Unmanned loading and unloading system and method for logistics unmanned vehicle

Abstract

The invention relates to the technical field of logistics automation equipment, and provides an unmanned loading and unloading system and method for a logistics unmanned vehicle, the system comprises the logistics unmanned vehicle and a plurality of cage boxes arranged on the logistics unmanned vehicle, the logistics unmanned vehicle is connected with a control system through a CAN bus, and the control system is connected with the logistics unmanned vehicle through a CAN bus. The logistics unmanned vehicle is provided with a transfer vehicle-mounted translation jacking mechanism used for cage boxes, the control system is electrically connected to the station lifting translation mechanism through a communication scheduling module, and the control system is electrically connected with an automatic alignment control module used for assisting the transfer vehicle-mounted translation jacking mechanism to be in butt joint with the station lifting translation mechanism. The station lifting and translation mechanism comprises a station cage box supporting assembly used for containing cage boxes and a station platform lifting assembly used for transferring the cage boxes to the station cage box supporting assembly. Through the automatic control and communication technology, automatic loading and unloading of the multiple cage boxes of the logistics unmanned vehicle are achieved, and the effects of improving the loading and unloading efficiency and flexibility of the logistics unmanned vehicle and reducing the operation cost are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics automation equipment, in particular to an unmanned loading and unloading system and method of a logistics unmanned vehicle. BACKGROUND

[0002] In the field of logistics transportation, with the vigorous development of the e-commerce industry and the increasing demand of consumers for logistics distribution efficiency, the application of logistics unmanned vehicles is becoming more and more widespread. Logistics unmanned vehicles can realize the automatic transportation of goods, reduce labor costs, improve transportation efficiency, and play an important role in urban logistics, warehouse logistics and other scenarios, greatly promoting the intelligentization and automation process of the logistics industry. At the same time, it can also reduce the risk of transportation errors and accidents caused by human factors, improve the accuracy and safety of logistics transportation, and provide strong support for the sustainable development of the logistics industry.

[0003] With the wide application of unmanned distribution technology in the logistics terminal, cage boxes as standard containers for logistics are also the main carriers for unmanned vehicle transportation and loading and unloading. At present, the unmanned vehicles on the market need to be equipped with complex and heavy vehicle-mounted loading and unloading mechanisms when loading and unloading multiple cage boxes. The mechanical part usually uses a transmission chain structure to complete the in-vehicle translation of the cage box, and uses a cantilever or vertical tailgate mechanism to complete the vertical unloading movement of the cage box. These mechanisms are superimposed on the unmanned vehicle, making the unmanned vehicle mechanism complex, heavy in weight, and seriously affecting the volume utilization rate and load quality of the unmanned vehicle, indirectly affecting the use and maintenance cost of the unmanned vehicle.

[0004] Therefore, there is still a lack of a simple and reliable multiple cage box loading and unloading system in the prior art. SUMMARY

[0005] The present application is to solve the problem of complex automatic loading and unloading structure of existing cage boxes, high maintenance difficulty and high cost. The second is to solve the problem of lightweight of unmanned vehicle-mounted automatic loading and unloading mechanism, and proposes an unmanned loading and unloading system and method of a logistics unmanned vehicle. Through automatic control and communication technology, the control of the in-vehicle mechanism and the station mechanism is realized, the automatic loading and unloading of multiple cage boxes of the logistics unmanned vehicle are realized, the loading and unloading efficiency and flexibility of the logistics unmanned vehicle are improved, and the effect of reducing the operation cost is achieved.

[0006] To achieve the above purpose, the following technical scheme is proposed: The unmanned loading and unloading system of the logistics unmanned vehicle comprises a logistics unmanned vehicle and a plurality of cages arranged on the logistics unmanned vehicle, the logistics unmanned vehicle is connected with a control system through a CAN bus, a transfer vehicle-mounted translation and jacking mechanism for the cages is arranged on the logistics unmanned vehicle, the control system is electrically connected to a station lifting and translation mechanism through a communication scheduling module, the control system is electrically connected with an automatic alignment control module for assisting the transfer vehicle-mounted translation and jacking mechanism and the station lifting and translation mechanism to dock, and the station lifting and translation mechanism comprises a station cage support assembly for placing the cages and a station platform lifting assembly for transferring the cages to the station cage support assembly.

