An unmanned transport vehicle

Abstract

The present invention provides an unmanned transport vehicle, including an upper frame, a lower frame, a linear motion component, and a mobile platform. The upper frame and the lower frame are both provided with wheels. The shell of the linear motion component is fixedly connected to the lower frame. The output shaft of the linear motion component is fixedly connected to the mobile platform. A mounting rod is fixedly provided on the upper frame. The mobile platform has a guide hole corresponding to the mounting rod. The mounting rod is installed on the inner side of the guide hole. A compression spring 1 is provided on the outer side of the mounting rod. The compression spring 1 is located between the mobile platform and the upper frame. The present invention has the following beneficial effects: the output shaft of the linear motion component is extended, the wheel of the upper frame is pressed against the upper end surface of the well, the compression spring 1 is compressed, and the compression spring 1 gives opposite elastic forces to the upper frame and the lower frame, so that the wheels of the upper frame and the lower frame are pressed against the lower end surface and the upper end surface of the well respectively, increasing the friction between the wheels and the well wall, so that the transport vehicle can travel in a well with a large slope.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned transportation in mine shafts, and in particular relates to an unmanned transportation vehicle. Background Art

[0002] In the current mineral mining process, some shafts have a small diameter, and there are safety risks for people entering. Although there are unmanned transport vehicles, the shafts in the mine are complicated, and it is impossible to drive normally in some shafts with large slopes. In addition, the inner walls of some pipes are smooth, and vehicles with ordinary wheels cannot drive inside. Summary of the invention

[0003] In view of this, the present invention aims to propose an unmanned transport vehicle to solve the problem that the current unmanned transport vehicle is inconvenient to travel in a shaft with a large slope in a mine.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] An unmanned transport vehicle comprises an upper frame, a lower frame, a linear motion assembly and a mobile platform, wherein the upper frame and the lower frame are both provided with wheels, the shell of the linear motion assembly is fixedly connected to the lower frame, the output shaft of the linear motion assembly is fixedly connected to the mobile platform, a mounting rod is fixedly provided on the upper frame, the mobile platform has a guide hole corresponding to the mounting rod, the mounting rod is installed on the inner side of the guide hole, a compression spring 1 is provided on the outer side of the mounting rod, and the compression spring 1 is located between the mobile platform and the upper frame.

[0006] Furthermore, a guide tube 1 corresponding to the mounting rod is fixedly disposed in the guide hole, the inner diameter of the guide tube 1 matches the diameter of the mounting rod, and the mounting rod is mounted on the inner side of the guide tube 1.

[0007] Furthermore, a guide rod is fixedly provided on the lower frame, a guide tube 2 corresponding to the guide rod is fixedly provided on the movable platform, the inner diameter of the guide tube 2 matches the diameter of the guide rod, and the guide rod is installed on the inner side of the guide tube 2.

[0008] Furthermore, the wheel includes a rotating block, a contact block, and two compression springs. The number of the contact blocks is multiple, and the multiple contact blocks are evenly installed on the outside of the rotating block along the axis of the rotating block. Two compression springs are arranged between the contact block and the rotating block. The end face of the contact block away from the rotating block is an arc-shaped surface, and the arc-shaped surface is coaxial with the rotating block.

[0009] Furthermore, a plug-in rod is fixedly provided on the end face of the contact block adjacent to the rotating block, and a receiving tube corresponding to the plug-in rod is fixedly provided on the rotating block, and the receiving tube is arranged perpendicular to the axis of the rotating block. A guide boss is provided at the end of the plug-in rod away from the contact block, and the diameter of the guide boss matches the inner diameter of the receiving tube. A limiting boss is provided on the inner side of the end of the receiving tube away from the rotating block, and the inner diameter of the limiting boss matches the outer diameter of the plug-in rod. The guide boss is installed on the inner side of the receiving tube and is located between the limiting boss and the rotating block, and the second compression spring is installed on the outer side of the receiving tube.

[0010] Furthermore, a suction cup is provided on the outside of the wheel, a mounting cavity is provided in the contact block, the bottom end of the suction cup is mounted in cooperation with the mounting plate, a through hole is opened on the mounting plate, a connecting bolt is provided on the inner side of the through hole, a fixing threaded hole corresponding to the through hole of the mounting plate is opened on the contact block, the mounting plate is detachably connected to the contact block by the connecting bolt, the suction cup is installed on the inner side of the mounting cavity, a circular hole corresponding to the suction cup is opened on the arc surface of the contact block, and the suction cup protrudes from the arc surface.

