Unmanned vehicle storage system

Abstract

An unmanned vehicle storage system includes a carrier vehicle and an unmanned vehicle. The carrier vehicle carries a container and moves, and the unmanned vehicle can be stored in the container. When storing, the support wheels can be supported on the bottom wall of the container, so that the vehicle body can move in the container with the help of the support wheels. The support legs can be rotated to be set upward to facilitate the storage of the unmanned vehicle in the container, and the inner legs can adjust the length of the extended support leg shell to adapt to the height of the container.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vehicle transportation, and in particular to an unmanned vehicle storage system. Background Art

[0002] With the progress of modern science and technology, unmanned equipment has been widely used in various fields. The present invention relates to a military multifunctional all-terrain unmanned transport device for battlefield logistics support. The long-distance transportation of the device is realized by a large vehicle. Limited by the internal space and door size of the large vehicle, the overall size (length × width × height) of the unmanned vehicle is limited, but the field operation environment of the unmanned vehicle puts forward requirements on the off-road performance of the vehicle, resulting in that the wheel diameter cannot be too small. In addition, the unmanned carrier is small in size and the structural rigidity is also small, so a certain shock absorbing device is required.

[0003] In actual engineering practice, there are the following problems:

[0004] 1. For conventional vehicles, shock absorbing springs are commonly used in vertical and horizontal directions. However, for small unmanned vehicles, their size is relatively small. If multiple shock absorbing devices are applied like ordinary vehicles, it will conflict with its small and light design concept and be very cumbersome in actual application. Therefore, fewer spring shock absorbing devices are needed to achieve a more comprehensive buffering effect.

[0005] Second, in the prior art automobile shock absorbing device, a spring is usually mounted on a column with both ends of the column fixed. In this shock absorbing method, the spring will not be compressed too much due to the fixation of the two ends, so the elastic potential energy of the spring is less utilized, which is not conducive to shock absorption.

[0006] 3. In recent years, the concept of hydraulic springs has been proposed for shock absorption; some patents use it for vehicle springs, but it is only a separate hydraulic spring, without a structure that combines conventional springs and hydraulic springs, and it is impossible to utilize the advantages of both conventional springs and hydraulic springs at the same time.

[0007] Fourth, the spring seat in the prior art is a separate disc, a tray or a cylinder, and it is difficult to apply this spring seat to a structure that realizes both lateral and vertical buffering.

[0008] 5. In the prior art, some patents of hydraulic springs realize their functions through pistons, and realize damping flow through through holes set on the pistons. However, this structure can only realize passive spring damping effect. For some working scenarios, the shock absorbing device is subjected to continuous unidirectional force, such as when the motor drives the outrigger to rotate. At this time, the pressure maintaining function cannot be realized, and the damping hole on the piston will hinder the realization of pressure maintaining.

[0009] 6. The throttle valve of the prior art achieves damping through a small hole. However, the size of the damping hole of the throttle valve is too small. The prior art generally does not actively control the throttle valve because the size of the active drive device and the valve core is not compatible with the size of the damping hole. This results in the inability to actively control the opening and closing of the throttle valve, and the inability to close the throttle valve also makes it impossible to achieve the pressure-maintaining function mentioned above.

[0010] 7. The existing unmanned vehicle needs to design and install a special lifting device on the large vehicle when getting on and off the large vehicle, which is relatively complicated and costly, and requires the use of many equipments. Summary of the invention

[0011] In order to overcome the above problems, the present invention proposes a solution to solve the above multiple problems at the same time.