[0007] The present application fundamentally avoids the current design situation that the multi-cage loading and unloading mechanism and system are all concentrated at the tail of the unmanned vehicle body by the separation system design of the in-vehicle translation and jacking system and the out-of-vehicle lifting and translation system, so that the unmanned vehicle-mounted mechanism is lightweight and simplified, the loading and unloading action is smooth, safe and reliable. Meanwhile, the station lifting and translation mechanism also has the same properties of lightweight and simplified mechanism. The core driving components of the present application are the in-vehicle translation and jacking system and the out-of-vehicle lifting and translation system, which are two actuators, have simplified structure and low failure rate, and the vehicle-mounted system is easy to arrange on the logistics unmanned vehicle with limited space, and the station system is easy to arrange on the station with open space. The present application is suitable for logistics cages, and by simply adjusting the size of the in-vehicle system and the station system, it is also suitable for loading and unloading of standard pallets, and has a wide application range.

[0008] The present application is suitable for automatic loading and unloading of multiple cages, solves the current pain points, and effectively fills the market gap.

[0009] As a preferred, the transfer vehicle-mounted translation and jacking mechanism comprises a pair of in-vehicle guide rails arranged in parallel on the logistics unmanned vehicle, an in-vehicle translation and jacking vehicle slidingly nested on the inner side of the in-vehicle guide rails, and an in-vehicle jacking mechanism arranged on the in-vehicle translation and jacking vehicle, the in-vehicle translation and jacking vehicle and the in-vehicle jacking mechanism are electrically connected with the control system, the logistics unmanned vehicle is provided with a translation vehicle locking mechanism for locking the in-vehicle translation and jacking vehicle, the translation vehicle locking mechanism is electrically connected with the control system, and the tail of the logistics unmanned vehicle is provided with an electric roller shutter door.

[0010] As a preferred, the station cage support assembly is provided with a plurality of groups of support legs, each group of support legs is provided with at least 4 support legs distributed at four corners of the cage.

[0011] As a preferred, the station platform lifting assembly comprises a station translation mechanism and a station lifter, the station lifter is arranged above the station translation mechanism, the top of the station lifter is provided with a docking platform, the station translation mechanism drives the station platform lifting assembly to move in translation close to or away from the logistics unmanned vehicle, the station lifter drives the docking platform to move vertically, and the docking platform is used for carrying the cages.

[0012] As a preferred, the station translation mechanism comprises a station translation vehicle frame and a pair of parallel station translation rails, the station translation vehicle frame is provided with a station translation vehicle drive module electrically connected with the control system, an output end of the station translation vehicle drive module is connected with a station translation vehicle wheel slidingly connected on the station translation rail, and the station translation vehicle frame is connected with a plurality of auxiliary wheels slidingly connected on the station translation rail; The docking platform comprises a station lifting platform and a pair of parallel station rails, the station rails are consistent in shape with the in-vehicle rails and are provided with a part of the station lifting platform protruding from one end close to the in-vehicle rails, and the station rails are provided with a station cage locking mechanism electrically connected with the control system through a communication scheduling module; The station lifter comprises a first support frame hinged at one end to the station translation vehicle frame, a second support frame hinged at one end to the station lifting platform, and an electric push rod hinged at one end to the station translation vehicle frame, the other end of the first support frame is slidingly connected to the station lifting platform, the second support frame is slidingly connected to the station translation vehicle frame, the other end of the electric push rod is hinged to the station lifting platform, the first support frame and the second support frame are equal in length and are hinged together at the center position through a hinge shaft, and the electric push rod is electrically connected with the control system.

[0013] As a preferred, the logistics unmanned vehicle is provided with a plurality of limiting blocks on both sides of the in-vehicle rails, and a foot bowl is arranged below each of the four foot supports of the cage, and the foot bowl is clamped on the limiting block.

[0014] As a preferred, the cage is replaced by a standard pallet, the pallet is used for carrying a cargo box, and the limiting block is used for clamping the pallet.

[0015] As a preferred, the station lifting and translation mechanism is replaced by an AMR automatic loading and unloading forklift, and the AMR automatic loading and unloading forklift is electrically connected to the control system through a communication scheduling module.

[0016] An unmanned loading and unloading method of a logistics unmanned vehicle, adopting the unmanned loading and unloading system of the logistics unmanned vehicle, comprising a cargo unloading step: S1, the logistics unmanned vehicle reaches a specified position, and an electric roller shutter door is opened; S2, the logistics unmanned vehicle sends a cargo unloading instruction to the control system, the control system controls the translation vehicle locking mechanism to release the in-vehicle jacking and translation vehicle, and controls the station lifting and translation mechanism to align with the in-vehicle rail; S3, it is judged whether there is still a cage in the logistics unmanned vehicle, if yes, the in-vehicle jacking and translation vehicle transfers the cage closest to the tail of the logistics unmanned vehicle to the station lifting and translation mechanism, the in-vehicle jacking and translation vehicle returns to the logistics unmanned vehicle, and S4 is performed; if not, S5 is performed; S4, the control system judges whether the cage is full on the site cage support assembly, if not, the site lifting and translating mechanism transfers the cage to the site cage support assembly, and returns to S2, if yes, the control system controls the site lifting and translating mechanism to separate from the logistics unmanned vehicle, and controls the site lifting platform to descend by a certain height, and S5 is performed; S5, the in-vehicle jacking and translating vehicle moves to the initial position, the control system sends a unloading completion instruction to the logistics unmanned vehicle, the control system controls the translating vehicle locking mechanism to lock the in-vehicle jacking and translating vehicle, and the logistics unmanned vehicle closes the electric rolling shutter door. The method further comprises a loading step, which is performed in reverse order of the unloading step.