[0011] Furthermore, the suction cup is installed in cooperation with the mounting plate through a quick-pull assembly, and the quick-pull assembly includes a clamping plate 1, a compression spring 3, an intake pipe, and a mounting pipe. The clamping plate 1 is installed in cooperation with the bottom of the suction cup, a mounting hole connected to the interior of the suction cup is opened in the clamping plate 1, and an air vent connected to the interior of the intake pipe is opened on the side of the intake pipe, and the intake pipe is installed on the inner side of the mounting hole, a baffle is fixedly provided at one end of the intake pipe, and a first boss is provided on the outer side of the other end, the bottom end of the mounting pipe is fixedly connected to the mounting plate, an annular boss is provided on the inner side of one end of the mounting pipe adjacent to the clamping plate 1, and the inner diameter of the annular boss matches the outer diameter of the intake pipe, the baffle is installed on the inner side of the mounting pipe, and the compression spring 3 is installed on the inner side of the mounting pipe and is located between the baffle and the annular boss.

[0012] Further, the quick-pull assembly also includes a clamping plate 2, a round tube is fixedly arranged on the end surface of the clamping plate 1 away from the mounting tube, the inner diameter of the round tube matches the diameter of the mounting hole, the outer side of the round tube is provided with an external thread, the clamping plate 2 is provided with a connecting threaded hole matching the external thread of the round tube, the bottom end of the suction cup is provided with a mounting through hole matching the outer diameter of the round tube, the round tube is installed on the inner side of the mounting through hole, the clamping plate 2 is threadedly connected to the round tube, and the clamping plate 2 clamps the suction cup;

[0013] A rotation groove is provided on the end surface of the second pressing plate away from the second pressing plate, and a flat surface is provided on the side surface of the first pressing plate.

[0014] Furthermore, a sealing gasket is provided between the air inlet pipe and the mounting hole.

[0015] Furthermore, the mounting plate is provided with an adjusting threaded hole corresponding to the baffle, the adjusting threaded hole is provided with an adjusting bolt corresponding to the adjusting threaded hole, the adjusting bolt is threadedly connected to the mounting plate, and the screw of the adjusting bolt is pressed against the baffle;

[0016] The contact block is provided with an adjustment hole corresponding to the adjustment bolt.

[0017] Compared with the prior art, the unmanned transport vehicle described in the present invention has the following beneficial effects:

[0018] (1) In the unmanned transport vehicle described in the present invention, the output shaft of the linear motion assembly is extended, the wheels of the upper frame are pressed against the upper end surface of the shaft, and the compression spring is compressed. The compression spring applies opposite elastic forces to the upper frame and the lower frame, so that the wheels of the upper frame and the lower frame are pressed against the lower end surface and the upper end surface of the shaft respectively, thereby increasing the friction between the wheels and the shaft wall, so that the transport vehicle can travel in a shaft with a larger slope.

[0019] (2) In the unmanned transport vehicle described in the present invention, when the suction cup needs to be pulled out, the mounting tube moves away from the suction cup and compresses the compression spring three, which drives the baffle plate and the air inlet pipe to move, and the air vent contacts the external atmosphere, and the external atmosphere enters the suction cup. When the pressure inside the suction cup is consistent with the atmospheric pressure, the suction cup can be easily pulled out, thereby reducing the resistance to pulling out the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the transport vehicle according to an embodiment of the utility model;

[0022] Figure 2 It is a schematic diagram of the exploded structure of the upper frame, lower frame and mobile platform of the transport vehicle according to the embodiment of the utility model;

[0023] Figure 3 This is a schematic diagram of the lower frame structure according to an embodiment of the utility model;

[0024] Figure 4 This is a schematic diagram of the upper frame structure according to an embodiment of the utility model;

[0025] Figure 5 This is a schematic diagram of the structure of a mobile station according to an embodiment of the utility model;

[0026] Figure 6 This is a schematic diagram of the three-dimensional structure of a wheel according to an embodiment of the utility model;

[0027] Figure 7 This is a schematic diagram of the structure of the rotating block according to an embodiment of the utility model;

[0028] Figure 8 This is a schematic diagram of the contact block structure according to an embodiment of the utility model;

[0029] Fig. 9 This is a schematic diagram of a partial cross-sectional structure of a wheel according to an embodiment of the utility model;

[0030] Fig.10 For the embodiment of the utility model Fig. 9 Schematic diagram of the structure at A in the middle;