[0012] The technical solution adopted by the present invention to solve its technical problems is: an unmanned vehicle storage system, including a carrier vehicle and an unmanned vehicle, the carrier vehicle carries a container for movement, and the unmanned vehicle can be stored in the container; the unmanned vehicle includes a vehicle body, a support wheel, a wheel motor, a leg, a rotating motor, a rotating shaft, a cylinder body, a control valve, a support, a wheel, a worm gear, a worm, a slewing rod, a hinge, a connecting rod, a pressure plate, a transverse spring, a baffle, a left opening, a right opening, a spring cavity, a left cavity, a right cavity, a partition, an upper bending portion, a lower bending portion, a vertical spring 1, a vertical spring 2, a piston rod, a piston plate, a first baffle, and a second baffle; the control valve includes a valve body, a plug, and an input shaft; the leg includes a leg shell and an inner leg, and the inner leg can be extended and retracted relative to the leg shell; three groups of support wheels are arranged under the vehicle body, the first group of support wheels is located at the lower front part of the vehicle body, the second group of support wheels is located at the lower middle part of the vehicle body, and the third group of support wheels is located at the lower rear part of the vehicle body, and the number of each group of support wheels is two;

[0013] The upper end of the leg shell is connected to the vehicle body through the rotating shaft, the lower end of the inner leg is connected to the wheel, the number of the wheels is four, each wheel is driven by a wheel motor, the rotating motor is located inside the vehicle body and drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel and the rotating shaft are connected by a key, the rotation of the worm wheel drives the rotating shaft to rotate, and then drives the leg to rotate; the slewing rod includes a ring part and a rod part that are integrally arranged, the ring part is sleeved on the outer periphery of the worm, the rod part is located above the ring part, the upper end of the rod part is connected to the hinge, and the hinge is also connected to the vehicle body;

[0014] When the unmanned vehicle is stored, the support wheels can be supported on the bottom wall of the container, so that the vehicle body can move in the container with the support wheels; the legs can be rotated to face upward to facilitate the storage of the unmanned vehicle in the container, and the inner legs can adjust the length of the leg shell to adapt to the height of the container;

[0015] The left end of the connecting rod is connected to the hinge, the connecting rod is sleeved with the pressure plate, the right side of the pressure plate is connected to the transverse spring, the transverse spring is sleeved on the outer periphery of the connecting rod, the right end of the transverse spring is connected to the baffle, the baffle is fixed to the left end of the cylinder body, the connecting rod passes through the baffle and enters the cylinder body, the right end of the connecting rod is provided with the upper bending part, the upper bending part is connected to the lower bending part, the right end of the lower bending part is connected to the piston rod, and the right end of the piston rod is connected to the piston plate;

[0016] The partition is arranged in the cylinder body, the piston rod passes through the partition, the upper bending part contains the vertical spring 1, the lower end of the vertical spring 1 is connected to the inner wall of the cylinder body, the lower bending part contains the vertical spring 2, the upper end of the vertical spring 2 is connected to the inner wall of the cylinder body, the first baffle is integrally arranged below the connecting rod, the first baffle laterally constrains the vertical spring 1, the second baffle is integrally arranged above the piston rod, the second baffle laterally constrains the vertical spring 2;

[0017] A spring chamber is formed at the left end of the partition in the cylinder body, the left chamber is formed between the piston plate and the partition, the right chamber is formed between the piston plate and the right wall of the cylinder body, the left port is connected to the left chamber, the right port is connected to the right chamber, a pipeline is arranged between the left port and the right port, the pipeline is located outside the cylinder body, the control valve controls the on-off of the pipeline, a left channel, a right channel, an upper left arc-shaped hole, a lower left arc-shaped hole, an upper right arc-shaped hole, and a lower right arc-shaped hole are arranged in the valve body; an upper damping hole and a lower damping hole are arranged in the plug; when the control valve is in the open state, the left channel, the upper left arc-shaped hole, the upper damping hole, the upper right arc-shaped hole, and the right channel are connected in sequence, and the left channel, the lower left arc-shaped hole, the lower damping hole, the lower right arc-shaped hole, and the right channel are connected in sequence.

[0018] Preferably, the right end of the cylinder body is connected to the support, and the input shaft drives the plug to rotate.

[0019] Preferably, the motor drives the input shaft to rotate.

[0020] Preferably, the hinged member is a pin, and the upward setting is a setting directly upward.

[0021] Preferably, the partition plate is provided with an inner hole to accommodate the piston rod.

