Unmanned connection transportation system capable of automatically loading goods

Abstract

The invention discloses an unmanned connection transportation system capable of automatically loading goods. The unmanned connection transportation system comprises an unmanned vehicle, an automatic door logistics cabinet, an automatic cabinet entering device and a feeding platform. The logistics cabinet is carried on the unmanned vehicle to achieve unmanned transportation of material boxes, the automatic cabinet entering device is arranged on the logistics cabinet with the automatic door, the material boxes can be limited in the transportation process of the unmanned vehicle, automatic loading of the material boxes can be completed, full-process unmanned operation is truly achieved under the combined action of all modules, and the labor intensity of workers is relieved. The automation level and the loading efficiency of logistics loading are effectively improved, and the labor cost and potential safety hazards possibly occurring are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transportation, and in particular to an unmanned docking transportation system capable of automatic loading. Background Art

[0002] At present, unmanned logistics technology is developing rapidly. A large amount of logistics sorting and transportation have begun to be completed by robots or unmanned vehicles. Through their internally integrated unmanned driving kits, they can complete functions such as driving along planned routes and autonomously avoiding obstacles. Although it can reduce the participation of personnel to a certain extent, the automatic loading and unloading of goods is still a relatively difficult technology to achieve.

[0003] On a logistics production line, it is usually necessary to load the material boxes on the assembly line onto an unmanned vehicle. Existing vehicle loading solutions and devices are mainly divided into two categories: auxiliary loading and unloading devices and automated loading and unloading devices. For auxiliary loading and unloading devices, it must rely on manpower to manually load and place each material box, which cannot be truly unmanned. There will also be a phenomenon of vehicles waiting for people, resulting in the waste of unmanned vehicle working time, reducing the utilization rate of unmanned vehicles, while increasing labor costs, reducing loading efficiency, and there are safety hazards during the handling process. For automated loading and unloading devices, most tend to use devices such as robotic arms. Although they are flexible and efficient, they have problems with high manufacturing and maintenance costs, and have high requirements for the shape and site of the material boxes. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an unmanned docking transportation system capable of automatic loading.

[0005] The present invention adopts the following technical solutions:

[0006] An unmanned docking transportation system capable of automatic loading, comprising an unmanned vehicle, an automatic door logistics cabinet, an automatic cabinet entry device and a loading platform;

[0007] The automatic door logistics cabinet is arranged on an unmanned vehicle, and includes a cabinet body, a door curtain drive assembly, a rolling curtain and a track; at least one side of the cabinet body is an open structure, the track is arranged at the top and bottom of the cabinet body, the door curtain drive assembly is installed at the inner corner position of the cabinet body, at least one end of the rolling curtain is connected to the track, and can reciprocate along the track to open or close the opening of the cabinet body;

[0008] The automatic cabinet feeding device is arranged in the cabinet body and has a first transmission mechanism;

[0009] The loading platform is located on one side of the unmanned vehicle and has a second conveying mechanism matching the first conveying mechanism;

[0010] With the joint efforts of various modules, truly unmanned operation of the entire process is realized, which effectively improves the automation level and loading efficiency of logistics loading, and reduces labor costs and possible safety hazards.

[0011] Preferably, the door curtain drive assembly includes a drive component, a drive rod and a thumbwheel assembly symmetrically installed at both ends of the drive component, and a coupling. The coupling is connected between the drive component and the drive rod and / or between the drive rod and the thumbwheel assembly to achieve power transmission.

[0012] Preferably, the thumbwheel assembly engages with a thumb slot of the rolling shutter, thereby driving the rolling shutter to move back and forth horizontally to achieve the action of opening and closing the door.

[0013] Preferably, the drive assembly includes a mounting base fixedly mounted on the cabinet, a drive motor and a transmission gear set, the drive motor is fixedly mounted on the mounting base, the power output shaft of the drive motor is connected to the driving wheel of the transmission gear set, the driven wheel of the transmission gear set is connected to the driving rod through a coupling, and the driven wheel of the transmission gear set is meshed with the driving wheel of the transmission gear set to facilitate power transmission.

