Symmetrical four-connecting-rod erecting delivery mechanism

Abstract

The invention relates to a symmetric four-connecting-rod erecting and delivering mechanism. An erecting frame base of the erecting and delivering mechanism is fixedly mounted at the top of the rear end of a small ground unmanned platform; the bottom end of the driving assembly is rotationally connected to the front end of the side face of the small ground unmanned platform, and the top end is rotationally connected with the rear end of the load frame. The first erecting cylinder is an electric cylinder and is provided with a mounting end and a telescopic end, the mounting end is rotationally connected with the erecting frame base, and the telescopic end is rotationally connected with the middle of the driving assembly; the bottom end of the driven rod is rotationally connected to the front end of the side face of the small ground unmanned platform, and the top end is rotationally connected with the front end of the load frame. The load frame is used for supporting a load; the driving assembly, the driven rod, the small ground unmanned platform and the load frame form two symmetrical four-connecting-rod mechanisms. According to the delivery mechanism, the small unmanned platform can deliver large-size and large-mass material loads on the basis that the installation occupied space is reduced, and meanwhile the requirements of being simple in structure and easy to control are met.

Description

Technical Field

[0001] The invention relates to the technical field of ground unmanned platform load delivery, and in particular to a symmetrical four-link erecting and delivering mechanism. Background Art

[0002] Small ground unmanned platforms have the advantages of large load capacity, high mobility and rapid deployment. For the purpose of small ground unmanned platform payload delivery, the delivery mechanism must meet the following requirements: functionally, the delivery is smooth and accurate, the load range is large, and the control method is simple; structurally, the mechanism design is simple, the dead weight is small, the space occupied is small, and the working conditions are less disturbed by the external environment. In the field of small ground unmanned platform payload delivery, there are currently many different types of delivery mechanisms, which can be divided into traditional robotic arm delivery mechanisms, motor-driven delivery mechanisms, etc. according to their working principles and structural characteristics.

[0003] Traditional robotic arm delivery mechanisms are usually composed of one or more robotic arms, which deliver the payload by rotating, telescoping or lifting. They have the advantages of high degree of freedom and flexible delivery. However, the robotic arm mechanism has high system complexity, relatively high maintenance cost, and high requirements for energy supply and control system, and is not suitable for small ground unmanned platforms. Figure 1 As shown, the traditional robotic arm delivery mechanism includes a ground unmanned platform 1, a robotic arm mounting base 2, a rotating joint 1 3, a robotic arm 1 4, a rotating joint 2 5, a robotic arm 2 6 and a clamp 7.

[0004] Traditional motor-driven delivery mechanisms use high-torque motors as driving elements to rotate the load from a horizontal position to a vertical position through motor rotation. This type of mechanism is suitable for delivering lighter loads in structured environments, but in unstructured environments, the motor is easily damaged and fails due to collisions in uneven environments, and cannot meet the delivery requirements of large-volume and large-mass loads. Figure 2 As shown, the conventional motor-driven delivery mechanism includes a ground unmanned platform 1, a torque motor 8, a motor mounting seat 9 and a load platform 10.

[0005] The above-mentioned payload delivery mechanism has problems such as complex structure, high cost, great operation difficulty and small load range when used on small ground unmanned platforms, and cannot meet the needs of large mass and large volume payload delivery for small ground unmanned platforms. Summary of the invention

[0006] In view of the above problems, the present invention provides a symmetrical four-link erecting and delivering mechanism, which can enable a small unmanned platform to deliver large-volume and large-mass material loads while reducing the installation space, while meeting the requirements of simple structure and easy control.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A symmetrical four-link erection and delivery mechanism, comprising a small ground unmanned platform, an erection cylinder base, an erection cylinder 1, an erection cylinder 2, an active component 1, an active component 2, a driven rod 1, a load frame and a driven rod 2;

[0009] The erection frame base is fixedly mounted on the rear end top of the small ground unmanned platform;

[0010] The active component 1 and the active component 2, the erecting cylinder 1 and the erecting cylinder 2, and the driven rod 1 and the driven rod 2 are symmetrically distributed on both sides of the small ground unmanned platform;

[0011] The bottom ends of the active component 1 and the active component 2 are both rotatably connected to the front end of the side of the small ground unmanned platform, and the top ends are rotatably connected to the rear end of the load frame;