[0022] Preferably, a sealing ring is provided on the hole wall of the inner hole.

[0023] Preferably, the cylinder body is square, and the upward arrangement is an oblique upward arrangement.

[0024] Preferably, the cylinder body is circular.

[0025] Preferably, the diameter of the baffle is larger than the diameter of the cylinder body.

[0026] Preferably, the diameter of the left channel is greater than the diameter of the upper damping hole.

[0027] The beneficial effects of the present invention are:

[0028] 1. Regarding the first point raised in the background technology, lateral buffering is achieved through lateral springs and lateral hydraulic cylinders, and vertical buffering is achieved through vertical springs in the cylinders, thereby achieving more comprehensive buffering performance in two dimensions within one module.

[0029] 2. Regarding the second point raised in the background technology, one end of the connecting rod is a piston end and the other end is a hinged end, and both ends are movable ends. Therefore, it has relatively more flexible constraints, and more flexible constraints are beneficial for utilizing elastic potential energy.

[0030] 3. In response to the third point raised in the background technology, three shock absorbing sections are arranged on a connecting rod, namely, a transverse spring shock absorbing section, a vertical spring shock absorbing section, and a hydraulic piston shock absorbing section, so as to better utilize the performance of springs made of materials of different properties.

[0031] 4. With respect to the fourth point raised in the background technology, a bending portion is provided on the connecting rod, and a spring is accommodated in the bending portion, so that a part of the connecting rod is used as a spring seat, and a blocking piece is provided on the connecting rod to cover, accommodate and constrain the spring.

[0032] 5. In response to the fifth point raised in the background technology, the complete piston plate is retained, and no damping hole is set on the piston plate. Instead, a pipe is set on the outside of the hydraulic cylinder to connect the cavities on both sides of the piston plate respectively, and an active control valve is set in the pipe. When the active control valve is closed, the cavities on both sides of the piston plate are not connected, so pressure maintenance can be achieved. When the active valve is opened, the cavities on both sides of the piston plate are connected, so flow damping buffering can be achieved.

[0033] 6. Regarding the sixth point raised in the background technology, the conventional active valve is used as a throttle valve to achieve active control and throttling at the same time, and the damping is achieved by using the flow path formed by the double arc-shaped channels set on the valve body and the double damping holes on the cock, and the conventional driving source such as a motor is used for active control. The reason why the damping is not achieved by directly drilling a small hole on the cock is that the damping distance is too short to effectively achieve damping, while the combination of multiple arc-shaped channels and damping holes can achieve a sufficient damping distance.

[0034] 7. In response to the seventh point raised in the background technology, support wheels are used to support the body of the unmanned vehicle so that it can be easily moved in the container. The retractable and rotatable legs are used to realize the automatic loading and unloading of the unmanned vehicle. There is no need to design a special lifting device, which saves costs and improves work efficiency.

[0035] Note: The above designs are not listed in any particular order, and each one makes the present invention distinctive and significantly advanced compared to the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 It is a schematic diagram of the whole vehicle of the present invention.

[0038] Figure 2 The overall cross-sectional view of the carrier of the present invention

[0039] Figure 3 This is an enlarged view of the structure of the leg rotating device of the present invention.

[0040] Figure 4 The figure is a diagram showing the contraction state of the supporting legs of the present invention.

[0041] Figure 5 This is a diagram of the extended state of the supporting legs of the present invention.

[0042] Figure 6 It is a schematic diagram of the shock absorbing device connected to the outrigger rotating device of the present invention.

[0043] Figure 7 It is a schematic diagram of the internal structure of the hydraulic cylinder of the present invention.

[0044] Figure 8 This is a cross-sectional view of the control valve of the present invention

[0045] Fig. 9 Figure 1 is a step diagram of the unmanned vehicle storage process of the present invention

[0046] Fig.10 Figure 2 of the unmanned vehicle storage process of the present invention

[0047] Fig.11 Figure 3 is a step 3 diagram of the unmanned vehicle storage process of the present invention

[0048] Fig.12 Figure 4 shows the steps of the unmanned vehicle storage process of the present invention.

