Automatic loading and unloading structure of unmanned delivery vehicle cage trolley based on electric cylinder driving

Abstract

The invention discloses an unmanned distribution vehicle cage trolley automatic loading and unloading mechanism based on electric cylinder driving, and belongs to the technical field of unmanned logistics. The mechanism mainly comprises a tray assembly used for bearing a cargo cage trolley, a plane guide rail assembly fixed to the plane of a frame, an electric cylinder driving assembly and a supporting rod (linkage rod system) of the plane guide rail assembly and the tray assembly. A rear support lug of the electric cylinder is hinged with a fixed front cross shaft, and a front support lug hole shaft at the front end of a push rod is matched with a movable cross shaft and hinged with two sides of the tray through two support rods. A single electric cylinder push rod is controlled to stretch out and draw back, the tray assembly is driven to move horizontally in advance along a plane guide rail, when the front end face of an inner groove of a concentric-square-shaped structure at the rear end of the tray assembly is tangent to a supporting roller, the tray assembly is overturned around a roller shaft, and therefore the composite action of pushing the cage trolley outwards and dumping the cage trolley to the ground is completed in sequence. The recovery process is contrary. A set of electric cylinder driving system is used for replacing a traditional combination of a conveying belt and chain transmission, the whole mechanism is effectively simplified, the use and maintenance cost and maintenance difficulty are reduced, the power consumption of the driving system is reduced, meanwhile, the operation reliability and control precision of the mechanism are improved, and the electric cylinder driving system is suitable for automatic loading and unloading operation of the unmanned distribution vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned logistics transportation, in particular to an automatic loading and unloading structure of a goods cage (cage car) of an unmanned delivery vehicle. BACKGROUND

[0002] With the development of intelligent logistics and unmanned technology, unmanned delivery vehicles (or autonomous delivery vehicles) have begun to be applied to end logistics delivery scenarios. Such vehicles need to have the ability to automatically load and unload standardized goods containers (usually cage cars) to achieve truly unmanned closed-loop operations.

[0003] Currently, existing unmanned vehicle loading and unloading mechanisms mostly use a conveyor belt combined with a chain drive scheme. This scheme usually involves laying a conveyor belt on the vehicle compartment floor, driving a chain wheel and chain mechanism with a motor to move the tray carrying the cage car. After moving to a specific position, another mechanism (such as a connecting rod, hinge, or another set of driving devices) is used to realize the tilting and dumping or resetting of the tray. This scheme has the following disadvantages: 1. Complex system. Multiple components such as conveyor belts, driving motors, chain wheels, and chains are required, resulting in a less compact structure and a large space occupation; 2. High cost. The large number of components increases the manufacturing and maintenance costs; 3. Reliability challenges. The chain needs to be regularly tensioned and lubricated, and the conveyor belt may have wear and tear, slippage, and other issues, making long-term operation reliability a challenge; 4. Poor or no protection. The transmission chain is exposed to the outside, which is prone to rust from moisture and rain; 5. High system loss. Traditional chain drives have multiple chain wheel and chain components, resulting in high energy transmission loss. Therefore, there is an urgent need for an unmanned vehicle cage automatic loading and unloading mechanism with a simpler structure, higher reliability, and lower cost. SUMMARY

[0004] The present application aims to overcome the shortcomings of the prior art and provide an unmanned delivery vehicle cage automatic loading and unloading mechanism based on electric cylinder driving, which is compact in structure, efficient in driving, reliable in operation, and easy to control.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] An unmanned delivery vehicle cage automatic loading and unloading mechanism based on electric cylinder driving is installed on the vehicle compartment floor frame of an unmanned delivery vehicle, characterized in that it comprises a tray assembly, a planar guide rail assembly, a support rod (linkage rod system), and an electric cylinder driving assembly.

[0007] The tray assembly is used to support the goods cage, which comprises a tray, a support cross shaft, a set of rolling support bearings 2 (or engineering plastic rollers), and a fixed hinge shaft seat. A support cross shaft is fixed to the front section of the tray bottom, and the two ends of the support cross shaft are equipped with a set of rolling support bearings 2;

[0008] The planar guide rail assembly comprises two parallel U-shaped channel steels (guide rail guide) fixed to the frame, a fixed front cross shaft, a rolling support bearing group 1, a movable cross shaft, a fixed rear cross shaft, and a rolling bearing group 2. The two channel steels are respectively located at the positions close to the two side edges of the bottom plate of the carriage. The outer ring of the rolling bearing group 1 contacts the upper surface of the channel steel and can roll along the length direction thereof.