[0031] Fig.11 This is a schematic diagram of the structure of the suction cup and quick-pull assembly according to an embodiment of the utility model;

[0032] Fig.12 This is a schematic diagram of the exploded structure of the suction cup and quick-pull assembly according to an embodiment of the utility model;

[0033] Fig.13 For the embodiment of the utility model Fig. 9 Schematic diagram of the structure at B in the middle;

[0034] Fig.14 For the embodiment of the utility model Fig.13 Schematic diagram of the structure at C in the middle;

[0035] Fig.15 This is a schematic cross-sectional structure diagram of the intake pipe in a pulled-out state according to an embodiment of the utility model;

[0036] Fig.16 This is a structural schematic diagram of a compression plate according to an embodiment of the utility model;

[0037] Fig.17 This is a schematic diagram of the suction cup structure according to an embodiment of the utility model;

[0038] Fig.18 This is a schematic diagram of the use status of the transport vehicle described in an embodiment of the utility model.

[0039] Description of reference numerals:

[0040] 1-lower frame; 2-mobile platform; 3-upper frame; 4-wheel; 5-suction cup; 6-linear motion assembly; 7-compression spring 1; 8-quick pull assembly; 101-guide rod; 201-guide tube 2; 202-guide tube 1; 301-installation rod; 302-limiting nut; 401-rotation block; 402-contact block; 403-compression spring 2; 404-receiving tube; 405-plug rod; 40201-round hole; 40202-adjusting hole; 40401-limiting boss; 40501-guide Towards the boss; 501-installing through hole; 801-pressure plate two; 802-pressure plate one; 803-installing tube; 804-installing plate; 805-adjusting bolt; 806-intake pipe; 807-baffle; 808-compression spring three; 809-sealing gasket; 80101-rotation groove; 80102-connecting threaded hole; 80201-round tube; 80202-installing hole; 80301-annular boss; 80401-adjusting threaded hole; 80601-air vent; 80602-first boss. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0043] like Figures 1 to 5As shown, an unmanned transport vehicle includes an upper frame 3, a lower frame 1, a linear motion component 6, and a mobile platform 2. Wheels 4 are provided on the upper frame 3 and the lower frame 1. The housing of the linear motion component 6 is fixedly connected to the lower frame 1. The output shaft of the linear motion component 6 is fixedly connected to the mobile platform 2. A mounting rod 301 is fixedly provided on the upper frame 3. The mobile platform 2 has a guide hole corresponding to the mounting rod 301. The mounting rod 301 is installed inside the guide hole. A compression spring 7 is provided outside the mounting rod 301. The compression spring 7 is located between the mobile platform 2 and the upper frame 3. The linear motion component 6 adopts but is not limited to the existing electric cylinder. A guide tube 1 202 corresponding to the mounting rod 301 is fixed in the guide hole, the inner diameter of the guide tube 1 202 matches the diameter of the mounting rod 301, the mounting rod 301 is installed on the inner side of the guide tube 1 202, the guide tube 1 202 guides the movement of the mounting rod 301, making the upper frame 3 more stable during the up and down movement, and a limit nut 302 is provided on the outer side of the end of the mounting rod 301 away from the upper frame 3, the upper end surface of the limit nut 302 presses against the lower end surface of the moving platform 2. A guide rod 101 is fixed on the lower frame 1, and a guide tube 2 201 corresponding to the guide rod 101 is fixed on the moving platform 2, the inner diameter of the guide tube 2 201 matches the diameter of the guide rod 101, the guide rod 101 is installed on the inner side of the guide tube 2 201, the guide tube 2 201 guides the guide rod 101, making the moving platform 2 more stable during the movement.

[0044] like Figures 6 to 10 As shown, the wheel 4 includes a rotating block 401, a contact block 402, and a compression spring 403. There are multiple contact blocks 402, and the multiple contact blocks 402 are evenly installed on the outside of the rotating block 401 along the axis of the rotating block 401. A compression spring 403 is provided between the contact block 402 and the rotating block 401. The end face of the contact block 402 away from the rotating block 401 is an arc surface, and the arc surface is coaxial with the rotating block 401. A plug-in rod 405 is fixedly provided on the end face of the contact block 402 adjacent to the rotating block 401, and a receiving tube 404 corresponding to the plug-in rod 405 is fixedly provided on the rotating block 401, and the receiving tube 404 is arranged perpendicular to the axis of the rotating block 401, and a guide boss 40501 is provided at the end of the plug-in rod 405 away from the contact block 402, and the diameter of the guide boss 40501 matches the inner diameter of the receiving tube 404, and a limiting boss 40401 is provided on the inner side of the end of the receiving tube 404 away from the rotating block 401, and the inner diameter of the limiting boss 40401 matches the outer diameter of the plug-in rod 405, and the guide boss 40501 is installed on the inner side of the receiving tube 404 and is located between the limiting boss 40401 and the rotating block 401, and the compression spring 2 403 is installed on the outer side of the receiving tube 404.

