkage rotating rod is rotatably connected to the lug through a rotating shaft. In this way, the rocker arm front seat and the rocker arm rear seat provided can be used to install the rocker arm struts and the linkage rod respectively, and the installation is more convenient.

[0013] Further, a driving gear is key-connected to the output shaft of the towing motor. A driven gear is provided on one side of the driving gear and is driven by a belt. The driving screw rod is sleeved and fixed on the driven gear, and bearing seats for supporting the driving screw rod are provided on both the front and rear sides of the driving screw rod. In this way, after the towing motor is started, it drives the driving gear to rotate, and then transmits the power to the driven gear and the driving screw rod through the belt, so that the driving screw rod rotates. After the driving screw rod rotates, the sliding nut threaded with it can move forward or backward according to the rotation direction of the driving screw rod. The provided bearing seats can support the driving screw rod and make it more stable.

[0014] Further, a nut sliding seat is fixedly installed above the nut mounting seat. The left and right sides of the nut sliding seat extend out of the nut mounting seat, and a slide rail strip slidably matched with it is provided at the lower ends of the left and right sides. The slide rail strip is fixedly installed on the mounting base. In this way, when the sliding nut moves forward and backward, the nut sliding seat moves synchronously in the length direction of the slide rail strip.

[0015] Further, stop strips are fixedly installed on both the left and right sides of the mounting base, and the front ends of the stop strips are inclined outward. In this way, the provided stop strips can prevent the goods from falling off from the side of the mounting base during transportation, effectively increasing the safety during transportation.

[0016] Further, a roller shaft mounting plate is fixedly installed at the rear end of the mounting base. A plurality of transition roller shafts are installed on the roller shaft mounting plate, and the central axis of the transition roller shafts is perpendicular to the central axis of the front conveyor belt. In this way, after the transition roller shafts are provided near the rear conveying mechanism, the conveying length of the front conveyor belt can be reduced. At the same time, it can effectively ensure that the front conveying mechanism quickly slides onto the next conveying mechanism through the transition roller shafts at the rear section.

[0017] Further, a front swing drive mechanism is provided under the roller mounting plate and is connected thereto. The front swing drive mechanism includes a front swing drive motor, a rear bearing seat, and a frame connecting plate. The frame connecting plate is L-shaped and is fixedly connected to the rear side of the mounting base and the lower end surface of the roller mounting plate. The output shaft of the front swing drive motor is fixedly connected to the frame connecting plate through a connecting member. The rear bearing seat is sleeved on the output shaft of the front swing drive motor, is located below the frame connecting plate, and is sleeved on a swing arm rotating shaft at the rear side. In this way, by arranging the front swing drive mechanism of the front-end goods grabbing and conveying mechanism under the rear roller mounting plate, after the front swing drive motor is started, the frame connecting plate, the roller mounting plate, and the mounting base can be driven to rotate together to achieve left and right yaw. Moreover, its installation position is located at the lower end of the conveying mechanism and is independent of the front-end grabbing mechanism and the dragging assembly, so the installation and maintenance are relatively convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a schematic perspective view of the front-end goods grabbing and conveying mechanism in the embodiment;

[0019] Figure 2 is Figure 1 a schematic perspective view of the front-end goods grabbing and conveying mechanism with the front conveyor belt removed on the basis;

[0020] Figure 3 is Figure 2 a side view of;

[0021] Figure 4 FIG. is a schematic connection structure diagram of the vacuum chuck grabbing mechanism and the grabbing mechanism dragging assembly in the embodiment;

[0022] Figure 5 FIG. is a schematic perspective view of the vacuum chuck grabbing mechanism in the embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0025] As Figures 1-5 shown, the front-end cargo grasping and conveying mechanism of the loading and unloading equipment provided in this embodiment includes an installation base 1, a vacuum suction cup grasping mechanism 2, a grasping mechanism dragging assembly 3, and a front conveying mechanism 4. The front conveying mechanism 4 includes a plurality of front conveyor belts 41 that can rotate synchronously, and the front conveyor belts 41 are arranged along the conveying direction; the vacuum suction cup grasping mechanism 2 and the grasping mechanism dragging assembly 3 are respectively installed at the front end and the rear end of the installation base 1;