[0049] Fig.13 Figure 5 is a step 5 diagram of the unmanned vehicle storage process of the present invention

[0050] In the figure, the reference numerals are as follows:

[0051] 1. Car body, 2. Wheel motor, 3. Outrigger, 4. Rotating motor, 5. Rotating mechanism, 6. Rotating shaft, 7. Articulated part, 8. Cylinder, 9. Control valve, 10. Support, 11. Support wheel, 12. Travel unit, 13. Wheel, 14. Worm gear, 15. Worm, 16. Rotating rod, 17. Connecting rod, 18. Pressure plate, 19. Transverse spring, 20. Baffle, 21. Left port, 22. Right port, 23. Spring chamber, 24. Left chamber, 25. Right chamber, 26. Partition, 27. Upper bending part, 28 , lower bending portion, 29, vertical spring one, 30, vertical spring two, 31, piston rod, 32, piston plate, 33, first baffle, 34, second baffle, 35, valve body, 36, plug, 37, input shaft, 38, left channel, 39, right channel, 40, upper left arc hole, 41, lower left arc hole, 42, upper right arc hole, 43, lower right arc hole, 44, upper damping hole, 45, lower damping hole, 46, hinge, 47, leg shell, 48, inner leg, 49, unmanned vehicle, 50, container. DETAILED DESCRIPTION

[0052] As shown in the figure: an unmanned vehicle storage system includes a carrier vehicle and an unmanned vehicle, the carrier vehicle carries a container for movement, and the unmanned vehicle can be stored in the container; the unmanned vehicle includes a vehicle body, a support wheel, a wheel motor, a leg, a rotating motor, a rotating shaft, a cylinder body, a control valve, a support, a wheel, a worm gear, a worm, a slewing rod, a hinge, a connecting rod, a pressure plate, a transverse spring, a baffle, a left port, a right port, a spring cavity, a left cavity, a right cavity, a partition, an upper bending portion, a lower bending portion, a vertical spring 1, a vertical spring 2, a piston rod, a piston plate, a first baffle, and a second baffle; the control valve includes a valve body, a plug, and an input shaft; the leg includes a leg shell and an inner leg, and the inner leg can be extended and retracted relative to the leg shell; three groups of support wheels are arranged under the vehicle body, the first group of support wheels is located at the lower front part of the vehicle body, the second group of support wheels is located at the lower middle part of the vehicle body, and the third group of support wheels is located at the lower rear part of the vehicle body, and the number of each group of support wheels is two;

[0053] The upper end of the leg shell is connected to the vehicle body through the rotating shaft, the lower end of the inner leg is connected to the wheel, the number of the wheels is four, each wheel is driven by a wheel motor, the rotating motor is located inside the vehicle body and drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel and the rotating shaft are connected by a key, the rotation of the worm wheel drives the rotating shaft to rotate, and then drives the leg to rotate; the slewing rod includes a ring part and a rod part that are integrally arranged, the ring part is sleeved on the outer periphery of the worm, the rod part is located above the ring part, the upper end of the rod part is connected to the hinge, and the hinge is also connected to the vehicle body;

[0054] When the unmanned vehicle is stored, the support wheels can be supported on the bottom wall of the container, so that the vehicle body can move in the container with the support wheels; the legs can be rotated to face upward to facilitate the storage of the unmanned vehicle in the container, and the inner legs can adjust the length of the leg shell to adapt to the height of the container;

[0055] The left end of the connecting rod is connected to the hinge, the connecting rod is sleeved with the pressure plate, the right side of the pressure plate is connected to the transverse spring, the transverse spring is sleeved on the outer periphery of the connecting rod, the right end of the transverse spring is connected to the baffle, the baffle is fixed to the left end of the cylinder body, the connecting rod passes through the baffle and enters the cylinder body, the right end of the connecting rod is provided with the upper bending part, the upper bending part is connected to the lower bending part, the right end of the lower bending part is connected to the piston rod, and the right end of the piston rod is connected to the piston plate;

