Unmanned distribution vehicle with automatic loading and unloading function

Abstract

The invention provides an unmanned distribution vehicle with an automatic loading and unloading function, and relates to the technical field of intelligent logistics. The unmanned distribution vehicle comprises an automatic driving vehicle, a fork lifting device, a fork translation device and a cargo cage supporting device, the automatic driving vehicle comprises a vehicle frame and a cargo compartment arranged on the vehicle frame, a compartment opening communicated with the interior is formed in the end face, away from a vehicle head, of the cargo compartment, and the fork lifting device is arranged on the vehicle frame and located below the compartment opening; the pallet fork translation device and the cargo cage supporting device are both arranged in the cargo compartment, the cargo cage supporting device is provided with two cargo cage supporting assemblies which are opposite in the width direction of the cargo compartment and are spaced from each other, and the pallet fork translation device is located between the two cargo cage supporting assemblies; wherein the cargo cage is lifted through the pallet fork lifting device, the cargo cage is moved into / out of the cargo compartment through the pallet fork translation device, and the cargo cage is supported through the two cargo cage supporting assemblies. On the basis, automatic loading and unloading of the cargo cages are achieved, the labor intensity of workers is low, and the distribution efficiency and safety are higher.

Description

Technical Field

[0001] This application relates to the field of smart logistics technology, and in particular to an unmanned delivery vehicle with automatic loading and unloading functions. Background Technology

[0002] Smart logistics, relying on technologies such as the Internet of Things (IoT), big data, artificial intelligence (AI), and blockchain, enables refined, dynamic, and visualized management of all aspects of logistics, improving intelligent analysis and decision-making capabilities and the execution of automated operations, thereby enhancing logistics efficiency. Unmanned delivery vehicles, equipped with sensors, controllers, and other devices and integrating modern communication and network technologies, are the core terminal equipment of smart logistics, primarily used to achieve unmanned delivery of goods for express delivery and supermarkets. However, among related technologies, unmanned delivery vehicles only possess autonomous driving capabilities and cannot achieve automated loading and unloading of goods. Manual loading and unloading of goods is labor-intensive, inefficient, and poses safety hazards, making it difficult to seamlessly integrate with future unmanned warehouses and unmanned service stations. Summary of the Invention

[0003] This application provides an unmanned delivery vehicle with automatic loading and unloading function, which aims to solve the problems of low efficiency, high cost and poor safety of unmanned delivery vehicles that require manual loading and unloading of goods in related technologies.

[0004] To address the aforementioned drawbacks in related technologies, this application provides an unmanned delivery vehicle with automatic loading and unloading capabilities, including an autonomous driving vehicle, a fork lifting device, a fork translating device, and a cargo cage support device. The autonomous driving vehicle includes a frame and a cargo box mounted on the frame. The cargo box has an opening on its end face away from the front of the vehicle that communicates with the interior. The fork lifting device is mounted on the frame and located below the opening. The fork lifting device has a first fork. The fork translating device and the cargo cage support device are both located inside the cargo box. The fork translating device has a second fork. The cargo cage support device has two cargo cage support components that are opposite to each other and spaced apart in the width direction of the cargo box. The fork translating device is located between the two cargo cage support components. During loading, the fork lifting device is used to first drive the first fork down to the ground to pick up the cargo cage, and then drive the first fork to carry the cargo cage up to the opening of the compartment; the fork translating device is used to drive the second fork to translate out of the compartment; the fork lifting device is also used to drive the first fork down to the ground after the second fork has translated to below the cargo cage, so that the cargo cage is supported by the second fork; the fork translating device is also used to drive the second fork to carry the cargo cage into the compartment and translate it to above the two cargo cage support components; the cargo cage support device is used to control the two cargo cage support components to lift up and support the cargo cage. During unloading, the cage support device controls the two cage support assemblies to lower the cage and have it received by the second fork; the fork translation device drives the second fork to move the cage to the outside of the cargo box; the fork lifting device drives the first fork to rise and receive the cage on the second fork; the fork translation device also drives the second fork to retract into the cargo box after the first fork receives the cage; the fork lifting device also drives the first fork to lower the cage to the ground.

[0005] In some implementations, the fork lifting device also includes a fixed frame and a lifting mechanism. The fixed frame is mounted on the vehicle frame and located below the cargo box opening. One end of the lifting mechanism is mounted on the fixed frame and the other end is connected to the first fork. The lifting mechanism is used to drive the first fork to move in the vertical direction.

[0006] In some implementation schemes, the lifting mechanism includes a connecting rod, two rotating rods, and two lifting hydraulic cylinders. One end of the two rotating rods is rotatably mounted on a fixed frame, facing each other and spaced apart. The other end of the two rotating rods is connected to the first fork. The rotating rods extend in a bent shape, with the bend close to the first fork. The two ends of the connecting rod are respectively located at the bends of the two rotating rods. The two lifting hydraulic cylinders are located between the two rotating rods. One end of the two lifting hydraulic cylinders is rotatably mounted on a fixed frame, facing each other and spaced apart. The other ends of the two lifting hydraulic cylinders are respectively rotatably mounted at the two ends of the connecting rod.

[0007] In some implementation schemes, the rotating rod is rotatably engaged with the first fork; the lifting mechanism also includes two folding hydraulic cylinders, one end of which is opposite to each other, spaced apart and rotatably mounted on the fixed frame, and the other end is rotatably connected to the first fork, with the two rotating rods located between the two folding hydraulic cylinders; the two folding hydraulic cylinders are used to drive the first fork to rotate toward the cargo box to achieve folding when extended.