[0026] The vacuum suction cup grasping mechanism 2 includes a servo electric push rod 21, a rocker link bracket, and a plurality of vacuum suction cups 27. The rocker link bracket includes a movable bottom plate 23, a sliding guide rail seat 22, and a plurality of suction cup mounting seats 26 and rocker link assemblies corresponding to the vacuum suction cups 27 one by one. The movable bottom plate 23 is in a "mountain" shape and is composed of a front seat fixing plate 231, two slide rail fixing side plates 232, and a middle linkage plate 233. The slide rail fixing side plates 232 and the middle linkage plate 233 both face the grasping mechanism dragging assembly 3. The left and right sides of the sliding guide rail seat 22 are slidably assembled on the two slide rail fixing side plates 232. The servo electric push rod 21 is fixedly installed on the middle linkage plate 233, and the end of the push rod is fixedly connected to the middle of the sliding guide rail seat 22. The rocker link assembly is placed between two adjacent front conveyor belts 41 and includes a linkage rotating rod 24 and a plurality of rocker support rods 25. The rocker support rods 25 are placed between the suction cup mounting seats 26 and the front seat fixing plate 231, and the upper and lower ends are respectively rotatably connected to the suction cup mounting seats 26 and the front seat fixing plate 231 through rotating shafts. One end of the linkage rotating rod 24 is rotatably connected to the rocker support rod 25 at the rear end, and the other end is rotatably installed on the sliding guide rail seat 22. The vacuum suction cup 27 is installed at the front end of the suction cup mounting seat 26.

[0027] The grasping mechanism dragging assembly 3 includes a dragging motor 31, a driving screw 33, a sliding nut 34, a nut mounting seat 35 and a connecting rod 36. The output end of the dragging motor 31 is connected to a gear transmission mechanism 32. The rear end of the driving screw 33 is fixedly connected to the gear transmission mechanism 32. The sliding nut 34 is sleeved on the driving screw 33 and is in threaded cooperation with the driving screw 33. The sliding nut 34 is fixedly installed on the nut mounting seat 35. The nut mounting seat 35 is fixedly connected to the middle linkage plate 233 through the connecting rod 36. In this way, the vacuum suction cup grasping mechanism 2 mainly pushes the rocker link bracket connected to it through the telescopic movement of the servo electric push rod 21, and then drives the rocker rod of the rocker link bracket 25 to rotate forward or backward, so as to drive the vacuum suction cup 27 at the front end of the suction cup mounting seat 26 to rotate to the rear end to suck the goods and then rotate forward, convey the goods to the position where stacking is required, or suck the goods and move the goods to the front conveying mechanism 4 at the rear side, and the front conveying mechanism 4 conveys the goods backward to complete unloading. The adopted rocker link bracket mainly consists of a movable bottom plate 23, a sliding guide rail seat 22, a plurality of suction cup mounting seats 26 and a rocker link assembly. The sliding guide rail seat 22 is rotatably connected to the rocker link assembly, and the rocker link assembly is rotatably connected to the suction cup mounting seat 26. After the sliding guide rail seat 22 is pulled back and forth, it can rotate, so as to drive the change of the position of the vacuum suction cup 27. The above-mentioned link structure only controls the rotation direction and distance through one servo electric push rod 21, and is only connected to the grasping mechanism dragging assembly 3 through a connecting rod 36. There is no staggered phenomenon during the assembly of the two, and the installation and maintenance are more convenient. At the same time, the set grasping mechanism dragging assembly 3 pushes and pulls the vacuum suction cup grasping mechanism 2 in the way of screw-nut cooperation, and the pushing and pulling structure is stable, the structure is simple, and the installation is convenient.

[0028] Further, two movable plate guiding slide rails 29 arranged at left and right intervals are also installed on the installation base 1. The lower end of the front seat fixing plate 231 is in sliding cooperation with the movable plate guiding slide rails 29. In this way, when the dragging assembly drives the movable bottom plate 23 to move back and forth, the lower end of the movable bottom plate 23 slides in sliding cooperation with the guiding slide rail, and the sliding is more stable.

[0029] Further, a sliding guide rail 28 is fixedly installed on each of the two slide rail fixing side plates 232 of the movable bottom plate 23. Guide sliders matched with the sliding guide rail 28 are fixedly installed at the lower ends of the left and right sides of the sliding guide rail seat 22. In this way, when the servo electric push rod 21 drives the sliding guide rail seat 22 in the rocker link bracket to move back and forth, the guide sliders at the lower end of the sliding guide rail seat 22 can guide its sliding direction and make its movement more stable.

