Obstacle avoidance lifting mechanism for unmanned trolley

Abstract

The invention relates to the technical field of unmanned transportation, in particular to an obstacle avoidance lifting mechanism for an unmanned trolley, which comprises a trolley main body and an article frame, a bottom plate is arranged at the top of the trolley main body, sleeves are symmetrically arranged at the top of the bottom plate, retractable rods are movably arranged in the sleeves, and a horizontal plate is connected between the bottom ends of the retractable rods; a hydraulic cylinder for driving the horizontal plate to ascend and descend is arranged in the middle of the top of the bottom plate, a round seat is fixed to the top ends of the folding and unfolding rods together, a rotating disc is driven in the round seat through a motor, a bearing plate used for supporting an article frame is installed at the top of the rotating disc, and limiting pieces are arranged at the front ends and the rear ends of the two sides of the bearing plate correspondingly. According to the obstacle avoidance lifting mechanism for the unmanned trolley, automatic lifting of the top article frame can be achieved, so that when encountering a low obstacle, the trolley can smoothly pass through in the mode of lifting the article frame, and the flexibility and adaptability of the unmanned trolley are improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned transportation, and in particular to an obstacle avoidance lifting mechanism for an unmanned vehicle. Background Art

[0002] With the development of automation technology and the logistics industry, driverless cars have been widely used in warehouse management, cargo handling and other fields. In order to improve the adaptability and safety of driverless cars, obstacle avoidance technology has become particularly important. Existing driverless cars are usually equipped with sensors and control systems that can automatically change their routes or stop when encountering obstacles.

[0003] Some existing unmanned vehicles are designed with a fixed item frame on the top for loading goods. Although this design facilitates the rapid loading and unloading of goods, when encountering low obstacles (such as crossing pipes, low-hanging wires, etc.), due to the height limit of the item frame, the vehicle cannot pass directly and must take a detour. This method not only reduces the transportation efficiency, but also may make it impossible to complete the transportation task when space is limited. In addition, for some specific application scenarios, such as cargo handling in narrow passages, frequent changes in driving routes may increase the difficulty of operation and affect the operating efficiency of the entire system. Summary of the invention

[0004] The purpose of the present invention is to provide an obstacle avoidance lifting mechanism for an unmanned vehicle, so as to solve the problem raised in the above background technology that the top item frame of the current unmanned vehicle is difficult to lift and cannot avoid obstacles, thus being inconvenient to use.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an obstacle avoidance lifting mechanism for an unmanned vehicle, comprising a vehicle body and an article frame, a bottom plate is provided on the top of the vehicle body, sleeves are symmetrically provided on the top of the bottom plate, a retracting rod is movably provided inside the sleeve, and a horizontal plate is connected between the bottom ends of the retracting rods, a hydraulic cylinder for driving the horizontal plate to rise and fall is provided in the middle of the top of the bottom plate, and a round seat is commonly fixed to the top of the retracting rods, a turntable is driven by a motor inside the round seat, a bearing plate for supporting the article frame is installed on the top of the turntable, and limit members are provided at both front and rear ends of both sides of the bearing plate.

[0006] Preferably, the middle of the horizontal plate is an arc-shaped structure, and the output end of the hydraulic cylinder is fixedly connected to the bottom end of the arc-shaped part in the middle of the horizontal plate.

[0007] Preferably, a vertical opening matching the horizontal plate structure is provided on one side corresponding to the sleeve, and the end of the horizontal plate extends into the interior of the sleeve through the vertical opening on the sleeve and is fixedly connected to the bottom end of the retractable rod.

[0008] Preferably, support rods are movably provided on both sides of the bottom plate, and clamping columns are hinged on both sides of the bottom of the horizontal plate, and the outer ends of the support rods are provided with clamping holes that match the clamping column structure.

[0009] Preferably, an elastic support spring is connected between the bottom end of the support rod and the bottom plate, and a groove is provided at one end of the bottom plate connected to the elastic support spring.

[0010] Preferably, arc-shaped guide blocks are symmetrically provided on both sides of the outer wall of the turntable, and an annular guide groove matching the arc-shaped guide block structure is provided on the inner wall of the round seat.

[0011] Preferably, shaft rods are provided on both sides of the bottom of the bearing plate, and the bottom ends of the limiting members are movably sleeved outside the bottom ends of the shaft rods.

[0012] Preferably, tension springs are sleeved on the outside of both ends of the shaft rod, and the two ends of the tension spring are respectively connected to the inner side of the end of the shaft rod and the outer side of the bottom end of the limiting member.