[0008] In some implementations, the lifting mechanism also includes a support hydraulic cylinder, which is mounted on a fixed frame and located between two lifting hydraulic cylinders. The extension and retraction direction of the support hydraulic cylinder is vertical, and the support hydraulic cylinder is used to extend and support the ground during loading and unloading.

[0009] In some implementations, the first fork includes a connecting frame and two first fork arms. The connecting frame is mounted on the lifting mechanism, and one end of each of the two first fork arms is mounted on the connecting frame at intervals.

[0010] In some implementation schemes, the connecting frame is provided with two elastic limiting members, which are respectively close to the ends of the two first forks.

[0011] In some implementation schemes, a first buffer layer is provided on the surface of both first forks.

[0012] In some implementations, the ends of the two first forks furthest from the connecting frame are both wedge-shaped structures.

[0013] In some implementations, the fork translation device includes a mounting base, a drive assembly, and a guide rail assembly. The guide rail assembly is arranged along the length of the cargo box. The mounting base is slidably mounted on the guide rail assembly. The second fork is mounted on the mounting base. The drive assembly is connected to the mounting base and is used to drive the mounting base to carry the second fork to reciprocate along the guide rail assembly.

[0014] In some implementations, the drive assembly includes a motor, a lead screw, and a nut seat. The lead screw is rotatably mounted inside the cargo box and arranged along the length of the guide rail assembly. One end of the lead screw is connected to the output shaft of the motor, and the nut seat is sleeved on the lead screw and connected to the mounting base.

[0015] In some implementation schemes, the drive assembly includes a motor, a drive sprocket, a driven sprocket, a chain, and a connecting seat. The drive sprocket is sleeved on the output shaft of the motor. The driven sprocket is rotatably mounted in the cargo box via a support and is arranged opposite to the drive sprocket along the length of the guide rail assembly. The chain is meshed and sleeved between the drive sprocket and the driven sprocket. The connecting seat is located on the chain and connected to the mounting seat.

[0016] In some implementations, the second fork includes two second forks and at least one reinforcing beam. One end of each of the two second forks is positioned opposite to and spaced apart from each other on the mounting base. The at least one reinforcing beam is located between the two second forks, and both ends of the at least one reinforcing beam are respectively positioned on the two second forks.

[0017] In some implementations, the guide rail assembly includes two guide rails and two slide rails. Both the guide rails and slide rails are arranged along the length of the cargo box. The two slide rails are spaced apart from each other, and the two guide rails are spaced apart from each other and located between the two slide rails. The slide rails include multiple rollers arranged along the length of the cargo box and rotatably mounted. The mounting base has two grooves for the two guide rails to slide into. The rollers of the two slide rails roll in contact with the mounting base and roll in contact with the two second forks respectively.

[0018] In some implementation schemes, a second buffer layer is provided on the surface of both second forks.

[0019] In some implementations, the ends of the two second forks furthest from the mounting base are both wedge-shaped structures.

[0020] In some implementations, the cargo cage support assembly includes a support beam and at least two lifting cylinders. The at least two lifting cylinders are arranged along the length of the cargo box and spaced apart from each other. The support beam is mounted on the at least two lifting cylinders, and the at least two lifting cylinders are used to drive the support beam to move in the vertical direction.

[0021] In some implementations, a third buffer layer is provided on the surface of the support beam.

[0022] In some implementations, the cage support device also includes two elastic clamping components located on top of the cargo box and spaced apart from each other along the length of the cargo box. These components are used to abut against the cargo box and apply an elastic force to the cargo box to clamp it after the two cage support components lift the cargo box.

[0023] In some implementation schemes, the elastic clamping assembly includes a crossbeam, two supports, and two clamping springs. The two supports are respectively located on two opposite inner side walls of the cargo box in the width direction. One end of each clamping spring is located on the two supports. The two ends of the crossbeam are respectively connected to the other ends of the two clamping springs. Both clamping springs are arranged in the vertical direction. The crossbeam is used to abut against the cargo cage after the two cargo cage support assemblies lift the cargo cage, and applies elastic force to the cargo cage through the deformation of the two clamping springs.

[0024] In some implementation schemes, the cargo cage support device includes multiple devices, which are arranged along the length of the cargo box and spaced apart from each other.

[0025] In some implementations, the unmanned delivery vehicle also includes an automatic door at the entrance.

[0026] The unmanned delivery vehicle provided in this application consists of an autonomous driving vehicle, a fork lifting device, a fork translating device, and a cage support device. The autonomous driving vehicle includes a frame and a cargo box mounted on the frame. The cargo box has an opening on its end face away from the front of the vehicle that communicates with the interior. The fork lifting device is mounted on the frame and located below the opening. The fork lifting device has a first fork. The fork translating device and the cage support device are both located inside the cargo box. The fork translating device has a second fork. The cage support device has two cage support components that are opposite to each other and spaced apart in the width direction of the cargo box. The fork translating device is located between the two cage support components. In practical applications, the loading process of the cargo cage includes: the fork lifting device first drives the first fork to descend to the ground to pick up the cargo cage, and then drives the first fork to carry the cargo cage up to the opening of the cargo box; the fork translating device drives the second fork to translate out of the cargo box; after the second fork has translated to below the cargo cage, the fork lifting device also drives the first fork to descend to the ground, so that the cargo cage is supported by the second fork; the fork translating device also drives the second fork to carry the cargo cage into the cargo box and move it above the two cargo cage support assemblies; the cargo cage support device controls the two cargo cage support assemblies to lift up and support the cargo cage. The unloading process of the cargo cage includes: the cargo cage support device controls the two cargo cage support assemblies to lower the cargo cage and have it supported by the second fork; the fork translating device drives the second fork to carry the cargo cage to translate out of the cargo box; the fork lifting device drives the first fork to rise and support the cargo cage on the second fork; after the first fork supports the cargo cage, the fork translating device also drives the second fork to retract into the cargo box; the fork lifting device also drives the first fork to descend to the ground with the cargo cage. Therefore, compared with the traditional solution of manual loading and unloading of goods, the unmanned delivery vehicle of this application realizes the automatic loading and unloading of cargo cages, reduces the labor intensity of personnel, improves delivery efficiency, avoids the safety hazards of manual loading and unloading, and can better achieve seamless integration with future unmanned warehouses, unmanned stations, etc. Attached Figure Description