[0030] Furthermore, each rocker arm linkage assembly includes four rocker arm struts 25. A plurality of rocker arm front seats are mounted on the front seat fixing plate 231. Two mounting lugs are provided on each rocker arm front seat. The rocker arm struts 25 in each rocker arm linkage assembly are distributed in a rectangular pattern, corresponding to each other in pairs, and are rotatably mounted on the two mounting lugs through a rotating shaft; A plurality of rocker arm rear seats are fixedly mounted on the sliding guide rail seat 22. A lug is provided in the middle of each rocker arm rear seat. The linkage rotating rod 24 is rotatably connected to the lug through a rotating shaft. In this way, the provided rocker arm front seats and rocker arm rear seats can be used to mount the rocker arm struts 25 and the linkage rod respectively, making the installation more convenient.

[0031] Furthermore, a driving gear is key-connected to the output shaft of the towing motor 31. A driven gear is provided on one side of the driving gear and is belt-driven with it. The driving screw rod 33 is sleeved and fixed on the driven gear, and bearing seats for supporting the driving screw rod 33 are provided on both the front and rear sides of the driving screw rod 33. The driving gear, the driven gear and the belt constitute the gear transmission mechanism. In this way, after the towing motor 31 is started, it drives the driving gear to rotate, and then transmits the power to the driven gear and the driving screw rod 33 through the belt, causing the driving screw rod 33 to rotate. After the driving screw rod 33 rotates, the sliding nut 34 threadedly engaged with it can move forward or backward according to the rotation direction of the driving screw rod 33. The provided bearing seats can support the driving screw rod 33 to make it more stable.

[0032] Furthermore, a nut sliding seat 37 is also fixedly mounted above the nut mounting seat 35. The left and right sides of the nut sliding seat 37 extend out of the nut mounting seat 35, and a slide rail bar 38 that is slidably engaged with it is provided at the lower ends of the left and right sides. The slide rail bar 38 is fixedly mounted on the mounting base 1. In this way, when the sliding nut 34 moves forward and backward, the nut sliding seat 37 moves synchronously in the length direction of the slide rail bar 38.

[0033] Furthermore, a stop bar 11 is fixedly mounted on both the left and right sides of the mounting base 1. The front end of the stop bar 11 is inclined outward. In this way, the provided stop bar 11 can prevent the goods from falling from the side of the mounting base 1 during the conveying process, effectively increasing the safety during the conveying process.

[0034] Furthermore, a roller shaft mounting plate 12 is fixedly mounted at the rear end of the mounting base 1. A plurality of transition roller shafts 42 are mounted on the roller shaft mounting plate. The central axis of the transition roller shafts 42 is perpendicular to the central axis of the front conveyor belt 41. In this way, after the transition roller shafts 42 are provided near the rear conveying mechanism, the conveying length of the front conveyor belt can be reduced. At the same time, it can also effectively ensure that the rear section of the front conveying mechanism 4 quickly slides onto the next conveying mechanism through the transition roller shafts 42.

[0035] Further, a front swing driving mechanism 5 is provided under the roller mounting plate 12 and is connected thereto. The front swing driving mechanism 5 includes a front swing driving motor 51, a rear bearing seat 52, and a frame connecting plate 53. The frame connecting plate 53 is L-shaped and is fixedly connected to the rear side of the mounting base 1 and the lower end surface of the roller mounting plate 12. The output shaft of the front swing driving motor 51 is fixedly connected to the frame connecting plate 53 through a connecting member. The rear bearing seat 52 is sleeved on the output shaft of the front swing driving motor 51, is located below the frame connecting plate 53, and is sleeved on a swing arm rotating shaft 6 at the rear side. In this way, by arranging the front swing driving mechanism 5 of the front-end goods grasping and conveying mechanism under the rear-end roller mounting plate 12, after the front swing driving motor 51 is started, the frame connecting plate 53, the roller mounting plate 12, and the mounting base 1 can be driven to rotate together to realize left and right yaw. Moreover, its installation position is located at the lower end of the conveying mechanism, independent of the front-end grasping mechanism and the dragging assembly, and is relatively convenient for installation and maintenance.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the technical solutions. Those of ordinary skill in the art should understand that any modifications or equivalent replacements made to the technical solutions of the present invention without departing from the purpose and scope of the present technical solution shall be covered by the scope of the claims of the present invention.