[0009] The linkage rod system comprises two support rods. One end of each of the two support rods is hingedly connected with the pin shaft hole on the two sides of the tray. The other end of each of the two support rods is hingedly connected with the surface guide rail assembly of the planar guide rail assembly.

[0010] The electric cylinder assembly comprises a cylinder, a push rod (one or more stages), a screw pair (a ball screw pair or a roller screw pair), an ear, a transmission gear box, a gear box cover, a transmission gear pair, a support bearing, a cylinder seal, a speed reducer, and a motor. The tail of the cylinder body of the electric cylinder is hingedly connected with the fixed front cross shaft fixed to the frame through a rear ear. The front end of the push rod of the electric cylinder is provided with a front ear.

[0011] The rear part of the tray has a back-shaped structure formed by a square tube. A rolling inner groove is arranged in the back-shaped structure. The length of the inner groove matches the translation stroke of the tray. The width of the inner groove matches the width of the outer ring of the rolling bearing group 2. The end of the back-shaped groove is open.

[0012] The rolling bearing group 2 rolls in the inner groove of the back-shaped structure in the rear part of the tray when the tray is turned up (down). The front end surface of the inner groove of the back-shaped structure is the upper limit position of the turning stroke.

[0013] When the front end surface of the inner groove of the back-shaped structure in the rear part of the tray is tangent to the outer ring of the rolling bearing group 2, the tray is rotated around the fixed rear cross shaft as the rotation point when the tray is jacked up and turned up.

[0014] The extension and retraction movement of the push rod of the electric cylinder is converted into the compound movement of the tray through the linkage rod system.

[0015] When the push rod of the electric cylinder is extended, the tray assembly is first pushed to translate outward by rolling on the upper surface of the guide rail through the rolling bearing group 1 (the translation stroke is about the height of the guide rail from the ground), until the rotation fulcrum in the rear part of the tray. Then, the push rod of the electric cylinder is continuously extended, the tray assembly is pushed by the support rod, and the tray assembly is turned up around the rotation fulcrum until the cage is dumped to the ground in a vertical state.

[0016] When the push rod of the electric cylinder is retracted, the tray assembly is first pulled to turn down around the rotation fulcrum and reset to a horizontal state, and then the tray assembly is pulled to translate inward until it is completely retracted into the carriage.

[0017] Further, the tray assembly is welded by structural steel square tubes to reduce the weight.

[0018] Further, the rolling bearing is a deep groove ball bearing (or a roller).

[0019] Further, the rotation pivot point of the rear part of the tray is located at about one third of the overall length of the tray.

[0020] Further, the electric cylinder is arranged in parallel above the surface of the vehicle frame.

[0021] The present application has the following advantages:

[0022] 1. Simplified structure and high integration: a single electric cylinder is used as a power source, and a simple connecting rod mechanism is used to simultaneously realize the combined motion of the two degrees of freedom of the translation and overturning of the tray, thereby eliminating the traditional conveyor belt and chain transmission system, greatly simplifying the structure, and reducing the number of parts.

[0023] 2. High reliability: the electric cylinder has the characteristics of stable transmission, low noise, high precision, and long service life. The connecting rod mechanism is rigidly connected, the motion relationship is determined, and the failure rate is low, so it is suitable for frequent work in logistics scenarios.

[0024] 3. Simple control: the extension stroke and speed of the single electric cylinder can be accurately controlled to control the entire loading and unloading process, and the control system is simple and reliable.

[0025] 4. Reduced cost: the number of components such as motors, chains, and conveyor belts is reduced, and the use and maintenance costs are reduced.

[0026] 5. Optimized space utilization: the compact structure saves more effective space inside the vehicle compartment.

[0027] 6. Reduced total system power consumption: the electric cylinder drive system has low overall power consumption throughout the stroke, and only high power is used during the initial stage of lifting the tray, and low power is used during the remaining period. Compared with the traditional chain transmission, the high-power long-running period is short. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 The schematic diagram of the embodiment of the present application mechanism installed in the unmanned vehicle (loading state, tray retraction).

[0030] Figure 2 The schematic diagram of the embodiment of the present application mechanism in the process of tray translation and extension.

[0031] Figure 3 This is a schematic diagram of the mechanism of the present invention during the pallet flipping and unloading process.

[0032] Figure 4 This is a schematic diagram of the unloading process of the mechanism in an embodiment of the present invention (the cage is standing upright on the ground).