[0027] To more clearly illustrate the related technologies or the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the related technologies or the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application, and not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the unmanned delivery vehicle provided in the embodiments of this application;

[0029] Figure 2 This is an assembly diagram of the fork lifting, translation, and support device provided in the embodiments of this application;

[0030] Figure 3 This application provides a trajectory diagram of the first fork lifting and lowering process in an embodiment of the present application.

[0031] Figure 4 A diagram showing the state of the first fork descending to the ground, provided in an embodiment of this application;

[0032] Figure 5 A diagram showing the state of the first fork rising to the opening of the container, provided in an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the forklift device provided in the embodiments of this application;

[0034] Figure 7 A state diagram showing the lifting mechanism driving the first fork to descend, provided in an embodiment of this application;

[0035] Figure 8 A diagram showing the state of the lifting mechanism driving the first fork to rise, provided in an embodiment of this application.

[0036] Figure 9 A state diagram showing the lifting mechanism driving the first fork to fold, provided in an embodiment of this application;

[0037] Figure 10 A trajectory diagram of the first fork folding as provided in an embodiment of this application;

[0038] Figure 11 This is a schematic diagram of the fork translation device provided in the embodiments of this application;

[0039] Figure 12 This is a schematic diagram of the structure of the cargo cage support device provided in the embodiments of this application;

[0040] Figure 13 This is a diagram showing the state of the elastic clamping assembly clamping the cargo cage according to an embodiment of this application.

[0041] The markings in the above figures represent:

[0042] 1-Autonomous driving vehicle, 2-Fork lifting device, 3-Fork translation device, 4-Cargo cage support device, 5-Elastic limit component, 11-Frame, 12-Cargo box, 13-Car front, 121-Cargo box opening, 21-First fork, 22-Fixed frame, 23-Lifting mechanism, 211-Connecting frame, 212-First fork arm, 231-Linkage, 232-Rotating rod, 233-Lifting hydraulic cylinder, 234-Folding hydraulic cylinder, 235-Support Hydraulic cylinder, 31-Second fork, 32-Mounting base, 33-Drive assembly, 34-Guide rail assembly, 311-Second fork arm, 312-Reinforcing beam, 331-Motor, 332-Chain, 341-Guide rail, 342-Slide rail, 3421-Roller, 41-Cage support assembly, 42-Elastic clamping assembly, 411-Support beam, 412-Lifting cylinder, 421-Crossbeam, 422-Bracket, 423-Compression spring. Detailed Implementation

[0043] In related technologies, unmanned delivery vehicles cannot achieve automatic loading and unloading of goods. Manual loading and unloading of goods is labor-intensive, inefficient, and poses safety hazards, making it difficult to seamlessly integrate with future unmanned warehouses, unmanned rest stations, etc. In view of this, this application proposes an unmanned delivery vehicle with automatic loading and unloading function in the embodiments below to solve the above-mentioned drawbacks of related technologies.

[0044] To make the objectives, technical solutions, and advantages of this application more apparent and understandable, this application will be clearly and completely described below in conjunction with its embodiments and corresponding drawings. Throughout, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. It should be understood that the embodiments of this application described below are only for explaining this application and are not intended to limit this application. That is, all other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0045] Please see Figures 1 to 5 , Figure 1 The diagram shown is a structural schematic of an unmanned delivery vehicle. Figure 2 The diagram shown is of the fork lifting, translation, and support assembly. Figure 3 The diagram shown is the trajectory of the first fork during lifting and lowering. Figure 4 The image shown is a diagram of the first fork lowered to the ground. Figure 5 The diagram shows the state of the first fork raised to the opening 121. This embodiment provides an unmanned delivery vehicle with automatic loading and unloading function, which includes an autonomous driving vehicle 1, a fork lifting device 2, a fork translating device 3, and a cargo cage support device 4. The autonomous driving vehicle 1 includes a frame 11 and a cargo box 12 mounted on the frame 11. The cargo box 12 has an opening 121 connected to the interior on the end face away from the front 13. The fork lifting device 2 is mounted on the frame 11 and located below the opening 121. The fork lifting device 2 has a first fork 21. The fork translating device 3 and the cargo cage support device 4 are both located inside the cargo box 12. The fork translating device 3 has a second fork 31. The cargo cage support device 4 has two cargo cage support components 41 that are opposite to each other and spaced apart in the width direction of the cargo box 12. The fork translating device 3 is located between the two cargo cage support components 41.