[0014] Preferably, a position encoder for detecting the number of rotations and the rotation angle of the driving motor is further provided on the power output shaft of the driving motor, so as to control the moving position of the rolling curtain.

[0015] Preferably, the thumbwheel assembly includes a thumbwheel connected to the end of a driving rod through a coupling, a limiting flange and a fastener are provided on the outside of the thumbwheel, the thumbwheel cooperates with the thumbwheel groove of the roller blind, and the power output by the driving motor drives the thumbwheel to rotate after passing through the transmission gear set, the driving rod and the coupling.

[0016] Preferably, the cabinet body has at least two sets of independently acting automatic cabinet feeding devices, the automatic cabinet feeding device includes a cabinet feeding bracket detachably mounted inside the cabinet body, the bottom of the cabinet feeding bracket is provided with height-adjustable legs, the cabinet feeding bracket is provided with a cabinet feeding conveyor belt, the right side guide plate and the left side guide plate are symmetrically provided on both sides of the cabinet feeding conveyor belt, and a limit plate is provided at the end of the cabinet feeding conveyor belt to ensure that the material box can enter the automatic cabinet feeding device.

[0017] Preferably, a detection sensor for detecting the material box is also provided on the limiting plate.

[0018] Preferably, the loading platform includes a loading bracket, a row of conveying rollers is arranged on the top of the loading bracket, and the conveying rollers are connected by a power transmission belt. Symmetrically installed guide blocks are arranged on both sides of the upper end of the loading bracket to prevent the material box from shifting during movement. A detection switch is also provided on the side of the loading bracket to detect the position of the material box.

[0019] Preferably, a limiting roller is provided on one side of the loading platform, and the limiting roller includes a positioning member and guide rollers arranged at both ends of the positioning member. One end of the guide roller is inclined to form a trumpet-shaped unmanned vehicle entrance and exit. The guide roller includes a mounting support fixed to the ground and a flexible roller sleeved on the mounting support. The flexible roller can rotate relative to the mounting support to realize the positioning of the unmanned vehicle.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] This technical solution proposes an unmanned docking transportation system that can automatically load goods. The system is mainly composed of modules such as unmanned vehicles, automatic door logistics cabinets, automatic cabinet entry devices, material boxes, and loading platforms. The overall modular design is adopted, and each component module can be used independently and flexibly applied to a variety of scenarios. By placing the logistics cabinet on the unmanned vehicle, the unmanned transportation of the material box can be realized. By transforming the logistics cabinet into an automated roller shutter, the door can be opened and closed automatically. By setting an automatic cabinet entry device on the automatic door logistics cabinet, not only can the material box be limited during the transportation of the unmanned vehicle, but also the material box can be automatically loaded. With the joint action of each module, the whole process of unmanned operation is truly realized, which effectively improves the automation level and loading efficiency of logistics loading, and reduces labor costs and possible safety hazards.

[0022] This technical solution can complete loading without modifying the site. It only needs to paste marks that can be recognized by unmanned vehicles in the loading and unloading area to complete the deployment, which greatly reduces the construction cost of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of an unmanned shuttle transport system that can automatically load cargo.

[0024] Figure 2 This is a structural diagram of the automatic door logistics cabinet.

[0025] Figure 3 This is a schematic diagram of the structure of the door curtain drive assembly.

[0026] Figure 4 This is a schematic diagram of the structure of a roller blind.

[0027] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0028] Figure 6 A schematic diagram of the structure of the drive component.

[0029] Figure 7 It is a structural schematic diagram of the thumbwheel assembly.

[0030] Figure 8 It is a structural schematic diagram of the automatic cabinet feeding device.

[0031] Fig. 9 It is a structural diagram of the feeding platform.

[0032] Fig.10 The figure is a schematic diagram of the loading action flow.

[0033] Fig.11 This is a schematic diagram of the structure of the unmanned vehicle and the limiting roller table.

[0034] Fig.12 It is a structural schematic diagram of the limiting roller.