[0012] The first erection cylinder and the second erection cylinder are both electric cylinders, having a mounting end and a telescopic end; both mounting ends are rotatably connected to the erection frame base; the telescopic end of the first erection cylinder is rotatably connected to the middle of the first active component, and is used to drive the first active component to rotate around its connection with the small ground unmanned platform; the telescopic end of the second erection cylinder is rotatably connected to the middle of the second active component, and is used to drive the second active component to rotate around its connection with the small ground unmanned platform;

[0013] The bottom ends of the driven rod 1 and the driven rod 2 are both rotatably connected to the front end of the side of the small ground unmanned platform, and the top ends are both rotatably connected to the front end of the load frame;

[0014] The active component 1 is located between the erection frame base and the driven rod 1, and the active component 2 is located between the erection frame base and the driven rod 2;

[0015] The load frame is used to support the load; the active component 1, the active component 2, the driven rod 1, the driven rod 2, the small ground unmanned platform and the load frame form two symmetrical four-bar linkages;

[0016] When the symmetrical four-link erection and delivery mechanism is in an initial state, the load frame is in a horizontal state parallel to the ground and is located on the top of the small ground unmanned platform, and the driven rod 1 and the driven rod 2 are perpendicular to the ground; when the load on the load frame is erected and delivered, the telescopic ends of the erection cylinder 1 and the erection cylinder 2 are synchronously extended, driving the active component 1 and the active component 2 to rotate, and driving the load frame, the driven rod 1 and the driven rod 2 to rotate, when the erection cylinder 1 and the erection cylinder 2 are extended to the maximum extension, the driven rod 1 and the driven rod 2 are parallel to the ground, the load frame rotates to the front end of the small ground unmanned platform and is perpendicular to the ground, the load falls off the load frame, and the erection and delivery of the load is completed.

[0017] Furthermore, the erection frame base includes two erection cylinder U-shaped frames, a vehicle body connecting plate and two fixed shafts;

[0018] The vehicle body connecting plate is fixedly mounted on the rear end of the small ground unmanned platform;

[0019] The two U-shaped frames of the vertical cylinder are symmetrically installed on the top surface of the vehicle body connecting plate;

[0020] A fixed shaft is installed on each of the vertical cylinder U-shaped frames;

[0021] The mounting ends of the first erecting cylinder and the second erecting cylinder are respectively mounted on the two fixed shafts.

[0022] Furthermore, the active component 1 includes an active rod 1, a pin 1 and a reinforcement 1;

[0023] The bottom end of the active rod 1 is rotatably mounted on the small ground unmanned platform, and the top end is rotatably connected to the load frame;

[0024] The reinforcement member 1 is fixedly mounted on the outer side surface of the active rod 1;

[0025] The pin 1 is installed on the reinforcement member 1;

[0026] The telescopic end of the erection cylinder 1 is rotatably connected to the pin 1;

[0027] The reinforcement member 1 is used to transmit the driving force of the erection cylinder 1 to the active rod 1.

[0028] Furthermore, two mounting holes are provided on both sides of the small ground unmanned platform, an active rod pin is fixedly installed in one of the mounting holes, and a driven rod pin is fixedly installed in the other mounting hole;

[0029] The active rod 1 and the driven rod 1 are located on the same side of the small ground unmanned platform;

[0030] The bottom end of the active rod 1 is rotatably connected to the active rod pin;

[0031] The bottom end of the driven rod 1 is rotatably connected to the driven rod pin.

[0032] Furthermore, the load frame is composed of 4 rod U-shaped frames, 2 cross beams, 4 Z-shaped members and 1 connecting beam;

[0033] The connecting beam is fixedly connected between the two parallel beams to form an I-beam;

[0034] The length direction of the crossbeam coincides with the arrangement direction of the first vertical cylinder and the second vertical cylinder;

[0035] The cross beam, the connecting beam and the Z-shaped member are all provided with fixing holes;

[0036] One Z-shaped member is fixedly connected to both ends of each crossbeam;

[0037] Two U-shaped rod frames are fixedly installed on the bottom surface of each cross beam;

[0038] The top ends of the active rod 1 and the active rod 2 are rotatably connected to the two rod U-shaped frames near the rear end of the small ground unmanned platform;

[0039] The top ends of the driven rod 1 and the driven rod 2 are rotatably connected to the two rod U-shaped frames close to the front end of the small ground unmanned platform.