[0046] In this embodiment, the unmanned delivery vehicle has a loading process and an unloading process. The loading process refers to the process of loading the external cargo cage into the cargo compartment 12. The unloading process is the opposite of the loading process, which is the process of unloading the cargo cage from the cargo compartment 12 (i.e., transferring it outside the cargo compartment 12). Specifically, the loading process is as follows: the fork lifting device 2 first drives the first fork 21 to descend to the ground to pick up the cargo cage, and then drives the first fork 21 to carry the cargo cage to the opening 121; the fork translating device 3 drives the second fork 31 to translate outward from the cargo box 12; after the second fork 31 translates to below the cargo cage, the fork lifting device 2 drives the first fork 21 to descend to the ground, so that the cargo cage is supported by the second fork 31 (i.e., the cargo cage falls on the second fork 31); the fork translating device 3 drives the second fork 31 to carry the cargo cage to translate inward from the cargo box 12; after the cargo cage translates to above the two cargo cage support components 41, the cargo cage support device 4 controls the two cargo cage support components 41 to lift upward and support the cargo cage, so that the cargo cage is separated from the second fork 31, so that the fork translating device 3 drives the second fork 31 to translate outward from the cargo box 12 to pick up the next cargo cage. It is understood that the cage support device 4 may include multiple cages, one cage support device 4 can support one cage, and multiple cage support devices 4 are arranged along the length of the cargo box 12 and spaced apart from each other, so that multiple cages can be placed in the cargo box 12.

[0047] The unloading process is the opposite of the loading process: the cage support device 4 controls the two cage support components 41 to lower the cage, and the cage is received by the second fork 31 (i.e., the cage falls on the second fork 31); the fork translation device 3 drives the second fork 31 to move the cage to the outside of the cargo box 12; the fork lifting device 2 drives the first fork 21 to rise below the cage so as to receive the cage on the second fork 31; the fork translation device 3 drives the second fork 31 to retract into the cargo box 12, and the cage falls on the first fork 21; the fork lifting device 2 drives the first fork 21 to descend to the ground.

[0048] In this embodiment, the operation of the fork lifting device 2, the fork translation device 3, and the cargo cage support device 4 is all controlled by the main control unit of the autonomous vehicle 1. The main control unit can be any device commonly used in the art that has control and data processing and analysis functions, such as a small computer, a microcontroller, an industrial control computer (IPC), a programmable logic controller (PLC), and a distributed control system (DCS), etc., selected according to actual needs. This embodiment does not limit it to a single device.

[0049] In this embodiment, the unmanned delivery vehicle also includes an automatic door (such as an automatic roller shutter door) located at the cargo compartment 121, which can automatically open during the loading and unloading of cargo cages. Furthermore, manual operation buttons and an emergency stop button are provided on the side or other locations of the cargo compartment 12. When the autonomous vehicle 1 malfunctions, staff can use these buttons to maintain and adjust the vehicle. In addition, the autonomous vehicle 1 can issue alarms via indicator lights and sounds in abnormal situations, and can also remotely report faults to the cloud.

[0050] In this embodiment, the unmanned delivery vehicle also includes an environmental perception system, consisting of several lidar and camera sensors mounted on the front 13, cargo box 12, and frame 11, facing different directions. This system is primarily used to perceive the surrounding environment and automatically identify cargo cages during autonomous driving. This is a relatively mature technology in the field, and therefore will not be described in detail in this embodiment. Furthermore, the unmanned delivery vehicle also includes a sensing system, consisting of several sensors mounted on the frame 11 and inside the cargo box 12 at different locations. This system is primarily used to detect in real time the positions of the first fork 21, the second fork 31, and the cargo cage within the cargo box 12, thereby assisting in the automatic loading and unloading of the cargo cage. This is also a relatively mature technology in the field, and therefore will not be described in detail in this embodiment.

[0051] As can be seen from the above, compared with the traditional solution of manual loading and unloading of goods, the unmanned delivery vehicle in this embodiment realizes the automatic loading and unloading of cargo cages, reduces the labor intensity of personnel, improves delivery efficiency, avoids the safety hazards of manual loading and unloading, and can better achieve seamless connection with future unmanned warehouses, unmanned stations, etc.

[0052] In some embodiments, please combine Figure 6 , Figure 6 This is a schematic diagram of the fork lifting device. The fork lifting device 2 also includes a fixed frame 22 and a lifting mechanism 23. The fixed frame 22 is mounted on the frame 11 and located below the opening 121. One end of the lifting mechanism 23 is mounted on the fixed frame 22 and the other end is connected to the first fork 21. The lifting mechanism 23 is used to drive the first fork 21 to move in the vertical direction, and the first fork 21 can carry the cargo cage to move synchronously in the vertical direction, thus realizing the lifting of the cargo cage.

[0053] As at least one embodiment, please refer to Figure 7 and Figure 8 , Figure 7 This is a diagram showing the state of the lifting mechanism driving the first fork to descend; Figure 8This is a diagram showing the lifting mechanism driving the first fork to rise. The lifting mechanism 23 includes a connecting rod 231, two rotating rods 232, and two lifting hydraulic cylinders 233. One end of each rotating rod 232 is rotatably mounted on a fixed frame 22, facing each other and spaced apart. The other end of each rotating rod 232 is connected to the first fork 21. The rotating rods 232 extend in a bent shape, with the bend close to the first fork 21. The two ends of the connecting rod 231 are respectively located at the bends of the two rotating rods 232. The two lifting hydraulic cylinders 233 are located between the two rotating rods 232. One end of each lifting hydraulic cylinder 233 is rotatably mounted on a fixed frame 22, facing each other and spaced apart. The other ends of each lifting hydraulic cylinder 233 are rotatably mounted on both ends of the connecting rod 231. It should be noted that although the lifting hydraulic cylinder 233 is hydraulically driven, it can actually be replaced by an electric drive commonly used in the field. For example, the lifting hydraulic cylinder 233 can be replaced by an electric push rod. The specific driving form can be selected according to actual needs. This application does not limit it in this way. The same applies to the folding hydraulic cylinder 234, the supporting hydraulic cylinder 235, the lifting cylinder 412, etc. in the following text.