[0056] The partition is arranged in the cylinder body, the piston rod passes through the partition, the upper bending part contains the vertical spring 1, the lower end of the vertical spring 1 is connected to the inner wall of the cylinder body, the lower bending part contains the vertical spring 2, the upper end of the vertical spring 2 is connected to the inner wall of the cylinder body, the first baffle is integrally arranged below the connecting rod, the first baffle laterally constrains the vertical spring 1, the second baffle is integrally arranged above the piston rod, the second baffle laterally constrains the vertical spring 2;

[0057] A spring chamber is formed at the left end of the partition in the cylinder body, the left chamber is formed between the piston plate and the partition, the right chamber is formed between the piston plate and the right wall of the cylinder body, the left port is connected to the left chamber, the right port is connected to the right chamber, a pipeline is arranged between the left port and the right port, the pipeline is located outside the cylinder body, the control valve controls the on-off of the pipeline, a left channel, a right channel, an upper left arc-shaped hole, a lower left arc-shaped hole, an upper right arc-shaped hole, and a lower right arc-shaped hole are arranged in the valve body; an upper damping hole and a lower damping hole are arranged in the plug; when the control valve is in the open state, the left channel, the upper left arc-shaped hole, the upper damping hole, the upper right arc-shaped hole, and the right channel are connected in sequence, and the left channel, the lower left arc-shaped hole, the lower damping hole, the lower right arc-shaped hole, and the right channel are connected in sequence.

[0058] As shown in the figure: the right end of the cylinder body is connected to the support, and the input shaft drives the plug to rotate. The motor drives the input shaft to rotate. The hinge is a pin, and the upward setting is set directly upward. The partition is provided with an inner hole to accommodate the piston rod. A sealing ring is provided on the hole wall of the inner hole. The cylinder body is square, and the upward setting is set obliquely upward. The cylinder body is circular. The diameter of the baffle is larger than the diameter of the cylinder body. The diameter of the left channel is larger than the diameter of the upper damping hole.

[0059] An embodiment of the storage method is as follows: step 1, the unmanned vehicle is aligned with the container; step 2, the first set of support wheels is supported on the bottom wall of the container; step 3, the two front legs are rotated, stored and retracted; step 4, the rear wheel motor drives the unmanned vehicle forward, and after the middle set of support wheels is supported on the bottom wall of the container, the two rear legs are retracted; step 5, the two rear legs are rotated and stored, and the unmanned vehicle is manually pushed into the container.

[0060] The above detailed description is a specific description of a feasible embodiment of the present invention. The embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention should be included in the patent scope of this case.