[0040] Furthermore, the vehicle body connecting plate is a π-shaped structure;

[0041] The active rod 1 is a bent rod with an obtuse angle.

[0042] Furthermore, when the symmetrical four-link erecting and delivering mechanism is in an initial state, the installation end of the erecting cylinder 1 is lower than the telescopic end;

[0043] The first vertical cylinder and the second vertical cylinder are single-stage lead screw electric cylinders.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Compared with the traditional mechanical arm delivery mechanism with complex structure, high maintenance cost and complicated control process, the erection delivery mechanism of the present invention only needs two electric cylinders to achieve fast and stable delivery, with simple and reliable structure, light equipment weight, low operation and maintenance cost, and is suitable for small ground unmanned platforms;

[0046] 2. Compared with the traditional motor-driven delivery mechanism with small load capacity, poor environmental adaptability and low stability during delivery, the erection delivery mechanism of the present invention can deliver large-volume and large-mass loads through a four-bar linkage composed of an active component, a driven rod, a small ground unmanned platform and a load frame, and has higher accuracy and stability during delivery, and has better adaptability to different environments;

[0047] 3. The erection and delivery mechanism of the present invention adopts a symmetrical distribution structure. The projection of the single-sided four-bar mechanism on the roof occupies a small space and can leave space on the top of the platform. The restriction of the symmetrical distribution can be used to achieve smooth erection. It is used in small ground unmanned platform load transportation and delivery scenarios. It has the characteristics of large load, stable structure, strong adaptability and easy maintenance.

[0048] 4. Aiming at the demand of load delivery of small ground unmanned platforms, the present invention adopts a symmetrical four-bar linkage mechanism, and the driving source adopts a symmetrically distributed single-stage lead screw electric cylinder. It has the characteristics of compact structure and high controllability, and can efficiently complete the load delivery task of small ground unmanned platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a structural schematic diagram of a traditional mechanical arm delivery mechanism in the prior art;

[0050] Figure 2 It is a structural schematic diagram of a motor-driven delivery mechanism in the prior art;

[0051] Figure 3 It is a structural schematic diagram of the symmetrical four-link erecting and delivering mechanism of the present invention;

[0052] Figure 4 for Figure 3 Structural diagram of the middle vertical cylinder base;

[0053] Figure 5 for Figure 3 The structural diagram of active component 1 and active component 2;

[0054] Figure 6 for Figure 3 Schematic diagram of the structure of the medium load frame;

[0055] Figure numerals: 1-ground unmanned platform, 2-mechanical arm mounting seat, 3-rotating joint 1, 4-mechanical arm 1, 5-rotating joint 2, 6-mechanical arm 2, 7-gripper, 8-torque motor, 9-motor mounting seat, 10-load platform; 11-small ground unmanned platform, 12-lifting cylinder base, 13-lifting cylinder 1, 14-lifting cylinder 2, 15-active component 1, 16-active component 2, 17-driven rod 1, 18-load frame, 19-driven rod 2, 121-lifting cylinder U-frame, 122-vehicle body connecting plate, 123-fixed shaft, 151-active rod 1, 152-pin 1, 153-reinforcement member 1, 161-active rod 2, 162-pin 2, 163-reinforcement member 2, 181-rod U-frame, 182-cross beam, 183-Z-shaped member, 184-connecting beam. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] The embodiment of the present invention provides a symmetrical four-link erecting and delivering mechanism, such as Figure 3 As shown in the structure, the erection and delivery mechanism includes a small ground unmanned platform 11, an erection cylinder base 12, an erection cylinder 1 13, an erection cylinder 2 14, an active component 1 15, an active component 2 16, a driven rod 1 17, a load frame 18 and a driven rod 2 19. For the convenience of explanation, Figure 3 In the figure, one end where the erecting frame base is installed is defined as the rear end of the small ground unmanned platform 11, the other end is the front end of the small ground unmanned platform 11, the side where the erecting cylinder 13 is installed is defined as the right side of the small ground unmanned platform 11, and the other side where the erecting cylinder 2 is installed is defined as the left side of the small ground unmanned platform 11. At the same time, the upper part where the erecting frame base is installed is defined as the top of the small ground unmanned platform 11.