[0054] Regarding the lifting of the first fork 21: The two lifting hydraulic cylinders 233 receive the drive signal and extend synchronously; when the lifting hydraulic cylinders 233 extend, they generate axial thrust. Since the two ends of the lifting hydraulic cylinders 233 are rotatably connected to the fixed frame 22 and the connecting rod 231 respectively, the axial thrust generated will be transmitted to both ends of the connecting rod 231 along the length direction of the connecting rod 231; under the action of the thrust, the connecting rod 231 makes a translational swing in the direction away from the fixed frame 22 (constrained by the rotating rods 232 at both ends, with no rotational freedom); the connecting rod 231 drives the bends of the two rotating rods 232 to swing synchronously away from the fixed frame 22, and the rotating rods 232 rotate around their hinge point with the fixed frame 22; the end of the rotating rod 232 away from the fixed frame 22 (i.e., the end connected to the first fork 21) swings upward with the rotating rod 232, thereby driving the first fork 21 to rise steadily in the vertical direction until the target height is reached, such as raising the cargo cage to the opening 121.

[0055] Regarding the descent of the first fork 21: the two lifting hydraulic cylinders 233 receive drive signals and synchronously shorten; when the lifting hydraulic cylinders 233 shorten, they generate axial tension, which is transmitted to both ends of the connecting rod 231 through the rotatable connection point; under the action of tension, the connecting rod 231 swings in a translational manner toward the fixed frame 22; the connecting rod 231 drives the bends of the two rotating rods 232 to swing synchronously toward the fixed frame 22, and the rotating rods 232 rotate in the opposite direction around their hinge point with the fixed frame 22; the end of the rotating rod 232 connected to the first fork 21 falls downward with the swing of the rotating rod 232, thereby driving the first fork 21 to descend smoothly in the vertical direction until it reaches the target position or touches the ground to unload the cargo cage.

[0056] As at least one embodiment, please refer to Figure 9 and Figure 10 , Figure 9 This is a diagram showing the state of the lifting mechanism driving the first fork to fold. Figure 10 This is a trajectory diagram of the first fork folding. The rotating rod 232 is rotatably engaged with the first fork 21; the lifting mechanism 23 also includes two folding hydraulic cylinders 234, one end of which is opposite to each other, spaced apart and rotatably mounted on the fixed frame 22, and the other end is rotatably connected to the first fork 21. The two rotating rods 232 are located between the two folding hydraulic cylinders 234; the two folding hydraulic cylinders 234 are used to extend and drive the first fork 21 to rotate toward the cargo box 12 to achieve folding after the two lifting hydraulic cylinders 233 drive the first fork 21 to rise to the position. Understandably, the hinge point (the point where the rotating rod 232 and the first fork 21 rotate is the folding axis. The two folding hydraulic cylinders 234 extend synchronously, generating a thrust towards the cargo box 12 (because both ends of the folding hydraulic cylinder 234 are rotatably connected, the thrust directly acts on the first fork 21 when it extends). Under the action of the thrust, the first fork 21 rotates around the hinge point towards the cargo box 12, and finally fits against the automatic door or preset position on the cargo box 12 to achieve folding and storage.

[0057] As at least one embodiment, please refer to Figures 6-10 The lifting mechanism 23 also includes a support hydraulic cylinder 235, which is mounted on the fixed frame 22 and located between the two lifting hydraulic cylinders 233. The extension and retraction direction of the support hydraulic cylinder 235 is vertical. The support hydraulic cylinder 235 is used to extend and support the ground during loading and unloading. In other words, the support hydraulic cylinder 235 plays an auxiliary support role, which can prevent the vehicle from tilting due to the leverage effect of the first fork arm 21.

[0058] In some embodiments, please refer to Figures 6-10 The first fork 21 includes a connecting frame 211 and two first fork arms 212. The connecting frame 211 is mounted on the lifting mechanism 23, and the two first fork arms 212 are mounted on the connecting frame 211 with one end facing each other and spaced apart. Furthermore, each of the surfaces of the two first fork arms 212 is provided with a first buffer layer, such as rubber or sponge, which can buffer and increase friction during the picking / carrying of the cage. The second and third buffer layers described later also serve the same purpose. Furthermore, the ends of the two first fork arms 212 away from the connecting frame 211 are wedge-shaped structures used to compensate for lateral clearance errors when picking up the cage. In addition, the connecting frame 211 is provided with two elastic limiting members 5, which are located near the ends of the two first fork arms 212 that connect to the connecting frame 211, serving to limit and buffer the placement of the cage; that is, when a cage is placed on the first fork 21, the two elastic limiting members 5 can abut against the cage, thereby limiting and buffering the cage.