[0035] In the figure, unmanned vehicle 1, automatic door logistics cabinet 2, cabinet body 21, door curtain drive assembly 22, drive component 221, mounting seat 2211, drive motor 2212, transmission gear set 2213, position encoder 2214, drive rod 222, dial wheel assembly 223, dial wheel 2231, limit flange 2232, fastener 2233, coupling 224, roller curtain 23, curtain piece 231, slot 232, dial slot 233, track 24, automatic cabinet feeding device 3, cabinet feeding bracket 31, cabinet feeding conveyor belt 32, right guide plate 33, limit plate 34, left guide plate 35, detection sensor 37, material box 4, feeding platform 5, feeding bracket 51, conveying roller 52, power transmission belt 53, guide block 54, detection switch 55, limit roller 6, positioning member 61, guide roller 62, mounting support 63, flexible roller 64, unmanned vehicle entrance and exit 65. DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the technical solution of the present invention, a detailed description is given below in conjunction with the accompanying drawings and specific embodiments.

[0037] like Figure 1-Figure 2 As shown, an unmanned docking transportation system capable of automatic loading includes an unmanned vehicle 1, an automatic door logistics cabinet 2, an automatic cabinet feeding device 3 and a loading platform 5;

[0038] The unmanned vehicle 1 has the functions of autonomous driving and high-precision repeated docking, realizing unmanned transportation of goods, and can carry automatic door logistics cabinets 2 for different purposes;

[0039] The automatic door logistics cabinet 2 is arranged on the unmanned vehicle 1, and includes a cabinet body 21, a door curtain drive assembly 22, a rolling curtain 23 and a track 24; the rolling curtain 23 serves as the cabinet door of the automatic door logistics cabinet 2, and moves back and forth laterally along the track 24 under the drive of the door curtain drive assembly 22, so as to close and open the opening, and can accept instructions to automatically open and close the cabinet door after arriving at the destination;

[0040] The automatic cabinet feeding device 3 is arranged in the cabinet body 21 and has a first conveying mechanism. After the unmanned vehicle arrives at the station and docks accurately with the loading platform 5, it sends a command to the automatic door logistics cabinet 2 to open the roller shutter 23, and the loading platform 5 pushes the material box 4 to the cabinet entrance and is transferred to the inside of the cabinet by the automatic cabinet feeding device 3; the first conveying mechanism can be a rolling or chain plate transmission mechanism;

[0041] The loading platform 5 is located on one side of the unmanned vehicle 1 and has a second conveying mechanism matched with the first conveying mechanism, which is used to push the material box 4 to the entrance of the automatic cabinet feeding device 3 to realize unmanned loading of the material box.

[0042] like Figure 2 As shown, as an embodiment, at least one side of the cabinet 21 is an open structure, the track 24 is arranged at the top and bottom of the cabinet 21, the door curtain drive assembly 22 is installed at the inner corner position of the cabinet 21, and at least one end of the rolling curtain 23 is connected to the track 24, and can reciprocate along the track 24 to open or close the opening of the cabinet 21; the number of rolling curtains 23 is consistent with the door curtain drive assembly 22, when the number of door curtain drive assemblies 22 is 1, the door curtain drive assembly 22 can drive the rolling curtain 23 to completely close the opening of the cabinet 21; when the number of door curtain drive assemblies 22 is 2, the two door curtain drive assemblies 22 are driven independently, and both can work independently to completely close the opening of the cabinet 21.

[0043] like Figure 3 As shown, the door curtain drive assembly 22 includes a drive assembly 221, a drive rod 222 and a thumbwheel assembly 223 symmetrically mounted at both ends of the drive assembly 221, and a coupling 224, wherein the coupling 224 is connected between the drive assembly 221 and the drive rod 222 and the coupling 224 is connected between the drive rod 222 and the thumbwheel assembly 223 to achieve power transmission. The drive assembly 221 and the drive rod 222 are both arranged in a vertical direction and are not on the same straight line, and the drive assembly 221 and the drive rod 222 are driven by gear meshing to achieve the effect of acceleration or deceleration.