[0017] An unmanned loading and unloading method of a logistics unmanned vehicle, which adopts the unmanned loading and unloading system of the logistics unmanned vehicle, and comprises an unloading step and a loading step: The unloading step is as follows: S101, the logistics unmanned vehicle arrives at a specified position, and the electric rolling shutter door is opened. S102, the logistics unmanned vehicle sends an unloading instruction to the control system, and the control system controls the translating vehicle locking mechanism to release the in-vehicle jacking and translating vehicle. S103, the in-vehicle jacking and translating vehicle transports the cages to the tail of the logistics unmanned vehicle in sequence, and the AMR automatic loading and unloading forklift transfers the cages at the tail of the logistics unmanned vehicle to the unloading point until all the cages are unloaded. S104, the in-vehicle jacking and translating vehicle moves to the initial position, the control system sends an unloading completion instruction to the logistics unmanned vehicle, the control system controls the translating vehicle locking mechanism to lock the in-vehicle jacking and translating vehicle, and the logistics unmanned vehicle closes the electric rolling shutter door. The loading step is as follows: S111, the logistics unmanned vehicle arrives at a specified position, and the electric rolling shutter door is opened. S122, the logistics unmanned vehicle sends a loading instruction to the control system, and the control system controls the translating vehicle locking mechanism to release the in-vehicle jacking and translating vehicle. S123, the AMR automatic loading and unloading forklift transfers the cages to the tail of the logistics unmanned vehicle, and the in-vehicle jacking and translating vehicle transfers and places the cages in sequence from the head to the tail of the logistics unmanned vehicle until the logistics unmanned vehicle is full of cages. S124, the in-vehicle jacking and translating vehicle moves to the initial position, the control system sends a loading completion instruction to the logistics unmanned vehicle, the control system controls the translating vehicle locking mechanism to lock the in-vehicle jacking and translating vehicle, and the logistics unmanned vehicle closes the electric rolling shutter door.

[0018] The present application has the following advantages: The present application realizes the automatic loading and unloading process of multiple cages by the cooperation of the in-vehicle jacking and translation system and the out-of-vehicle lifting and translation system; through the instruction set of the control system and the application of various positioning technologies and control technologies, the composite motion control of the in-vehicle jacking and translation system and the out-of-vehicle lifting and translation system is completed, so that the loading and unloading of multiple cages is more accurate, the safety and fluency of loading and unloading are improved, and the needs of different logistics scenes are met; by using two separate actuators in the unmanned vehicle and the site, the unmanned vehicle on-board mechanism is greatly simplified, the overall vehicle preparation quality is greatly reduced, and the use and maintenance costs of the unmanned vehicle are reduced.

[0019] The present application realizes the automation and precision of the loading and unloading of multiple cages by the cooperation of the in-vehicle jacking and translation system and the out-of-vehicle lifting and translation system; through the instruction set of the control system and the application of various positioning technologies and control technologies, the composite motion control of the in-vehicle jacking and translation system and the out-of-vehicle lifting and translation system is completed, so that the loading and unloading of multiple cages is more accurate, the safety and fluency of loading and unloading are improved, and the needs of different logistics scenes are met; by using two separate actuators in the unmanned vehicle and the site, the unmanned vehicle on-board mechanism is greatly simplified, the overall vehicle preparation quality is greatly reduced, and the use and maintenance costs of the unmanned vehicle are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a control system connection diagram of the present application.

[0021] Figure 2 It is a system structure composition diagram of the present application.

[0022] Figure 3 It is a site lifter structure schematic diagram of the present application.

[0023] Figure 4 It is a tray type system structure schematic diagram of embodiment 2.

[0024] Figure 5 It is an AMR automatic loading and unloading forklift transfer type system structure schematic diagram of embodiment 3.

[0025] Figure 6 It is a schematic diagram of the alignment process of the in-vehicle guide rail and the site guide rail of the present application.