[0059] In some embodiments, please combine Figure 11 , Figure 11 This is a schematic diagram of the fork translation device. The fork translation device 3 includes a mounting base 32, a drive assembly 33, and a guide rail assembly 34. The guide rail assembly 34 is arranged along the length of the cargo box 12. The mounting base 32 is slidably mounted on the guide rail assembly 34. The second fork 31 is mounted on the mounting base 32. The drive assembly 33 is connected to the mounting base 32 and is used to drive the mounting base 32 to carry the second fork 31 and reciprocate along the guide rail assembly 34.

[0060] As at least one embodiment, the drive assembly 33 includes a motor 331, a drive sprocket, a driven sprocket, a chain 332, and a connecting seat. The drive sprocket is sleeved on the output shaft of the motor 331. The driven sprocket is rotatably mounted in the cargo box 12 via a support and is arranged opposite to the drive sprocket along the length direction of the guide rail assembly 34. The chain 332 is meshed and sleeved between the drive sprocket and the driven sprocket. The connecting seat is disposed on the chain 332 and connected to the mounting seat 32. In practical applications, the motor 331 drives the drive sprocket to rotate, and the drive sprocket drives the driven sprocket to rotate synchronously via the chain 332. The connecting seat will move linearly with the chain 332 and drive the mounting seat 32 and the second fork 31 to reciprocate along the guide rail assembly 34.

[0061] Of course, the transmission form of the drive assembly 33 is not limited to this; other transmission forms commonly used in the art can also be adopted. The specific design can be based on actual needs, and this application does not impose a unique limitation on this. For example, the drive assembly 33 includes a motor 331, a lead screw, and a nut seat. The lead screw is rotatably disposed in the cargo box 12 and arranged along the length direction of the guide rail assembly 34. One end of the lead screw is connected to the output shaft of the motor 331. The nut seat is sleeved on the lead screw and connected to the mounting base 32. In practical applications, the motor 331 drives the lead screw to rotate. Through the threaded engagement between the lead screw and the nut seat, the rotational motion of the lead screw can be converted into the linear motion of the nut seat, thereby driving the mounting base 32 and the second fork 31 to reciprocate.

[0062] In some embodiments, the second fork 31 includes two second fork arms 311 and at least one reinforcing beam 312. One end of each of the two second fork arms 311 is positioned opposite and spaced apart on the mounting base 32. The at least one reinforcing beam 312 is located between the two second fork arms 311, with both ends of the at least one reinforcing beam 312 respectively positioned on the two second fork arms 311, thereby improving structural strength. Similar to the first fork arm 211, a second buffer layer is provided on the surface of each of the two second fork arms 311, and the end of each second fork arm 311 away from the mounting base 32 is a wedge-shaped structure. It should be noted that when multiple reinforcing beams 312 are included, the multiple reinforcing beams 312 are spaced apart along the length of the second fork arms 311, resulting in a better improvement in structural strength.

[0063] Based on this, the guide rail assembly 34 includes two guide rails 341 and two slide rails 342. The guide rails 341 and slide rails 342 are arranged along the length of the cargo box 12. The two slide rails 342 are spaced apart from each other, and the two guide rails 341 are spaced apart from each other and located between the two slide rails 342. The slide rails 342 include a plurality of rollers 3421 arranged along the length of the cargo box 12 and rotatably disposed. The mounting base 32 is provided with two grooves for the two guide rails 341 to slide into. The rollers 3421 of the two slide rails 342 roll in contact with the mounting base 32 and roll in contact with the two second forks 311 respectively. It is understandable that the mounting base 32 can reciprocate along the guide rail 341 by cooperating with the sliding groove on the mounting base 32. During the reciprocating movement of the mounting base 32 along the guide rail 341, the rollers 3421 of the two sliding rails 342 will roll to assist the reciprocating movement of the mounting base 32 / two second forks 311 along the guide rail 341, and at the same time, it can also help support the two second forks 311.

[0064] In some embodiments, please combine Figure 12 and Figure 13 , Figure 12 This is a structural diagram of the cargo cage support device. Figure 13 This is a diagram showing the state of the elastic clamping assembly clamping the cargo cage. The cargo cage support assembly 41 includes a support beam 411 and at least two lifting cylinders 412. The at least two lifting cylinders 412 are arranged along the length of the cargo box 12 and spaced apart from each other. The support beam 411 is mounted on the at least two lifting cylinders 412. The at least two lifting cylinders 412 are used to drive the support beam 411 to move in the vertical direction, thereby lifting and supporting the cargo cage upwards during loading. The surface of the support beam 411 is provided with a third buffer layer.

[0065] In at least one embodiment, the cage support device 4, in addition to the structure described above, also includes two elastic clamping components 42. Both elastic clamping components 42 are located on the top of the cargo compartment 12 and are spaced apart from each other along the length of the cargo compartment 12. After the two cage support components 41 lift the cage, they abut against the cage and apply elastic force to clamp it. Specifically, the elastic clamping component 42 includes a crossbeam 421, two supports 422, and two clamping springs 423. The two supports 422 are respectively located on two opposite inner sidewalls of the cargo compartment 12 in the width direction. One end of each clamping spring 423 is located on one of the two supports 422. Both ends of the crossbeam 421 are connected to the other ends of the clamping springs 423. Both clamping springs 423 are arranged vertically. The crossbeam 421 abuts against the cage after the two cage support components 41 lift it, and applies elastic force to the cage through the deformation of the clamping springs 423.