[0058] The base of the erection frame is fixedly installed on the top of the rear end of the small ground unmanned platform 11; Figure 3 and Figure 4As shown in the structure, the erection frame base includes two erection cylinder U-shaped frames 121, a vehicle body connecting plate 122 and two fixed shafts 123; the vehicle body connecting plate 122 is fixedly installed on the small ground unmanned platform 11 by bolts; the two erection cylinder U-shaped frames 121 are symmetrically installed on the top surface of the vehicle body connecting plate 122 by bolts; a fixed shaft 123 is installed on each erection cylinder U-shaped frame 121; the two fixed shafts 123 are used to install the mounting ends of the erection cylinder 13 and the erection cylinder 2 14. The vehicle body connecting plate 122 is a π-shaped structure, which is conducive to improving the connection strength and reliability between the vehicle body connecting plate 122 and the small ground unmanned platform 11.

[0059] Active component 1 15 and active component 2 16, vertical cylinder 1 13 and vertical cylinder 2 14, and driven rod 1 17 and driven rod 2 19 are symmetrically distributed on the left and right sides of the small ground unmanned platform 11; Figure 3 As shown, active component 1 15, erecting cylinder 1 13, and driven rod 1 17 are all installed on the right side of the small ground unmanned platform 11, and active component 2 16, erecting cylinder 2 14, and driven rod 2 19 are all installed on the left side of the small ground unmanned platform 11. At the same time, active component 15 and active component 2 16 are symmetrical structures; erecting cylinder 1 13 and erecting cylinder 2 14 are symmetrical structures; driven rod 1 17 and driven rod 2 19 are symmetrical structures.

[0060] The bottom ends of the active component 15 and the active component 2 16 are both rotatably connected to the front end of the side of the small ground unmanned platform 11, and the top ends are rotatably connected to the rear end of the load frame 18; Figure 3 and Figure 5 As shown in the structure, the active component 15 is installed on the right side of the small ground unmanned platform 11, and the active component 16 is installed on the left side of the small ground unmanned platform 11; the active component 15 includes an active rod 151, a pin 152 and a reinforcement 153; the active rod 151 is an obtuse-angled bending rod; the bottom end of the active rod 151 is rotatably installed on the right side of the small ground unmanned platform 11, and the top end is rotatably connected to the load frame 18; the reinforcement 153 is fixedly installed on the outer side of the active rod 151 by bolts; the pin 152 is installed on the reinforcement 153; the telescopic end of the erecting cylinder 13 is rotatably connected to the pin 152; the reinforcement 153 is used to transmit the driving force of the erecting cylinder 13 to the active rod 151, and the active rod 151 is rotated by the driving force of the erecting cylinder 13.

[0061] Similarly, the active component 16 includes an active rod 161, a pin 162 and a reinforcement 163; the active rod 161 is a blunt-angled bending rod; the bottom end of the active rod 161 is rotatably mounted on the left side of the small ground unmanned platform 11, and the top end is rotatably connected to the load frame 18; the reinforcement 163 is fixedly mounted on the outer side of the active rod 161 by bolts; the pin 162 is mounted on the reinforcement 163; the telescopic end of the erecting cylinder 14 is rotatably connected to the pin 162; the reinforcement 163 is used to transmit the driving force of the erecting cylinder 14 to the active rod 161.

[0062] The first vertical cylinder 13 and the second vertical cylinder 14 are both electric cylinders, preferably single-stage screw electric cylinders; the first vertical cylinder 13 and the second vertical cylinder 14 both have a mounting end and a telescopic end; the two mounting ends are rotatably connected to the two vertical cylinder U-shaped frames 121 of the vertical frame base through a fixed shaft 123, the first vertical cylinder 13 is rotatably connected to the fixed shaft 123 on the right vertical cylinder U-shaped frame 121, and the second vertical cylinder 14 is rotatably connected to the fixed shaft 123 on the left vertical cylinder U-shaped frame 121; the telescopic end of the first vertical cylinder 13 The retracted end is rotatably connected to the middle part of the active component 15, that is, the telescopic end of the erecting cylinder 13 is rotatably connected to the middle part of the active rod 151, which is used to drive the active component 15 to rotate around the connection between it and the small ground unmanned platform 11; the telescopic end of the erecting cylinder 14 is rotatably connected to the middle part of the active component 2 16, that is, the telescopic end of the erecting cylinder 14 is rotatably connected to the middle part of the active rod 2 161, which is used to drive the active component 2 16 to rotate around the connection between it and the small ground unmanned platform 11.