[0033] Figure 5 This is a schematic diagram of the components of the electric cylinder assembly in an embodiment of the present invention (the cage car is standing upright on the ground).

[0034] In the diagram: 1. Frame; 2. Carriage; 3. Support rod; 10. Planar guide rail assembly; 20. Pallet assembly; 30. Electric cylinder assembly; 11. Fixed front cross shaft; 12. Movable cross shaft; 13. Fixed rear cross shaft; 14. Rolling bearing assembly 1; 15. Rolling bearing assembly 2; 16. Left (right) U-shaped groove guide rail; 21. Support cross shaft; 22. Fixed hinged shaft seat; 23. Rolling bearing assembly 2 (or engineering plastic roller); 24. Pallet; 31. Rear support lug; 32. Cylinder; 33. Push rod; 34. Front support lug. Detailed Implementation

[0035] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific examples.

[0036] like Figures 1 to 4 As shown, the automatic loading and unloading mechanism of this embodiment of the invention mainly includes a pallet assembly 20, a guide rail assembly 10, an electric cylinder assembly 30, and a support rod 3 (linkage rod system).

[0037] The pallet assembly 20 is welded from square tubing and is used to place standard cargo cage trolley 2. A fixed hinged bearing 22 is welded to the front bottom section, and a support cross shaft 21 is fitted in conjunction with it. Rolling bearing assemblies 2 (or engineering plastic rollers) 23 are installed at both ends of the support cross shaft 21.

[0038] The guide rail assembly 2 consists of two U-shaped groove guide rails 16, a fixed front horizontal shaft 11, a movable horizontal shaft 12, a fixed rear horizontal shaft 13, a rolling support bearing assembly 114, and a rolling bearing assembly 215. It is fixed to the frame 1 by bolts and is located close to both sides of the frame. The U-shaped groove guide rails 16 provide support and guidance for the translational movement of the pallet 24, and the rolling support bearing assembly 2 (or engineering plastic rollers) 23 can contact and roll on the upper surface of the U-shaped groove guide rails 16.

[0039] The electric cylinder assembly 3 is placed parallel to the frame 1. The rear support lug 31 at the rear of its cylinder body is hinged to the fixed front cross shaft 11 through a shaft hole. The front end of the push rod 33 of the electric cylinder assembly 30 is provided with a front support lug hole, and the front support lug 34 is hinged to the movable cross shaft 12.

[0040] One end of the two support rods 3 is hinged with the pin shaft and the through hole welded on both sides of the tray 24, and the other end pin hole is hinged with the pin shaft of the movable cross shaft 12.

[0041] When the front end surface of the inner groove of the rear curved structure of the tray 24 is tangent to the outer ring of the rolling bearing set 2 (about 1 / 3 of the length of the tray 24), the bearing set forms a natural rotation fulcrum.

[0042] Working process

[0043] Unloading process: the control system sends a command, and the push rod 33 of the electric cylinder 30 starts to extend. In the initial stage, Figure 1 -> Figure 2 ), the push rod 33 pushes the tray assembly 20 as a whole outwardly through the support rod 3, and the rolling bearing set 2 (or the engineering plastic roller) 23 rolls on the left (right) U-shaped groove guide rail 16. When the tray 24 moves the rolling bearing set 2 to be tangent to the front end surface of the inner groove of the rear curved structure of the tray 24, the translational motion stops. The electric cylinder push rod 33 continues to extend ( Figure 2 -> Figure 3 -> Figure 4 ), at this time the jacking force of the support rod 3 makes the tray 24 start to rotate clockwise around the rotation fulcrum. The front end of the tray 24 is jacked up, driving the cage car 2 on it to tilt backward until the tray 24 is nearly perpendicular to the ground, and the cage car 2 is stably erected on the ground relying on its own gravity or slight pushing force, completing the unloading. The electric cylinder push rod 33 reaches the maximum stroke.

[0044] Loading (recovery) process: the cage car 2 is placed on the nearly vertical tray 24. The push rod 33 of the electric cylinder 30 starts to retract. In the initial stage, the support rod 3 pulls the tray 24 to rotate counterclockwise downward around the rotation fulcrum until the tray 24 returns to the horizontal state and is placed on the guide rail 16. The electric cylinder push rod 33 continues to retract ( Figure 3 -> Figure 2 -> Figure 1 ), pulls the entire tray 24 through the support rod 3 to translate into the car compartment until the tray 24 is completely retracted into the car compartment, and the back end is flush with the tail of the car compartment, completing the loading. The electric cylinder push rod 33 retracts to the initial position.