[0066] The above embodiments are merely preferred implementations of this application and are not the only limitations on unmanned delivery vehicles. Those skilled in the art can flexibly design based on these embodiments and according to actual application scenarios. It is understood that through the implementation of the above embodiments of this application, an unmanned delivery vehicle is constituted by an autonomous vehicle 1, a fork lifting device 2, a fork translation device 3, and a cage support device 4. The autonomous vehicle 1 includes a frame 11 and a cargo box 12 mounted on the frame 11. The cargo box 12 has an opening 121 communicating with the interior on its end face away from the front 13. The fork lifting device 2 is mounted on the frame 11 and located below the opening 121. The fork lifting device 2 has a first fork 21. The fork translation device 3 and the cage support device 4 are both located inside the cargo box 12. The fork translation device 3 has a second fork 31. The cage support device 4 has two cage support components 41 that are opposite to and spaced apart from each other in the width direction of the cargo box 12. The fork translation device 3 is located between the two cage support components 41. In practical applications, the loading process of the cargo cage includes: the fork lifting device 2 first drives the first fork 21 to descend to the ground to pick up the cargo cage, and then drives the first fork 21 to carry the cargo cage up to the opening 121; the fork translating device 3 drives the second fork 31 to translate outward from the cargo box 12; after the second fork 31 has translated to below the cargo cage, the fork lifting device 2 drives the first fork 21 to descend to the ground so that the cargo cage is supported by the second fork 31; the fork translating device 3 also drives the second fork 31 to carry the cargo cage into the cargo box 12 and translate it to above the two cargo cage support components 41; the cargo cage support device 4 controls the two cargo cage support components 41 to lift up and support the cargo cage. The unloading process of the cargo cage includes: the cargo cage support device 4 controls the two cargo cage support components 41 to lower the cargo cage and have it received by the second fork 31; the fork translation device 3 drives the second fork 31 to move the cargo cage to the outside of the cargo box 12; the fork lifting device 2 drives the first fork 21 to rise and receive the cargo cage on the second fork 31; after the first fork 21 receives the cargo cage, the fork translation device 3 also drives the second fork 31 to retract into the cargo box 12; the fork lifting device 2 also drives the first fork 21 to descend to the ground with the cargo cage. Therefore, compared with the traditional solution of manual loading and unloading, the unmanned delivery vehicle of this application realizes automatic loading and unloading of cargo cages, which not only reduces the labor intensity of personnel but also improves delivery efficiency, while avoiding the safety hazards of manual loading and unloading, and can better achieve seamless integration with future unmanned warehouses, unmanned stations, etc.

[0067] It should be noted that the several embodiments shown above in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should also be noted that in the textual description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply such an actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements may include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus; and, without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0068] Furthermore, those skilled in the art can implement or use this application by practicing the several embodiments shown above. Various modifications to the embodiments shown above will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments not shown without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the several embodiments shown above, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned delivery vehicle with automatic loading and unloading function, characterized in that, The system includes an autonomous driving vehicle, a fork lifting device, a fork translating device, and a cage support device. The autonomous driving vehicle includes a frame and a cargo box mounted on the frame. The cargo box has an opening on its end face away from the front of the vehicle, communicating with the interior. The fork lifting device is mounted on the frame and located below the opening. The fork lifting device has a first fork. The fork translating device and the cage support device are both located within the cargo box. The fork translating device has a second fork. The cage support device has two cage support assemblies that are opposite to and spaced apart from each other in the width direction of the cargo box. The fork translating device is located between the two cage support assemblies. Wherein: During loading, the fork lifting device is used to first drive the first fork down to the ground to pick up the cargo cage, and then drive the first fork to carry the cargo cage up to the opening of the cargo box; the fork translating device is used to drive the second fork to translate outward from the cargo box; the fork lifting device is also used to drive the first fork down to the ground after the second fork has translated to below the cargo cage, so that the cargo cage is supported by the second fork; the fork translating device is also used to drive the second fork to carry the cargo cage into the cargo box and translate it above the two cargo cage support assemblies; the cargo cage support device is used to control the two cargo cage support assemblies to lift up and support the cargo cage; During unloading, the cage support device controls the two cage support assemblies to lower the cage and have it received by the second fork; the fork translation device drives the second fork to carry the cage to the outside of the cargo box; the fork lifting device drives the first fork to rise and receive the cage on the second fork; the fork translation device also drives the second fork to retract into the cargo box after the first fork receives the cage; the fork lifting device also drives the first fork to carry the cage down to the ground.

2. The unmanned delivery vehicle according to claim 1, characterized in that, The fork lifting device also includes a fixed frame and a lifting mechanism. The fixed frame is mounted on the vehicle frame and located below the cargo box opening. One end of the lifting mechanism is mounted on the fixed frame and the other end is connected to the first fork. The lifting mechanism is used to drive the first fork to move in the vertical direction.

3. The unmanned delivery vehicle according to claim 2, characterized in that, The lifting mechanism includes a connecting rod, two rotating rods, and two lifting hydraulic cylinders. One end of each of the two rotating rods is rotatably mounted on the fixed frame, with the two ends facing each other and spaced apart. The other ends of the two rotating rods are connected to the first fork. The rotating rods extend in a bent shape, with the bends close to the first fork. The two ends of the connecting rod are respectively located at the bends of the two rotating rods. The two lifting hydraulic cylinders are located between the two rotating rods. One end of each of the two lifting hydraulic cylinders is rotatably mounted on the fixed frame, with the two ends facing each other and spaced apart. The other ends of each of the two lifting hydraulic cylinders are rotatably mounted at the two ends of the connecting rod.