[0013] Preferably, a sleeve is fixed to the bottom of the carrying plate, and a locking shaft is detachably inserted through the top of the turntable via a mounting ear.

[0014] Preferably, the limiting members are located at the four corners of the supporting plate, and an elastic pad is bonded and fixed to the inner side of the top end of the limiting member.

[0015] Compared with the prior art, the beneficial effect of the present invention is that the obstacle avoidance lifting mechanism for the unmanned vehicle can realize the automatic lifting of the top article frame, so that when encountering an obstacle of a relatively low height, the vehicle can pass smoothly by lifting the article frame, thereby improving the flexibility and adaptability of the unmanned vehicle. The obstacle avoidance lifting mechanism for the unmanned vehicle drives the horizontal plate to rise or fall through a hydraulic cylinder to drive the retractable rod to extend and retract in the sleeve, so that the load-bearing plate and the article frame thereon can be lifted and lowered in the vertical direction, and the turntable can be rotated under the drive of the motor to fine-tune the tilt of the load-bearing plate and the article frame to adapt to obstacles of different shapes and heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of an obstacle avoidance lifting mechanism for an unmanned vehicle of the present invention;

[0017] Figure 2 The present invention is an obstacle avoidance lifting mechanism for an unmanned vehicle Figure 1 The enlarged structural diagram at A in the middle;

[0018] Figure 3 This is a schematic diagram of the connection structure between a round seat and a bottom plate of an obstacle avoidance lifting mechanism for an unmanned vehicle of the present invention;

[0019] Figure 4 It is a schematic diagram of the external side view of the bearing plate of an obstacle avoidance lifting mechanism for an unmanned vehicle of the present invention;

[0020] Figure 5 The present invention is a schematic diagram of the partial structure of a horizontal plate of an obstacle avoidance lifting mechanism for an unmanned vehicle.

[0021] In the figure: 1. trolley body; 2. article frame; 3. bottom plate; 4. sleeve; 5. retractable rod; 6. round seat; 7. turntable; 8. load-bearing plate; 9. horizontal plate; 10. hydraulic cylinder; 11. sleeve; 12. locking shaft; 13. limiter; 14. shaft rod; 15. arc guide block; 16. clamping column; 17. support rod; 18. elastic support spring; 19. tension spring. DETAILED DESCRIPTION

[0022] 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.