[0026] Figure 7 It is a schematic diagram of the process that the site platform lifting assembly loads and transports the cage to the site cage support assembly of the present application.

[0027] Figure 8 It is a last cage transfer schematic diagram of the present application.

[0028] Figure 9 It is a schematic diagram of the loading and unloading of three cages per vehicle of the present application.

[0029] Figure 10 Loading and unloading schematic diagram before and after example 2.

[0030] Figure 11 Loading and unloading schematic diagram before and after example 3.

[0031] Figure 12 Unloading flow chart of example 1.

[0032] Figure 13 Loading flow chart of example 1.

[0033] Wherein: 1, logistics unmanned vehicle; 2, cage; 3, vehicle-mounted translation and jacking mechanism; 4, site lifting and translation mechanism; 5, electric roller shutter door; 21, foot bowl; 22, limit block; 6, tray; 7, cargo box; 8, AMR automatic loading and unloading forklift; 31, in-vehicle jacking and translation vehicle; 32, in-vehicle guide rail; 33, translation vehicle locking mechanism; 34, in-vehicle jacking mechanism; 41, site platform lifting assembly; 42, site cage support assembly; 411, site translation vehicle frame; 412, site translation vehicle drive module; 413, site translation vehicle wheel; 414, site translation rail; 415, site lifter; 416, site lifting platform; 417, site guide rail; 418, auxiliary wheel; 4151, first support frame; 4152, second support frame; 4153, hinged shaft; 4154, electric push rod. DETAILED DESCRIPTION Embodiment

[0034] The embodiment provides an unmanned loading and unloading system of a logistics unmanned vehicle, referring to Figure 2 , comprising a logistics unmanned vehicle 1 and a plurality of cages 2 arranged on the logistics unmanned vehicle 1, referring to Figure 1 , the logistics unmanned vehicle 1 is connected with a control system through a CAN bus, the logistics unmanned vehicle 1 is provided with a transfer vehicle-mounted translation and jacking mechanism 3 for the cages 2, the control system is electrically connected to a site lifting and translation mechanism 4 through a communication scheduling module, the control system is electrically connected with an automatic alignment control module for assisting the transfer vehicle-mounted translation and jacking mechanism 3 and the site lifting and translation mechanism 4 to dock, the site lifting and translation mechanism 4 comprises a site cage support assembly 42 for placing the cages 2 and a site platform lifting assembly 41 for transferring the cages 2 to the site cage support assembly 42.

[0035] The automatic alignment control module is provided with a position sensor for acquiring the relative position of the vehicle-mounted translation jacking mechanism 3 and the site lifting and translation mechanism 4, the logistics unmanned vehicle 1 is provided with an intelligent control driving module, after the logistics unmanned vehicle 1 reaches the designated loading and unloading position of the site lifting and translation mechanism 4, the position sensor acquires the relative position of the vehicle-mounted translation jacking mechanism 3 and the site lifting and translation mechanism 4 in real time, and the site lifting and translation mechanism 4 is butt-jointed with the vehicle-mounted translation jacking mechanism 3. In the present application, the control system is installed on the logistics unmanned vehicle 1, and therefore a communication scheduling module is needed to be paired and scheduled with the site lifting and translation mechanism 4. In the present application, the control system can also be arranged on the site lifting and translation mechanism 4, and the relative control system is paired and scheduled with the vehicle-mounted translation jacking mechanism 3 through the communication scheduling module.

[0036] The vehicle-mounted translation jacking mechanism 3 comprises a pair of in-vehicle guide rails 32 arranged in parallel on the logistics unmanned vehicle 1, an in-vehicle jacking translation vehicle 31 slidingly nested in the inner side of the in-vehicle guide rail 32, and an in-vehicle jacking mechanism 34 arranged on the in-vehicle jacking translation vehicle 31, wherein the in-vehicle jacking translation vehicle 31 and the in-vehicle jacking mechanism 34 are electrically connected with the control system, the logistics unmanned vehicle 1 is provided with a translation vehicle locking mechanism 33 for locking the in-vehicle jacking translation vehicle 31, and the translation vehicle locking mechanism 33 is electrically connected with the control system, and the tail of the logistics unmanned vehicle 1 is provided with an electric rolling shutter door 5.

[0037] The in-vehicle jacking translation vehicle 31 can adopt an AGV intelligent carrying trolley, and the setting mode can adopt a separate setting mode from the logistics unmanned vehicle 1, and the AGV intelligent carrying trolley is charged when the logistics unmanned vehicle 1 is charged; or the AGV intelligent carrying trolley directly takes power from the logistics unmanned vehicle 1 through a synchronous chain.