[0063] like Figure 3 As shown, the bottom ends of the driven rod 17 and the driven rod 2 19 are both rotatably connected to the side front end of the small ground unmanned platform 11, and the top ends are both rotatably connected to the front end of the load frame 18; the bottom end of the driven rod 17 is rotatably connected to the right front end of the small ground unmanned platform 11; the bottom end of the driven rod 2 19 is rotatably connected to the left front end of the small ground unmanned platform 11. The driven rod 17 and the driven rod 2 19 are both straight rods.

[0064] Along the front-rear direction of the small ground unmanned platform 11 , the active component 15 is located between the erection frame base and the driven rod 1 17 , and the active component 2 16 is located between the erection frame base and the driven rod 2 19 .

[0065] like Figure 3As shown in the structure, the load frame 18 is used to support the load; the active component 15, the active component 2 16, the driven rod 17, the driven rod 2 19, the small ground unmanned platform 11 and the load frame 18 constitute two symmetrical four-bar mechanisms, that is, the active component 15, the driven rod 17, the small ground unmanned platform 11 and the load frame 18 constitute a four-bar mechanism on the right side of the small ground unmanned platform 11, and the active component 2 16, the driven rod 2 19, the small ground unmanned platform 11 and the load frame 18 constitute another four-bar mechanism on the left side of the small ground unmanned platform 11, and the two four-bar mechanisms are symmetrically arranged.

[0066] like Figure 3 and Figure 6 As shown in the structure, the load frame 18 is composed of 4 rod U-shaped frames 181, 2 cross beams 182, 4 Z-shaped components 183 and 1 connecting beam 184; the cross beam 182 extends from the left side to the right side of the small ground unmanned platform 11; the connecting beam 184 extends along the front and rear ends of the small ground unmanned platform 11; the connecting beam 184 is fixedly connected between the two parallel cross beams 182 by bolts to form an I-beam, which plays a role in stabilizing the four-bar linkage; the length direction of the cross beam 182 coincides with the arrangement direction of the vertical cylinder 13 and the vertical cylinder 2 14; the cross beam 182, the connecting beam 184 and the Z-shaped component 183 are all provided with fixing holes; a Z-shaped component 183 is fixedly connected to both ends of each cross beam 182 by bolts; at the bottom of each cross beam 182 Two rod U-shaped frames 181 are fixedly installed on the surface by bolts; the top ends of the active rod 151 and the active rod 2 161 are rotatably connected to the two rod U-shaped frames 181 near the rear end of the small ground unmanned platform 11, that is, the top end of the active rod 151 is rotatably connected to the rod U-shaped frame 181 on the right side of the rear end cross beam 182, and the top end of the active rod 2 161 is rotatably connected to the rod U-shaped frame 181 on the left side of the rear end cross beam 182; the top ends of the driven rod 17 and the driven rod 2 19 are rotatably connected to the two rod U-shaped frames 181 near the front end of the small ground unmanned platform 11, the top end of the driven rod 17 is rotatably connected to the rod U-shaped frame 181 on the right side of the front end cross beam 182, and the top end of the driven rod 2 19 is rotatably connected to the rod U-shaped frame 181 on the left side of the front end cross beam 182.

[0067] When the symmetrical four-link erection and delivery mechanism is in the initial state, Figure 3As shown, the load frame 18 is in a horizontal state parallel to the ground and is located on the top of the small ground unmanned platform 11, the erecting cylinder 13 and the erecting cylinder 2 14 are both in the shortest stroke state, the driven rod 17 and the driven rod 2 19 are perpendicular to the ground, and the installation end of the erecting cylinder 13 is lower than the telescopic end; when the load on the load frame 18 is erected and delivered, the telescopic ends of the erecting cylinder 13 and the erecting cylinder 2 14 are synchronously extended, driving the active component 15 and the active component 2 16 to rotate, and driving the load frame 18, the driven rod 17 and the driven rod 2 19 to rotate, when the erecting cylinder 13 and the erecting cylinder 2 14 are extended to the maximum extension, the driven rod 17 and the driven rod 2 19 are parallel to the ground, the load frame 18 rotates to the front end of the small ground unmanned platform 11 and is perpendicular to the ground, the load falls off the load frame 18, and the erection and delivery of the load is completed.