Claims

1. A front-end cargo grasping and conveying mechanism of a loading and unloading device, comprising a mounting base, a vacuum suction cup grasping mechanism, a grasping mechanism dragging assembly, and a front conveying mechanism. The front conveying mechanism includes a plurality of front conveyor belts that can rotate synchronously, and the front conveyor belts are arranged along the conveying direction; the vacuum suction cup grasping mechanism and the grasping mechanism dragging assembly are respectively installed at the front end and the rear end of the mounting base; characterized in that, The vacuum suction cup grasping mechanism includes a servo electric push rod, a rocker link support, and a plurality of vacuum suction cups. The rocker link support includes a movable bottom plate, a sliding guide rail seat, and a plurality of suction cup mounting seats and rocker link assemblies corresponding to the vacuum suction cups one by one; the movable bottom plate is in a "mountain" shape and is composed of a front seat fixing plate, two slide rail fixing side plates, and a middle linkage plate. The slide rail fixing side plates and the middle linkage plate are both arranged towards the grasping mechanism dragging assembly. The left and right sides of the sliding guide rail seat are slidably assembled on the two slide rail fixing side plates. The servo electric push rod is fixedly installed on the middle linkage plate, and the end of the push rod is fixedly connected to the middle of the sliding guide rail seat; the rocker link assembly is placed between two adjacent front conveyor belts and includes a linkage rotating rod and a plurality of rocker support rods. The rocker support rods are placed between the suction cup mounting seat and the front seat fixing plate, and the upper and lower ends are respectively rotatably connected to the suction cup mounting seat and the front seat fixing plate through a rotating shaft. One end of the linkage rotating rod is rotatably connected to the rocker support rod at the rear end, and the other end is rotatably installed on the sliding guide rail seat; the vacuum suction cup is installed at the front end of the suction cup mounting seat. The grasping mechanism dragging assembly includes a dragging motor, a driving screw rod, a sliding nut, a nut mounting seat, and a connecting rod. The output end of the dragging motor is connected to a gear transmission mechanism. The rear end of the driving screw rod is fixedly connected to the gear transmission mechanism. The sliding nut is sleeved on the driving screw rod and is in threaded cooperation with the driving screw rod. The sliding nut is fixedly installed on the nut mounting seat, and the nut mounting seat is fixedly connected to the middle linkage plate through the connecting rod.

2. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 1, characterized in that, Two movable plate guiding slide rails arranged at intervals left and right are also installed on the mounting base, and the lower end of the front seat fixing plate is slidably matched with the movable plate guiding slide rails.

3. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 1 or 2, characterized in that A sliding guide rail is fixedly installed on each of the two slide rail fixing side plates of the movable bottom plate, and guiding sliders matched with the sliding guide rails are fixedly installed at the lower ends of the left and right sides of the sliding guide rail seat.

4. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 3, characterized in that, Each rocker link assembly includes four rocker support rods. A plurality of rocker front seats are installed on the front seat fixing plate, and two mounting lugs are provided on each rocker front seat. The rocker support rods in each rocker link assembly are rectangularly distributed, corresponding in pairs, and are rotatably installed on the two mounting lugs through a rotating shaft; a plurality of rocker rear seats are fixedly installed on the sliding guide rail seat, and a lug is provided in the middle of each rocker rear seat. The linkage rotating rod is rotatably connected to the lug through a rotating shaft.

5. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 1 or 2 or 4, characterized in that, A driving gear is key-connected to the output shaft of the dragging motor. A driven gear is provided on one side of the driving gear and is belt-driven with the driving gear. The driving screw rod is sleeved and fixed on the driven gear, and bearing seats for supporting the driving screw rod are provided on both the front and rear sides of the driving screw rod.

6. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 5, characterized in that, Above the nut mounting seat, a nut sliding seat is also fixedly installed. The left and right sides of the nut sliding seat extend outside the nut mounting seat, and a slide rail strip that is slidably engaged with it is provided at the lower ends of the left and right sides. The slide rail strip is fixedly installed on the mounting base.

7. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 1 or 2 or 4 or 6, characterized in that, On both the left and right sides of the mounting base, a stop strip is fixedly installed, and the front end of the stop strip is inclined outward.

8. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 7, characterized in that, At the rear end of the mounting base, a roller shaft mounting plate is fixedly installed, and a plurality of transition roller shafts are installed on the roller shaft mounting plate. The central axes of the transition roller shafts are perpendicular to the central axis of the front conveyor belt.

9. The front-end cargo grasping and conveying mechanism of the loading and unloading equipment according to claim 8, characterized in that, Below the roller shaft mounting plate, a front swing driving mechanism connected to it is provided. The front swing driving mechanism includes a front swing driving motor, a rear bearing seat, and a frame connecting plate. The frame connecting plate is L-shaped and is fixedly connected to the rear side of the mounting base and the lower end surface of the roller shaft mounting plate. The output shaft of the front swing driving motor is fixedly connected to the frame connecting plate through a connecting member. The rear bearing seat is sleeved on the output shaft of the front swing driving motor, located at the lower end of the frame connecting plate, and the rear side is sleeved on a rocker arm rotating shaft.

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