[0045] like Fig. 9 and Figures 11 to 17As shown, a suction cup 5 is provided on the outer side of the wheel 4, a mounting cavity is provided in the contact block 402, the bottom end of the suction cup 5 is mounted in cooperation with the mounting plate 804, a through hole is opened on the mounting plate 804, a connecting bolt is provided on the inner side of the through hole, a fixing threaded hole corresponding to the through hole of the mounting plate 804 is opened on the contact block 402, the mounting plate 804 is detachably connected to the contact block 402 by the connecting bolt, the suction cup 5 is mounted on the inner side of the mounting cavity, a circular hole 40201 corresponding to the suction cup 5 is opened on the arc surface of the contact block 402, and the suction cup 5 protrudes from the arc surface. The suction cup 5 is installed in cooperation with the mounting plate 804 through the quick-pull assembly 8. The quick-pull assembly 8 includes a clamping plate 802, a compression spring 808, an air intake pipe 806, and a mounting pipe 803. The clamping plate 802 is installed in cooperation with the bottom of the suction cup 5. A mounting hole 80202 communicating with the inside of the suction cup 5 is opened in the clamping plate 802. A vent hole 80601 communicating with the inside of the air intake pipe 806 is opened on the side of the air intake pipe 806. The air intake pipe 806 is installed on the inner side of the mounting hole 80202. A baffle 807 is fixedly provided at one end, and a first boss 80602 is provided on the outer side of the other end. The bottom end of the mounting tube 803 is fixedly connected to the mounting plate 804. An annular boss 80301 is provided on the inner side of one end of the mounting tube 803 adjacent to the clamping plate 802. The inner diameter of the annular boss 80301 matches the outer diameter of the intake pipe 806. The baffle 807 is installed on the inner side of the mounting tube 803. The compression spring 808 is installed on the inner side of the mounting tube 803 and is located between the baffle 807 and the annular boss 80301. The quick-pull assembly 8 also includes a clamping plate 801. A round tube 80201 is fixedly provided on the end surface of the clamping plate 802 away from the mounting tube 803. The inner diameter of the round tube 80201 matches the diameter of the mounting hole 80202. The outer side of the round tube 80201 is provided with an external thread. The clamping plate 801 is provided with a connecting threaded hole 80102 matching the external thread of the round tube 80201. The bottom end of the suction cup 5 is provided with a mounting through hole 501 matching the outer diameter of the round tube 80201. The round tube 80201 is installed on the inner side of the mounting through hole 501. The clamping plate 801 is threadedly connected to the round tube 80201, and the clamping plate 801 clamps the suction cup 5. The end surface of the clamping plate 801 away from the clamping plate 801 is provided with a rotating groove 80101, and the side of the clamping plate 802 is provided with a flat surface. A sealing gasket 809 is provided between the air inlet pipe 806 and the mounting hole 80202. The sealing gasket 809 ensures the sealing effect, and the friction force is relatively large when the air inlet pipe 806 moves inside it. The mounting plate 804 is provided with an adjusting threaded hole 80401 corresponding to the baffle 807. The adjusting threaded hole 80401 is provided with an adjusting bolt 805 corresponding to the baffle 807. The adjusting bolt 805 is threadedly connected to the mounting plate 804. The screw of the adjusting bolt 805 presses against the baffle 807. The contact block 402 is provided with an adjusting hole 40202 corresponding to the adjusting bolt 805. Tightening or loosening the adjusting bolt 805 can adjust the elastic force of the compression spring 3 808.

[0046] It should be noted that the lower frame 1 is not only used to install the electric cylinder, but also used to install the controller, gyro sensor, camera device, motor, and battery pack. The camera device adopts but is not limited to the existing monocular camera. The above motor, electric cylinder, gyro sensor, and monocular camera are all electrically connected to the controller. When unmanned, the gyro sensor collects the posture information of the transport vehicle and transmits the information to the controller. The monocular camera collects the image information of the position of the transport vehicle and transmits the image information to the controller. The controller recognizes and processes the collected posture information and image information of the transport vehicle, combines the algorithms such as path planning and intelligent obstacle avoidance, realizes the functions such as path planning and intelligent obstacle avoidance, the motor drives the wheel 4 to rotate, and the battery pack supplies power to the controller, gyro sensor, camera device, motor, and electric cylinder. The above devices and algorithms can all be realized by using existing technologies, and the specific connection relationship and implementation scheme are not repeated here.