[0044] like Figure 4-Figure 5 As shown, the thumbwheel assembly 223 is engaged with the thumbwheel groove of the rolling curtain 23, and the rolling curtain 23 is driven to move by the thumbwheel assembly 223. When in use, the driving assembly 221 outputs power, and the thumbwheel assembly 223 is driven to rotate through the cooperation of the coupling 224 and the driving rod 222, and the thumbwheel assembly 223 is engaged with the thumbwheel groove of the rolling curtain 23, thereby driving the reciprocating lateral movement of the rolling curtain 23. Among them, the rolling curtain 23 is spliced ​​by a plurality of curtain pieces 231, and adjacent curtain pieces 231 are connected in sequence through the slots 232, and the thumbwheel grooves 233 cooperating with the thumbwheel assembly 223 are symmetrically opened at both ends of each curtain piece 231, so as to realize the reciprocating movement of the rolling curtain 23.

[0045] like Figure 6 As shown, as an embodiment, the driving component 221 includes a mounting base 2211 fixedly mounted on the cabinet 21, a driving motor 2212 and a transmission gear set 2213, the driving motor 2212 is fixedly mounted on the mounting base 2211, the power output shaft of the driving motor 2212 is connected to the driving wheel of the transmission gear set 2213, the driven wheel of the transmission gear set 2213 is connected to the driving rod 222 through a coupling 224, and the driven wheel of the transmission gear set 2213 is meshed with the driving wheel of the transmission gear set 2213.

[0046] As a preferred embodiment, the power output shaft of the drive motor 2212 is further provided with a position encoder 2214 for detecting the number of rotations and the rotation angle of the drive motor 2212. The position encoder 2214 is used to detect the number of rotations and the rotation angle of the drive motor 2212 to control the moving position of the roller blind 23.

[0047] like Figure 7 As shown, as an embodiment, the thumbwheel assembly 223 includes a thumbwheel 2231 connected to the end of the driving rod 222 through a coupling 224, a limiting flange 2232 and a fastener 2233 are arranged on the outer side of the thumbwheel 2231, the thumbwheel 2231 cooperates with the thumb slot 233 of the rolling curtain 23, and the power output by the driving motor 2212 drives the thumbwheel 2231 to rotate after passing through the transmission gear set 2213, the driving rod 222 and the coupling 224, thereby driving the rolling curtain 23 to move back and forth laterally with the cooperation of the thumb slot 233.

[0048] like Figure 8 As shown, as an embodiment, the cabinet 21 has at least two sets of automatic cabinet feeding devices 3 that can act independently, and each set of automatic cabinet feeding devices 3 includes a cabinet feeding bracket 31 that can be detachably installed inside the cabinet. The bottom of the cabinet feeding bracket 31 is provided with a height-adjustable support leg 36, and the support leg 36 and the bottom of the cabinet feeding bracket 31 can be threaded. There can be multiple support legs 36. When the ground is uneven, the length of one or more of the support legs 36 can be adjusted. A cabinet feeding conveyor belt 32 is provided in the middle, which is used to transfer the material box 4 from the cabinet to the loading platform 5. The right guide plate 33 and the left guide plate 35 are symmetrically provided on both sides of the cabinet feeding conveyor belt 32. The right guide plate 33 and the left guide plate 35 include a front inclined plate and a rear straight plate. The right guide plate 33 and the left guide plate 35 cooperate to form a material box channel with a larger entrance, which is convenient for the material box 4 to enter; a limit plate 34 is provided at the end of the cabinet feeding conveyor belt 32, and when the material box 4 moves to the limit position, it abuts on the limit plate 34. The right guide plate 33 , the left guide plate 35 and the limit plate 34 are used to guide the material box 4 when entering the cabinet.

[0049] As a preferred embodiment, a detection sensor 37 is also provided on the limit plate 34 to detect whether the material box 4 exists. The detection sensor 37 may be an infrared sensor or a pressure sensor. When one set of automatic cabinet feeding devices 3 has loaded a material box 4, the unmanned vehicle 1 moves forward a certain distance, and at this time, the second set of automatic cabinet feeding devices 3 docks with the loading platform 5 to start loading the second material box 4.