[0068] In the above-mentioned erecting and delivering mechanism, two mounting holes are provided on both sides of the small ground unmanned platform 11, that is, two mounting holes are provided on the left side of the small ground unmanned platform 11, and two mounting holes are provided on the right side of the small ground unmanned platform 11; in the two mounting holes on the left and right sides, an active rod pin is fixedly installed in one of the mounting holes, and a driven rod pin is fixedly installed in the other mounting hole; the bottom end of the active rod 151 is rotatably connected to the active rod pin on the right side of the small ground unmanned platform 11; the bottom end of the driven rod 17 is rotatably connected to the driven rod pin on the right side of the small ground unmanned platform 11; the bottom end of the active rod 2 161 is rotatably connected to the active rod pin on the left side of the small ground unmanned platform 11; the bottom end of the driven rod 2 19 is rotatably connected to the driven rod pin on the left side of the small ground unmanned platform 11.

[0069] Compared with the traditional mechanical arm delivery mechanism with complex structure, high maintenance cost and cumbersome control process, the erection delivery mechanism of the present invention only needs two electric cylinders to achieve fast and smooth delivery, with simple and reliable structure, light equipment weight, low operation and maintenance costs, and is suitable for small ground unmanned platforms 11. Compared with the traditional motor-driven delivery mechanism with small load capacity, poor environmental adaptability and low stability during delivery, the erection delivery mechanism of the present invention can deliver large volume and large mass loads through a four-bar linkage composed of an active component, a driven rod, a small ground unmanned platform 11 and a load frame 18. It has higher accuracy and stability during delivery and has good adaptability to different environments. The erection delivery mechanism of the present invention adopts a symmetrical distribution structure, and the projection of the single-sided four-bar linkage on the roof occupies a small space, and can vacate the top space of the platform. The restriction of the symmetrical distribution can be used to achieve smooth erection, which is applied to the load transportation and delivery scenes of small ground unmanned platforms 11, and has the characteristics of large load, stable structure, strong adaptability and easy maintenance.

[0070] Aiming at the demand of load delivery of small ground unmanned platform 11, the present invention adopts a symmetrical four-bar linkage, and the driving source adopts a symmetrically distributed single-stage lead screw electric cylinder. It has the characteristics of compact structure and high controllability, and can efficiently complete the load delivery task of small ground unmanned platform 11.

[0071] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A symmetrical four-link erecting and delivering mechanism, characterized in that: It includes a small ground unmanned platform, a vertical cylinder base, a vertical cylinder 1, a vertical cylinder 2, an active component 1, an active component 2, a driven rod 1, a load frame and a driven rod 2; The erection frame base is fixedly mounted on the rear end top of the small ground unmanned platform; The active component 1 and the active component 2, the erecting cylinder 1 and the erecting cylinder 2, and the driven rod 1 and the driven rod 2 are symmetrically distributed on both sides of the small ground unmanned platform; The bottom ends of the active component 1 and the active component 2 are both rotatably connected to the front end of the side of the small ground unmanned platform, and the top ends are rotatably connected to the rear end of the load frame; The first erection cylinder and the second erection cylinder are both electric cylinders, having a mounting end and a telescopic end; both mounting ends are rotatably connected to the erection frame base; the telescopic end of the first erection cylinder is rotatably connected to the middle of the first active component, and is used to drive the first active component to rotate around its connection with the small ground unmanned platform; the telescopic end of the second erection cylinder is rotatably connected to the middle of the second active component, and is used to drive the second active component to rotate around its connection with the small ground unmanned platform; The bottom ends of the driven rod 1 and the driven rod 2 are both rotatably connected to the front end of the side of the small ground unmanned platform, and the top ends are both rotatably connected to the front end of the load frame; The active component 1 is located between the erection frame base and the driven rod 1, and the active component 2 is located between the erection frame base and the driven rod 2; The load frame is used to support the load; the active component 1, the active component 2, the driven rod 1, the driven rod 2, the small ground unmanned platform and the load frame form two symmetrical four-bar linkages; When the symmetrical four-link erection and delivery mechanism is in an initial state, the load frame is in a horizontal state parallel to the ground and is located on the top of the small ground unmanned platform, and the driven rod 1 and the driven rod 2 are perpendicular to the ground; when the load on the load frame is erected and delivered, the telescopic ends of the erection cylinder 1 and the erection cylinder 2 are synchronously extended, driving the active component 1 and the active component 2 to rotate, and driving the load frame, the driven rod 1 and the driven rod 2 to rotate, when the erection cylinder 1 and the erection cylinder 2 are extended to the maximum extension, the driven rod 1 and the driven rod 2 are parallel to the ground, the load frame rotates to the front end of the small ground unmanned platform and is perpendicular to the ground, the load falls off the load frame, and the erection and delivery of the load is completed.