4. The unmanned delivery vehicle according to claim 3, characterized in that, The rotating rod is rotatably engaged with the first fork; the lifting mechanism also includes two folding hydraulic cylinders, one end of each folding hydraulic cylinder is opposite to each other, spaced apart and rotatably mounted on the fixed frame, and the other end is rotatably connected to the first fork, with the two rotating rods located between the two folding hydraulic cylinders; the two folding hydraulic cylinders are used to drive the first fork to rotate toward the cargo box to achieve folding when extended.

5. The unmanned delivery vehicle according to claim 3, characterized in that, The lifting mechanism also includes a supporting hydraulic cylinder, which is mounted on the fixed frame and located between the two lifting hydraulic cylinders. The extension and retraction direction of the supporting hydraulic cylinder is vertical, and the supporting hydraulic cylinder is used to extend and support the ground during loading and unloading.

6. The unmanned delivery vehicle according to claim 2, characterized in that, The first fork includes a connecting frame and two first fork arms. The connecting frame is mounted on the lifting mechanism, and one end of each of the two first fork arms is mounted on the connecting frame at intervals.

7. The unmanned delivery vehicle according to claim 6, characterized in that, The connecting frame is provided with two elastic limiting members, which are respectively close to the ends of the two first forks.

8. The unmanned delivery vehicle according to claim 6, characterized in that, A first buffer layer is provided on the surface of both first forks.

9. The unmanned delivery vehicle according to claim 6, characterized in that, Both ends of the first fork arms away from the connecting frame are wedge-shaped structures.

10. The unmanned delivery vehicle according to claim 1, characterized in that, The fork translation device includes a mounting base, a drive assembly, and a guide rail assembly. The guide rail assembly is arranged along the length of the cargo box. The mounting base is slidably mounted on the guide rail assembly. The second fork is mounted on the mounting base. The drive assembly is throttle-connected to the mounting base and is used to drive the mounting base to carry the second fork to reciprocate along the guide rail assembly.

11. The unmanned delivery vehicle according to claim 10, characterized in that, The drive assembly includes a motor, a lead screw, and a nut seat. The lead screw is rotatably mounted inside the cargo box and arranged along the length of the guide rail assembly. One end of the lead screw is connected to the output shaft of the motor. The nut seat is sleeved on the lead screw and connected to the mounting base.

12. The unmanned delivery vehicle according to claim 10, characterized in that, The drive assembly includes a motor, a drive sprocket, a driven sprocket, a chain, and a connecting seat. The drive sprocket is sleeved on the output shaft of the motor. The driven sprocket is rotatably mounted inside the cargo box via a support and is arranged opposite to the drive sprocket along the length of the guide rail assembly. The chain is meshed between the drive sprocket and the driven sprocket. The connecting seat is located on the chain and connected to the mounting seat.

13. The unmanned delivery vehicle according to claim 10, characterized in that, The second fork includes two second fork arms and at least one reinforcing beam. One end of each of the two second fork arms is disposed on the mounting base opposite to each other and spaced apart from each other. The at least one reinforcing beam is located between the two second fork arms, and the two ends of the at least one reinforcing beam are respectively disposed on the two second fork arms.

14. The unmanned delivery vehicle according to claim 13, characterized in that, The guide rail assembly includes two guide rails and two slide rails. The guide rails and slide rails are arranged along the length of the cargo box. The two slide rails are spaced apart from each other, and the two guide rails are spaced apart from each other and located between the two slide rails. Each slide rail includes a plurality of rollers arranged and rotatably disposed along the length of the cargo box. The mounting base has two grooves for the two guide rails to slide into. The rollers of the two slide rails roll in contact with the mounting base and roll in contact with the two second fork arms respectively.

15. The unmanned delivery vehicle according to claim 13, characterized in that, A second buffer layer is provided on the surface of both second forks.

16. The unmanned delivery vehicle according to claim 13, characterized in that, Both ends of the second fork arms away from the mounting base are wedge-shaped structures.

17. The unmanned delivery vehicle according to claim 1, characterized in that, The cargo cage support assembly includes a support beam and at least two lifting cylinders. The at least two lifting cylinders are arranged along the length of the cargo box and spaced apart from each other. The support beam is mounted on the at least two lifting cylinders, and the at least two lifting cylinders are used to drive the support beam to move in the vertical direction.

18. The unmanned delivery vehicle according to claim 17, characterized in that, The surface of the support beam is provided with a third buffer layer.

19. The unmanned delivery vehicle according to claim 1, characterized in that, The cargo cage support device also includes two elastic clamping components located on the top of the cargo compartment and spaced apart from each other along the length of the cargo compartment. These components are used to abut against the cargo cage and apply an elastic force to the cargo cage to clamp it after the two cargo cage support components lift the cargo cage.

20. The unmanned delivery vehicle according to claim 19, characterized in that, The elastic clamping assembly includes a crossbeam, two supports, and two clamping springs. The two supports are respectively located on two opposite inner sidewalls of the cargo box in the width direction. One end of each of the two clamping springs is located on the two supports. The two ends of the crossbeam are respectively connected to the other ends of the two clamping springs. Both clamping springs are arranged in a vertical direction. The crossbeam is used to abut against the cargo cage after the two cargo cage support assemblies lift the cargo cage, and to apply elastic force to the cargo cage through the deformation of the two clamping springs.

21. The unmanned delivery vehicle according to claim 1, characterized in that, The cargo cage support device comprises multiple units, arranged along the length of the cargo box and spaced apart from each other.

22. The unmanned delivery vehicle according to claim 1, characterized in that, It also includes an automatic door located at the entrance of the compartment.

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