[0047] Working process:

[0048] When the camera and gyro sensor of the transport vehicle find that the transport vehicle is traveling in a well with a large slope, the controller controls the output shaft of the electric cylinder to extend, and the wheel 4 of the upper frame 3 presses against the upper end surface of the well, and the compression spring 7 is compressed. The compression spring 7 gives the upper frame 3 and the lower frame 1 opposite elastic forces. A pressure sensor is provided between the output shaft of the electric cylinder and the moving platform 2. When the pressure sensor reading reaches a specified value, the electric cylinder stops moving, so that the wheels 4 of the upper frame 3 and the lower frame 1 press against the lower end surface and the upper end surface of the well, respectively, increasing the friction between the wheels 4 and the well wall, so that the transport vehicle can travel in the well with a large slope. ( Fig.18 As shown, the transport is carried out in a vertical shaft); a compression spring 2 403 is provided between the contact block 402 and the rotation. When the surface of the shaft wall is uneven and there are protrusions, the compression spring 2 403 is compressed to offset the influence of the height of the protrusions, thereby ensuring sufficient contact between the other wheels 4 and the shaft wall, and transporting the items to be transported to the designated location.

[0049] When the transport vehicle needs to travel in a pipe with a smooth inner wall, a suction cup 5 is installed on the contact block 402. When the suction cup 5 is subjected to the pressing force of the wheel 4, the suction cup 5 is deformed and the gas inside the suction cup 5 is discharged. As the wheel 4 moves forward, the suction cup 5 is reset, and the gas pressure in the suction cup 5 becomes smaller. Under the action of the external atmospheric pressure, the suction cup 5 sucks the inner wall of the pipe tightly. As the wheel 4 moves, when it is necessary to pull out the suction cup 5, the installation tube 803 moves away from the suction cup 5 and compresses the compression spring three 808. The compression spring three 808 drives the baffle 807 and the air intake pipe 806 to move, and the air vent 80601 contacts the external atmosphere, and the external atmosphere enters the suction cup 5. When the pressure in the suction cup 5 is consistent with the atmospheric pressure, the suction cup 5 can be easily pulled out, reducing the resistance to pulling out the suction cup 5. Therefore, while ensuring that the wheel 4 is sucked tightly to the pipe wall, it can also prevent the suction cup 5 of the wheel 4 from being sucked too tightly to the pipe wall, which causes too much resistance to the rotation of the wheel 4.