[0045] The above is only a preferred embodiment of the present application, and does not limit the application in any form. Any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiment still falls within the scope of the technical solution of the present application.

Claims

1. An automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive, characterized in that, The system includes an electric cylinder assembly, a planar guide rail assembly, a pallet assembly, a support rod, a frame, and a cage car. The electric cylinder assembly includes: a cylinder barrel, a push rod (single or multi-stage), a lead screw pair (ball screw pair or roller screw pair), a support lug, a transmission gearbox, a gearbox cover, a transmission gear pair, a support bearing, a cylinder barrel seal, a reducer, and a motor. The planar guide rail assembly includes: a left (right) U-shaped channel steel (guide rail guide), a fixed front horizontal shaft, a rolling support bearing assembly 1, a movable horizontal shaft, a fixed rear horizontal shaft, and a rolling bearing assembly 2. The pallet assembly includes: a pallet, a support horizontal shaft, a rolling support bearing assembly 2 (or engineering plastic rollers), and a fixed hinged shaft seat.

2. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive as described in claim 1, characterized in that: The electric cylinder body is horizontally mounted on the vehicle frame. The front support lug of the electric cylinder is hinged to the movable horizontal shaft, and the rear support lug is hinged to the fixed front shaft and fixed to the vehicle frame. The electric cylinder push rod and lead screw pair have a multi-stage structure.

3. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive as described in claim 1, characterized in that: The left (right) U-shaped channel steels are placed on both sides of the frame near the edge and fixedly connected to the frame plane; the front side wall of the left (right) U-shaped channel steel has a round hole, the size of which matches the diameter of the fixed front transverse shaft, and the center height of the round hole is horizontal; the rear side wall of the left (right) U-shaped channel steel has a long groove hole, the width of which matches the diameter of the extended shaft of the movable transverse shaft, the length of which matches the effective stroke length of the electric cylinder push rod, and the center height of the groove hole is horizontally consistent with the center height of the front round hole; the end side wall of the left (right) U-shaped channel steel has a round hole, the size of which matches the diameter of the fixed rear transverse shaft, and the center height of the round hole is equal to the center height of the front round hole; the tail end slot of the left (right) U-shaped channel steel is a closed structure.

4. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive as described in claim 1, characterized in that: The fixed front horizontal shaft is coaxially connected to the round hole on the front side wall of the left (right) U-shaped channel steel; the middle shaft diameter of the fixed front horizontal shaft is adapted to the size of the hinge hole of the rear support ear.

5. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive as described in claim 1, characterized in that: The rolling bearing assembly 2 consists of one piece on each side and is fixedly fitted to the inner groove of the U-shaped channel steel with the movable horizontal shaft. The rolling bearings in the rolling bearing assembly 2 roll within the groove, and the outer ring of the bearing contacts and rubs against the lower surface of the inner groove of the channel steel.

6. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The movable horizontal axis extends outward from the left (right) U-shaped channel steel long groove holes at both ends, and slides back and forth within the groove.

7. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The rolling bearing assembly 2 consists of one piece on each side and is placed at the left and right ends of the rear transverse shaft. The inner ring hole of the bearing is fixed to the outside of the (right) U-shaped channel steel. The rolling bearing assembly 2 is in contact with the upper and lower inner surfaces of the slide groove at the rear of the tray and rolls within the slide groove.

8. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The supporting horizontal shaft is fixed to the ground at the front end of the pallet by a fixed hinged shaft seat; the two ends of the supporting horizontal shaft are fitted with rolling support bearing assemblies 2 (or engineering plastic rollers).

9. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The rolling support bearing assembly 2 (or engineering plastic roller) contacts the upper surface of the left (right) U-shaped channel steel and rolls back and forth.

10. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The pallet is made of square tubes welded together to reduce weight. At the rear, there is a U-shaped structure made of square tubes welded together. The inside of the U-shaped structure is a rolling inner groove. The length of the inner groove matches the pallet's translational stroke, and the width matches the width of the outer ring of the rolling bearing assembly 2. The end of the U-shaped groove is open.

11. The automatic loading and unloading structure for an unmanned delivery vehicle cage based on an electric cylinder drive according to claim 1, characterized in that: The support rods are placed on both sides of the tray, one end of which is connected to the tray hole pin, and the other end is hinged to the movable horizontal shaft.

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