[0050] like Fig. 9 As shown, as an embodiment, the loading platform 5 includes a loading bracket 51, and a row of conveying rollers 52 are arranged on the top of the loading bracket 51, and each conveying roller 52 is connected by a power transmission belt 53 to maintain synchronous rotation and power transmission. Symmetrically installed guide blocks 54 are arranged on both sides of the upper end of the loading bracket 51 to guide the material box 4; wherein, the middle part of the guide block 54 has a raised structure, and the raised structure is connected to the two ends by an arc surface or an inclined surface, which can guide the material box 4; in addition, the raised structure can also center the material box 4 to prevent the material box 4 from tilting or even rotating during transportation. A detection switch 55 is also provided on the side of the loading bracket 51, and the detection switch 55 is used to detect the position of each material box 4 on the loading platform.

[0051] like Fig.10 As shown, the working logic of the unmanned shuttle transportation system of the present invention is as follows:

[0052] After the unmanned vehicle 1 arrives at the station, it stops accurately at the docking position under the recognition of marks or reference objects by sensors such as lasers and cameras; after the unmanned vehicle 1 stops, the vehicle sends a door opening command to the automatic door logistics cabinet 2, and the roller shutter 23 of the automatic door logistics cabinet 2 opens, and the state of the cabinet door being opened is fed back to the background of the unmanned vehicle 1. After the unmanned vehicle 1 receives the door opening success status, the cabinet entry conveyor belt 32 of the automatic cabinet entry device 3 is started, and the material box 4 moves to the top of the cabinet entry conveyor belt 32 under the action of the loading platform 5, and the material box 4 is conveyed into the automatic door logistics cabinet 2 under the joint action of the loading platform 5 and the cabinet entry conveyor belt 32.

[0053] When the detection sensor 37 on the automatic cabinet feeding device 3 detects that the material box 4 is in place, it sends a command to the background of the unmanned vehicle 1, and the unmanned vehicle 1 drives forward a certain distance, so that the second automatic cabinet feeding device 3 is aligned with the loading platform 5, so as to load the second material box 4 into the cabinet body 21. After the loading is completed, the door closing command is sent, and the automatic door logistics cabinet 2 automatically closes the door. After the door closing is completed, the status of successful door closing is fed back to the background of the unmanned vehicle 1, and the unmanned vehicle 1 drives away to carry out the delivery task.

[0054] like Figure 11-Figure 12As shown, as an implementation method, the parking accuracy of the unmanned vehicle can also be improved by hardware limiting. A limiting roller 6 is installed on one side of the loading platform 5. The unmanned vehicle 1 can greatly improve the repeatability accuracy of the parking through the guiding effect of the limiting roller 6, and can also reduce the requirements of sensors such as lasers and cameras, thereby reducing the hardware cost. The limiting roller 6 includes two symmetrically arranged guide rollers 62, and the two guide rollers 62 are tilted to form a trumpet-shaped unmanned vehicle entrance and exit 61. The guide roller 62 is composed of a mounting support 63 fixed to the ground and a flexible roller 64 sleeved on the mounting support 63. The flexible roller 64 can rotate relative to the mounting support 63, which can avoid the unmanned vehicle from rigidly colliding with the guide roller 62. The flexible roller 64 can rotate under the pressure applied by the unmanned vehicle, so that the wheels of the unmanned vehicle can slide into the inner side of the guide roller 62. The structure is simple and practical.

[0055] The above are only preferred embodiments of the present invention. The protection scope of the present invention shall be based on the scope defined by the claims. Several improvements and modifications made by those skilled in the art without departing from the spirit and scope of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An unmanned docking transportation system capable of automatic loading, characterized in that: It comprises an unmanned vehicle (1), an automatic door logistics cabinet (2), an automatic cabinet feeding device (3) and a loading platform (5); The automatic door logistics cabinet (2) is arranged on an unmanned vehicle (1), and comprises a cabinet body (21), a door curtain drive assembly (22), a rolling curtain (23), and a track (24); at least one side of the cabinet body (21) is an open structure, the track (24) is arranged at the top and bottom of the cabinet body (21), the door curtain drive assembly (22) is installed at the inner corner position of the cabinet body (21), and at least one end of the rolling curtain (23) is connected to the track (24) and can reciprocate along the track (24) to open or close the opening of the cabinet body (21); The automatic cabinet feeding device (3) is arranged in the cabinet body (21) and has a first conveying mechanism; The loading platform (5) is located on one side of the unmanned vehicle (1) and has a second conveying mechanism that matches the first conveying mechanism.