Claims

1. An unmanned vehicle storage system, characterized in that: The carrier vehicle and the unmanned vehicle are included. The carrier vehicle carries the container for movement, and the unmanned vehicle can be stored in the container. The unmanned vehicle includes a vehicle body, a supporting wheel, a wheel motor, a supporting leg, a rotating motor, a rotating shaft, a cylinder body, a control valve, a support, a wheel, a worm gear, a worm, a slewing rod, a hinge, a connecting rod, a pressure plate, a transverse spring, a baffle, a left opening, a right opening, a spring cavity, a left cavity, a right cavity, a partition, an upper bending portion, a lower bending portion, a vertical spring 1, a vertical spring 2, a piston rod, a piston plate, a first baffle plate, and a second baffle plate. The control valve includes a valve body, a plug, and an input shaft. The supporting leg includes a supporting leg shell and an inner leg, and the inner leg can be extended and retracted relative to the supporting leg shell. Three groups of supporting wheels are arranged under the vehicle body, the first group of supporting wheels is located at the lower front part of the vehicle body, the second group of supporting wheels is located at the lower middle part of the vehicle body, and the third group of supporting wheels is located at the lower rear part of the vehicle body, and the number of each group of supporting wheels is two. The upper end of the leg shell is connected to the vehicle body through the rotating shaft, the lower end of the inner leg is connected to the wheel, the number of the wheels is four, each wheel is driven by a wheel motor, the rotating motor is located inside the vehicle body and drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel and the rotating shaft are connected by a key, the rotation of the worm wheel drives the rotating shaft to rotate, and then drives the leg to rotate; the slewing rod includes a ring part and a rod part that are integrally arranged, the ring part is sleeved on the outer periphery of the worm, the rod part is located above the ring part, the upper end of the rod part is connected to the hinge, and the hinge is also connected to the vehicle body; When the unmanned vehicle is stored, the support wheels can be supported on the bottom wall of the container, so that the vehicle body can move in the container with the support wheels; the legs can be rotated to face upward to facilitate the storage of the unmanned vehicle in the container, and the inner legs can adjust the length of the leg shell to adapt to the height of the container; The left end of the connecting rod is connected to the hinge, the connecting rod is sleeved with the pressure plate, the right side of the pressure plate is connected to the transverse spring, the transverse spring is sleeved on the outer periphery of the connecting rod, the right end of the transverse spring is connected to the baffle, the baffle is fixed to the left end of the cylinder body, the connecting rod passes through the baffle and enters the cylinder body, the right end of the connecting rod is provided with the upper bending part, the upper bending part is connected to the lower bending part, the right end of the lower bending part is connected to the piston rod, and the right end of the piston rod is connected to the piston plate; The partition is arranged in the cylinder body, the piston rod passes through the partition, the upper bending part contains the vertical spring 1, the lower end of the vertical spring 1 is connected to the inner wall of the cylinder body, the lower bending part contains the vertical spring 2, the upper end of the vertical spring 2 is connected to the inner wall of the cylinder body, the first baffle is integrally arranged below the connecting rod, the first baffle laterally constrains the vertical spring 1, the second baffle is integrally arranged above the piston rod, the second baffle laterally constrains the vertical spring 2; A spring chamber is formed at the left end of the partition in the cylinder body, the left chamber is formed between the piston plate and the partition, the right chamber is formed between the piston plate and the right wall of the cylinder body, the left port is connected to the left chamber, the right port is connected to the right chamber, a pipeline is arranged between the left port and the right port, the pipeline is located outside the cylinder body, the control valve controls the on-off of the pipeline, a left channel, a right channel, an upper left arc-shaped hole, a lower left arc-shaped hole, an upper right arc-shaped hole, and a lower right arc-shaped hole are arranged in the valve body; an upper damping hole and a lower damping hole are arranged in the plug; when the control valve is in the open state, the left channel, the upper left arc-shaped hole, the upper damping hole, the upper right arc-shaped hole, and the right channel are connected in sequence, and the left channel, the lower left arc-shaped hole, the lower damping hole, the lower right arc-shaped hole, and the right channel are connected in sequence.

2. The unmanned vehicle storage system according to claim 1, characterized in that: The right end of the cylinder body is connected to the support, and the input shaft drives the cock to rotate.

3. The unmanned vehicle storage system according to claim 2, characterized in that: The motor drives the input shaft to rotate.

4. The unmanned vehicle storage system according to claim 1, characterized in that: The hinged member is a pin shaft, and the upward arrangement is an arrangement directly upward.

5. The unmanned vehicle storage system according to claim 1, characterized in that: The partition plate is provided with an inner hole to accommodate the piston rod.

6. The unmanned vehicle storage system according to claim 5, characterized in that: A sealing ring is arranged on the hole wall of the inner hole.

7. The unmanned vehicle storage system according to claim 1, characterized in that: The cylinder body is square, and the upward arrangement is an oblique upward arrangement.

8. The unmanned vehicle storage system according to claim 1, characterized in that: The cylinder body is circular.

9. The unmanned vehicle storage system according to claim 8, characterized in that: The diameter of the baffle is greater than the diameter of the cylinder body.

10. The unmanned vehicle storage system according to claim 1, characterized in that: The diameter of the left channel is greater than the diameter of the upper damping hole.

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