[0023] See also Figure 1-5The present invention provides a technical solution: an obstacle avoidance lifting mechanism for an unmanned vehicle, comprising a vehicle body 1 and an article frame 2, a bottom plate 3 is fixedly installed on the top of the vehicle body 1 by bolts, a sleeve 4 is symmetrically welded and fixed on the top of the bottom plate 3, a retracting rod 5 is movably arranged inside the sleeve 4, and a horizontal plate 9 is connected between the bottom ends of the retracting rod 5, a hydraulic cylinder 10 for driving the horizontal plate 9 to be lifted and lowered is fixed in the middle of the top of the bottom plate 3 by bolts, and a round seat 6 is fixed to the top of the retracting rod 5, a turntable 7 is driven by a motor inside the round seat 6, the motor is fixedly installed at the center of the bottom of the round seat 6 and its output shaft is fixedly connected to the center of the bottom of the turntable 7, a bearing plate 8 for supporting the article frame 2 is installed on the top of the turntable 7, and the bearing plate The front and rear ends of both sides of 8 are provided with limit members 13. In this structure, when the trolley body 1 encounters an obstacle of relatively low height, the hydraulic cylinder 10 can drive the horizontal plate 9 to rise or fall, driving the retracting rod 5 to extend and retract in the sleeve 4, so that the carrying plate 8 and the article frame 2 thereon can be lifted and lowered in the vertical direction. At the same time, the motor at the bottom of the round seat 6 can drive the turntable 7 to rotate. The rotation of the turntable 7 further drives the carrying plate 8 and the article frame 2 to perform fine-tuning and tilting to adapt to obstacles of different shapes and heights. The limit members 13 play a limiting role when the carrying plate 8 is tilted, preventing the article frame 2 from being overly tilted and causing instability. This not only solves the problem of being unable to directly pass through obstacles due to the height limit of the article frame 2, but also improves the adaptability of the trolley body 1 in complex environments. The horizontal plate 9 has an arc structure in the middle, and the output end of the hydraulic cylinder 10 is fixedly connected to the bottom end of the arc part in the middle of the horizontal plate 9. The hydraulic cylinder 10 of this structure pushes the arc part in the middle of the horizontal plate 9 to rise or fall through its output end, thereby driving the retracting rod 5 to extend and retract in the sleeve 4, and the arc structure in the middle of the horizontal plate 9 can avoid interference with the motor at the bottom of the round seat 6, thereby ensuring the stability and reliability of the entire lifting process. A vertical opening that matches the structure of the horizontal plate 9 is provided on one side corresponding to the sleeve 4, and the end of the horizontal plate 9 extends to the inside of the sleeve 4 through the vertical opening on the sleeve 4 and is welded and fixed to the bottom end of the retracting rod 5. This structure ensures that the lifting and lowering of the horizontal plate 9 can be directly transmitted to the retracting rod 5, thereby driving the retracting rod 5 in the sleeve The cylinder 4 is telescopic, that is, with the telescopic movement of the retracting rod 5, the carrying plate 8 and the article frame 2 thereon are lifted in the vertical direction. Support rods 17 are movably provided on both sides of the bottom plate 3, and both sides of the bottom of the horizontal plate 9 are hinged with a clamping column 16 through a pin shaft, and the outer end of the support rod 17 is provided with a clamping hole that matches the structure of the clamping column 16. When the horizontal plate 9 is lifted to a suitable height position, the support rod 17 can be rotated to make the clamping hole at the outer end engage with the outside of the clamping column 16 to form a stable supporting structure, thereby ensuring the stability of the carrying plate 8 and the article frame 2 thereon during the lifting process, and when the horizontal plate 9 is lowered, the clamping column 16 and the support rod 17 can also be quickly separated, and the connection between the outer end of the support rod 17 and the clamping column 16 can also be fixed with a locking bolt.An elastic support spring 18 is connected between the bottom end of the support rod 17 and the bottom plate 3. The elastic support spring 18 is a bent structure, and a groove is provided at one end of the bottom plate 3 connected to the elastic support spring 18. This structure will pull up the support rod 17 when the horizontal plate 9 rises, and the elastic support spring 18 will also be compressed, providing a certain elastic support force for the support rod 17, thereby ensuring the stability of the load-bearing plate 8 and the article frame 2 thereon during the lifting process, and when the horizontal plate 9 descends, the elastic support spring 18 releases its stored energy to help the support rod 17 return to its initial position smoothly. At the same time, the clamping column 16 is separated from the support rod 17, so that the article frame 2 can return to the initial position. The arc guide blocks 15 are symmetrically welded and fixed on both sides of the outer wall of the turntable 7, and the inner wall of the round seat 6 is provided with an annular guide groove that matches the arc guide block 15 structure. When the turntable 7 rotates, this structure will drive the arc guide block 15 to slide in the annular guide groove on the inner wall of the round seat 6, so as to realize the smooth tilt adjustment of the turntable 7 and the bearing plate 8 thereon and the article frame 2. The two sides of the bottom of the bearing plate 8 are welded and fixed with the shaft rod 14 through the connecting piece, and the bottom end of the limiter 13 is movably sleeved on the bottom end of the shaft rod 14. On the outside, both ends of the shaft 14 are sleeved with tension springs 19, and the two ends of the tension spring 19 are respectively connected to the inner side of the end of the shaft 14 and the outer side of the bottom end of the limiter 13. This structure enables the limiters 13 of the same group to shrink as needed, thereby clamping the article frame 2 to achieve stable support, that is, when the article frame 2 needs to be tilted, the limiters 13 can be opened outward as needed, and when it does not need to be tilted, the tension spring 19 can pull the limiters 13 back to their original position to maintain the stability of the article frame 2. The bottom of the carrying plate 8 is fixed with a sleeve 11, and the top of the turntable 7 is fixed with a sleeve 11. The lock shaft 12 is detachably inserted through the mounting ear. The carrier plate 8 of this structure is installed by fitting with the lock shaft 12 on the top of the turntable 7 through the sleeve 11, ensuring the stable connection between the carrier plate 8 and the turntable 7. The limiter 13 is located at the four corners of the carrier plate 8, and the inner side of the top of the limiter 13 is bonded and fixed with an elastic pad. The elastic pad bonded and fixed on the inner side of the top of the limiter 13 of this structure ensures that the item frame 2 can be stably supported when fine-tuning the tilt. The elastic pad can absorb the impact force generated during the tilting process and protect the items in the item frame 2 from damage.