2. The unmanned docking transportation system capable of automatic loading according to claim 1 is characterized in that: The door curtain drive assembly (22) comprises a drive assembly (221), a drive rod (222) and a thumbwheel assembly (223) symmetrically mounted at two ends of the drive assembly (221), and a coupling (224); the coupling (224) is connected between the drive assembly (221) and the drive rod (222) and / or between the drive rod (222) and the thumbwheel assembly (223).

3. The unmanned docking transportation system capable of automatic loading according to claim 2 is characterized in that: The thumbwheel assembly (223) is engaged with a thumbwheel groove of the rolling curtain (23).

4. The unmanned docking transportation system capable of automatic loading according to claim 2 is characterized in that: The driving assembly (221) comprises a mounting seat (2211) fixedly mounted on the cabinet (21), a driving motor (2212) and a transmission gear set (2213); the driving motor (2212) is fixedly mounted on the mounting seat (2211); a power output shaft of the driving motor (2212) is connected to a driving wheel of the transmission gear set (2213); a driven wheel of the transmission gear set (2213) is connected to a driving rod (222) via a coupling (224); and the driven wheel of the transmission gear set (2213) is meshed with the driving wheel of the transmission gear set (2213).

5. The unmanned docking transportation system capable of automatic loading according to claim 4 is characterized in that: A position encoder (2214) for detecting the number of rotations and the rotation angle of the drive motor (2212) is also provided on the power output shaft of the drive motor (2212).

6. The unmanned docking transportation system capable of automatic loading according to claim 3 is characterized in that: The thumbwheel assembly (223) comprises a thumbwheel (2231) connected to the end of a driving rod (222) via a coupling (224); a limiting flange (2232) and a fastener (2233) are arranged on the outer side of the thumbwheel (2231); the thumbwheel (2231) cooperates with a thumbwheel groove of the rolling curtain (23); the power output by the driving motor (2212) drives the thumbwheel (2231) to rotate after passing through the transmission gear set (2213), the driving rod (222) and the coupling (224).

7. The unmanned docking transportation system capable of automatic loading according to claim 1 is characterized in that: The cabinet body (21) is provided with at least two sets of independently-acting automatic cabinet feeding devices (3), the automatic cabinet feeding devices (3) comprising a cabinet feeding bracket (31) detachably mounted inside the cabinet body (21), a height-adjustable support leg (36) being arranged at the bottom of the cabinet feeding bracket (31), a cabinet feeding conveyor belt (32) being arranged on the cabinet feeding bracket (31), right side guide plates (33) and left side guide plates (35) being symmetrically arranged on both sides of the cabinet feeding conveyor belt (32), and a limit plate (34) being arranged at the end of the cabinet feeding conveyor belt (32).

8. The unmanned docking transportation system capable of automatic loading according to claim 7 is characterized in that: The limiting plate (34) is also provided with a detection sensor (37) for detecting the material box.

9. The unmanned docking transportation system capable of automatic loading according to claim 1, characterized in that: The loading platform (5) comprises a loading bracket (51), a row of conveying rollers (52) are arranged on the top of the loading bracket (51), and the conveying rollers (52) are connected by a power transmission belt (53), symmetrically installed guide blocks (54) are arranged on both sides of the upper end of the loading bracket (51), and a detection switch (55) is also arranged on the side of the loading bracket (51).

10. The unmanned docking transportation system capable of automatic loading according to claim 1, characterized in that: A limiting roller (6) is provided on one side of the loading platform (5), the limiting roller (6) comprising a positioning member (61) and guide rollers (62) provided at both ends of the positioning member (61), one end of the guide roller (62) being inclined to form a trumpet-shaped unmanned vehicle entrance (65), the guide roller (62) comprising a mounting support (63) fixed to the ground and a flexible roller (64) sleeved on the mounting support (63), the flexible roller (64) being rotatable relative to the mounting support (63).

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