2. The symmetrical four-link erecting and delivering mechanism according to claim 1 is characterized in that: The erection frame base includes two erection cylinder U-shaped frames, a vehicle body connecting plate and two fixed shafts; The vehicle body connecting plate is fixedly mounted on the rear end of the small ground unmanned platform; The two U-shaped frames of the vertical cylinder are symmetrically installed on the top surface of the vehicle body connecting plate; A fixed shaft is installed on each of the vertical cylinder U-shaped frames; The mounting ends of the first erecting cylinder and the second erecting cylinder are respectively mounted on the two fixed shafts.

3. The symmetrical four-link erecting and delivering mechanism according to claim 2 is characterized in that: The active component 1 includes an active rod 1, a pin 1 and a reinforcement 1; The bottom end of the active rod 1 is rotatably mounted on the small ground unmanned platform, and the top end is rotatably connected to the load frame; The reinforcement member 1 is fixedly mounted on the outer side surface of the active rod 1; The pin 1 is installed on the reinforcement member 1; The telescopic end of the erection cylinder 1 is rotatably connected to the pin 1; The reinforcement member 1 is used to transmit the driving force of the erection cylinder 1 to the active rod 1.

4. The symmetrical four-link erecting and delivering mechanism according to claim 3 is characterized in that: Two mounting holes are provided on both sides of the small ground unmanned platform, an active rod pin is fixedly installed in one of the mounting holes, and a driven rod pin is fixedly installed in the other mounting hole; The active rod 1 and the driven rod 1 are located on the same side of the small ground unmanned platform; The bottom end of the active rod 1 is rotatably connected to the active rod pin; The bottom end of the driven rod 1 is rotatably connected to the driven rod pin.

5. The symmetrical four-link erecting and delivering mechanism according to claim 4 is characterized in that: The load frame is composed of 4 rod U-shaped frames, 2 cross beams, 4 Z-shaped members and 1 connecting beam; The connecting beam is fixedly connected between the two parallel beams to form an I-beam; The length direction of the crossbeam coincides with the arrangement direction of the first vertical cylinder and the second vertical cylinder; The cross beam, the connecting beam and the Z-shaped member are all provided with fixing holes; One Z-shaped member is fixedly connected to both ends of each crossbeam; Two U-shaped rod frames are fixedly installed on the bottom surface of each cross beam; The top ends of the active rod 1 and the active rod 2 are rotatably connected to the two rod U-shaped frames near the rear end of the small ground unmanned platform; The top ends of the driven rod 1 and the driven rod 2 are rotatably connected to the two rod U-shaped frames close to the front end of the small ground unmanned platform.

6. The symmetrical four-link erecting and delivering mechanism according to any one of claims 2 to 5, characterized in that: The vehicle body connecting plate is a π-shaped structure; The active rod 1 is a bent rod with an obtuse angle.

7. The symmetrical four-link erecting and delivering mechanism according to any one of claims 1 to 6, characterized in that: When the symmetrical four-link erecting and delivering mechanism is in the initial state, the installation end of the erecting cylinder 1 is lower than the telescopic end; The first vertical cylinder and the second vertical cylinder are single-stage lead screw electric cylinders.

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