[0050] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0051] In the several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the division of the units described above is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The above-mentioned units may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0052] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned transport vehicle, characterized in that: The invention comprises an upper frame (3), a lower frame (1), a linear motion component (6), and a moving platform (2), wherein the upper frame (3) and the lower frame (1) are both provided with wheels (4), the shell of the linear motion component (6) is fixedly connected to the lower frame (1), the output shaft of the linear motion component (6) is fixedly connected to the moving platform (2), a mounting rod (301) is fixedly provided on the upper frame (3), the moving platform (2) is provided with a guide hole corresponding to the mounting rod (301), the mounting rod (301) is installed on the inner side of the guide hole, a compression spring (7) is provided on the outer side of the mounting rod (301), and the compression spring (7) is located between the moving platform (2) and the upper frame (3); The wheel (4) comprises a rotating block (401), a contact block (402), and a second compression spring (403); the number of the contact blocks (402) is multiple, and the multiple contact blocks (402) are evenly installed on the outside of the rotating block (401) along the axis of the rotating block (401); a second compression spring (403) is provided between the contact block (402) and the rotating block (401); the end surface of the contact block (402) away from the rotating block (401) is an arc surface, and the arc surface is coaxial with the rotating block (401); A suction cup (5) is provided on the outside of the wheel (4), a mounting cavity is provided in the contact block (402), the bottom end of the suction cup (5) is mounted in cooperation with the mounting plate (804), a through hole is provided on the mounting plate (804), a connecting bolt is provided inside the through hole, a fixing threaded hole corresponding to the through hole of the mounting plate (804) is provided on the contact block (402), the mounting plate (804) is detachably connected to the contact block (402) via the connecting bolt, the suction cup (5) is mounted on the inside of the mounting cavity, a circular hole (40201) corresponding to the suction cup (5) is provided on the arc surface of the contact block (402), and the suction cup (5) protrudes from the arc surface; The suction cup (5) is mounted in cooperation with the mounting plate (804) through a quick-pull assembly (8). The quick-pull assembly (8) comprises a clamping plate (802), a compression spring (808), an air intake pipe (806), and a mounting pipe (803). The clamping plate (802) is mounted in cooperation with the bottom of the suction cup (5). A mounting hole (80202) communicating with the interior of the suction cup (5) is formed in the clamping plate (802). A vent hole (80601) communicating with the interior of the air intake pipe (806) is formed on the side of the air intake pipe (806). The air intake pipe (806) is mounted on the inner side of the mounting hole (80202). A baffle (807) is fixedly provided at one end of the mounting tube (806), and a first boss (80602) is provided on the outer side of the other end. The bottom end of the mounting tube (803) is fixedly connected to the mounting plate (804). An annular boss (80301) is provided on the inner side of one end of the mounting tube (803) adjacent to the clamping plate (802). The inner diameter of the annular boss (80301) matches the outer diameter of the intake pipe (806). The baffle (807) is installed on the inner side of the mounting tube (803). The compression spring (808) is installed on the inner side of the mounting tube (803) and is located between the baffle (807) and the annular boss (80301). The quick-pull assembly (8) further comprises a second clamping plate (801), a round tube (80201) being fixedly arranged on the end surface of the first clamping plate (802) away from the mounting tube (803), the inner diameter of the round tube (80201) matching the diameter of the mounting hole (80202), the outer side of the round tube (80201) being provided with an external thread, the second clamping plate (801) being provided with a connecting threaded hole (80102) matching the external thread of the round tube (80201), the bottom end of the suction cup (5) being provided with a mounting through hole (501) matching the outer diameter of the round tube (80201), the round tube (80201) being mounted on the inner side of the mounting through hole (501), the second clamping plate (801) being threadedly connected to the round tube (80201), and the second clamping plate (801) clamping the suction cup (5); A rotation groove (80101) is provided on the end surface of the clamping plate 2 (801) away from the clamping plate 2 (801), and a flat surface is provided on the side surface of the clamping plate 1 (802).

2. The unmanned transport vehicle according to claim 1, characterized in that: A guide tube (202) corresponding to the mounting rod (301) is fixedly arranged in the guide hole, the inner diameter of the guide tube (202) matches the diameter of the mounting rod (301), and the mounting rod (301) is mounted on the inner side of the guide tube (202).

3. The unmanned transport vehicle according to claim 1, characterized in that: A guide rod (101) is fixedly provided on the lower frame (1), and a second guide tube (201) corresponding to the guide rod (101) is fixedly provided on the movable platform (2), the inner diameter of the second guide tube (201) matches the diameter of the guide rod (101), and the guide rod (101) is installed on the inner side of the second guide tube (201).

4. The unmanned transport vehicle according to claim 1, characterized in that: A plug-in rod (405) is fixedly provided on the end surface of the contact block (402) adjacent to the rotating block (401); a receiving tube (404) corresponding to the plug-in rod (405) is fixedly provided on the rotating block (401); the receiving tube (404) is arranged perpendicular to the axis of the rotating block (401); a guide boss (40501) is provided at one end of the plug-in rod (405) away from the contact block (402); the diameter of the guide boss (40501) is the same as that of the receiving tube (404). ), a limiting boss (40401) is provided on the inner side of one end of the receiving tube (404) away from the rotating block (401), the inner diameter of the limiting boss (40401) matches the outer diameter of the plug-in rod (405), the guiding boss (40501) is installed on the inner side of the receiving tube (404) and is located between the limiting boss (40401) and the rotating block (401), and the compression spring 2 (403) is installed on the outer side of the receiving tube (404).

5. The unmanned transport vehicle according to claim 1, characterized in that: A sealing gasket (809) is provided between the air inlet pipe (806) and the mounting hole (80202).

6. The unmanned transport vehicle according to claim 1, characterized in that: The mounting plate (804) is provided with an adjusting threaded hole (80401) corresponding to the baffle plate (807); the adjusting threaded hole (80401) is provided with an adjusting bolt (805) corresponding to the baffle plate (807); the adjusting bolt (805) is threadedly connected to the mounting plate (804); the screw of the adjusting bolt (805) is pressed against the baffle plate (807); The contact block (402) is provided with an adjustment hole (40202) corresponding to the adjustment bolt (805).

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