[0024] Working principle: When using the obstacle avoidance lifting mechanism for the driverless car, first place the article frame 2 on the top of the load-bearing plate 8 and squeeze the four limit members 13. After the limit members 13 are stressed, they will squeeze the tension spring 19 with the cooperation of the shaft rod 14 until the article frame 2 is placed. The limit members 13 will shrink to stabilize the article frame 2. When the main body 1 of the trolley encounters an obstacle of low height during operation, the hydraulic cylinder 10 pushes the arc-shaped part in the middle of the horizontal plate 9 up or down through its output end, thereby driving the retracting rod 5 to extend and retract in the sleeve 4. As the retracting rod 5 extends and retracts, the load-bearing plate 8 and the article frame 2 thereon are lifted and lowered in the vertical direction. When the horizontal plate 9 is lifted and lowered to a suitable height, the support rod 17 can be rotated The card hole at the outer end is engaged with the outside of the card column 16 to form a stable supporting structure. At the same time, when the horizontal plate 9 rises, the support rod 17 is pulled up, and the elastic support spring piece 18 is also compressed, providing a certain elastic supporting force for the support rod 17. At the same time, the motor at the bottom of the round seat 6 can drive the turntable 7 to rotate. When the turntable 7 rotates, it will drive the arc guide block 15 to slide in the annular guide groove on the inner wall of the round seat 6, so as to realize the smooth tilt adjustment of the turntable 7 and the bearing plate 8 and the object frame 2 thereon. When the horizontal plate 9 descends, the elastic support spring piece 18 releases its stored energy to help the support rod 17 return to its initial position smoothly, and at the same time separates the card column 16 from the support rod 17, so as to facilitate the object frame 2 to return to its initial position, thereby completing a series of tasks.

[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An obstacle avoidance lifting mechanism for an unmanned vehicle, comprising a vehicle body (1) and an article frame (2), characterized in that: The top of the trolley body (1) is provided with a bottom plate (3), the top of the bottom plate (3) is symmetrically provided with a sleeve (4), the interior of the sleeve (4) is movably provided with a retractable rod (5), and the bottom ends of the retractable rod (5) are connected with a horizontal plate (9), the middle of the top of the bottom plate (3) is provided with a hydraulic cylinder (10) for driving the horizontal plate (9) to be raised and lowered, and the top ends of the retractable rods (5) are commonly fixed with a round seat (6), the interior of the round seat (6) is provided with a turntable (7) driven by a motor, the top of the turntable (7) is provided with a bearing plate (8) for supporting the article frame (2), and the front and rear ends of both sides of the bearing plate (8) are provided with limit members (13).

2. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: The middle of the horizontal plate (9) is an arc-shaped structure, and the output end of the hydraulic cylinder (10) is fixedly connected to the bottom end of the arc-shaped part in the middle of the horizontal plate (9).

3. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: A vertical opening matching the structure of the horizontal plate (9) is provided on one side corresponding to the sleeve (4), and the end of the horizontal plate (9) extends into the interior of the sleeve (4) through the vertical opening on the sleeve (4) and is fixedly connected to the bottom end of the retractable rod (5).

4. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: Support rods (17) are movably provided on both sides of the bottom plate (3), and clamping columns (16) are hingedly connected on both sides of the bottom of the horizontal plate (9), and the outer ends of the support rods (17) are provided with clamping holes that match the structure of the clamping columns (16).

5. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 4, characterized in that: An elastic support spring (18) is connected between the bottom end of the support rod (17) and the bottom plate (3), and a groove is provided at one end of the bottom plate (3) connected to the elastic support spring (18).

6. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: Arc-shaped guide blocks (15) are symmetrically arranged on both sides of the outer wall of the rotating disk (7), and an annular guide groove matching the structure of the arc-shaped guide blocks (15) is arranged on the inner wall of the round seat (6).

7. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: Axles (14) are provided on both sides of the bottom of the bearing plate (8), and the bottom ends of the limiting members (13) are movably sleeved outside the bottom ends of the axles (14).

8. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 7, characterized in that: Tension springs (19) are sleeved on the outside of both ends of the shaft rod (14), and the two ends of the tension spring (19) are respectively connected to the inner side of the end of the shaft rod (14) and the outer side of the bottom end of the limiting member (13).

9. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: A sleeve (11) is fixed to the bottom of the bearing plate (8), and a lock shaft (12) is detachably inserted through the top of the rotating disk (7) via a mounting ear.

10. The obstacle avoidance lifting mechanism for an unmanned vehicle according to claim 1, characterized in that: The limiting members (13) are located at the four corners of the bearing plate (8), and an elastic pad is bonded and fixed to the inner side of the top end of the limiting member (13).

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