[0038] Reference Figure 2 The site cage supporting assembly 42 is provided with a plurality of groups of supporting foot supports, each group of supporting foot supports being provided with at least four supporting foot supports distributed at the four feet of the cage 2.

[0039] The supporting foot supports are set according to the number and overall size of the cages 2. The supporting foot supports are symmetrically arranged on the left and right sides of the site platform lifting assembly 41, and the distance between the symmetrically arranged supporting foot supports is greater than the maximum width of the manual forklift, and the height of the supporting foot supports is higher than the lowest working height of the manual forklift, so that the manual forklift can easily pass between the symmetrically arranged supporting foot supports and transport the cages 2 placed on the supporting foot supports out by using the manual forklift. A strip-shaped support can also be connected above the left and right rows of supporting foot supports, and the cage 2 only needs to be placed on the left and right strip-shaped supports, thereby reducing the placement accuracy of the cage 2.

[0040] The station platform lifting assembly 41 comprises a station translation mechanism and a station lifter 415 arranged above the station translation mechanism, and a docking platform is arranged at the top of the station lifter 415. The station translation mechanism drives the station platform lifting assembly 41 to move towards or away from the logistics unmanned vehicle 1, and the station lifter 415 drives the docking platform to move vertically, and the docking platform is used to carry the cage 2.

[0041] Referring to Figure 2 The station translation mechanism comprises a station translation frame 411 and a pair of parallel station translation rails 414. The station translation frame 411 is provided with a station translation vehicle driving module 412 electrically connected with the control system. The output end of the station translation vehicle driving module 412 is connected with a station translation vehicle wheel 413 which is slidably connected to the station translation rail 414. Referring to Figure 3 The station translation frame 411 is connected with a plurality of auxiliary wheels 418 which are slidably connected to the station translation rail 414, so that the station translation frame 411 is more stable and smooth in translation.

[0042] The docking platform comprises a station lifting platform 416 and a pair of parallel station guide rails 417. The station guide rails 417 are consistent in shape with the in-vehicle guide rails 32, and the end of the station guide rails 417 close to the in-vehicle guide rails 32 is provided with a part of the station lifting platform 416 which protrudes. When the in-vehicle guide rails 32 and the station guide rails 417 are docked, the part of the station guide rails 417 of the protruding station lifting platform 416 is overlapped on the in-vehicle guide rails 32, which increases the connection strength of the in-vehicle guide rails 32 and the station guide rails 417, so that the in-vehicle lifting and translation vehicle 31 is more stable and smooth when transferring the cage 2 from the in-vehicle guide rails 32 to the station guide rails 417. The station guide rails 417 are provided with a station cage locking mechanism electrically connected with the control system through a communication scheduling module. The station cage locking mechanism adopts an electromagnetic lock. The station cage locking mechanism locks the cage 2 on the in-vehicle guide rails 32, so as to avoid movement of the cage 2 on the station guide rails 417 during transfer. The station cage locking mechanism can also be replaced by a physical limiting block locking mechanism to reduce electronic components and electronic failure rate.

[0043] Referring to Figure 3The station lifting device 415 comprises a first support frame 4151 hinged at one end to the station translation frame 411, a second support frame 4152 hinged at one end to the station lifting platform 416, and an electric push rod 4154 hinged at one end to the station translation frame 411, the other end of the first support frame 4151 being slidingly connected to the station lifting platform 416, the second support frame 4152 being slidingly connected to the station translation frame 411, the other end of the electric push rod 4154 being hinged to the station lifting platform 416, the first support frame 4151 and the second support frame 4152 being equal in length and hinged together at the center position through a hinge shaft 4153, and the electric push rod 4154 being electrically connected to the control system.

[0044] With reference to Figure 3 The logistics unmanned vehicle 1 is provided with a plurality of limiting blocks 22 on both sides of the indoor guide rail 32, and each of the four foot supports of the cage box 2 is provided with a foot bowl 21, which is clamped on the limiting block 22.

[0045] An unmanned loading and unloading method of a logistics unmanned vehicle, which adopts the unmanned loading and unloading system of the logistics unmanned vehicle described above, and takes double-cage-box loading and unloading as an example, with reference to Figure 12 The method comprises the following steps: S1, the logistics unmanned vehicle 1 reaches the specified position, and the electric roller shutter door 5 is opened; with reference to Figure 6 a- Figure 6 b, Figure 6 a represents the closed state of the electric roller shutter door, Figure 6 b represents the state that the electric roller shutter door is completely opened and the lifting and translation mechanism 4 is close to the logistics unmanned vehicle 1.

[0046] S2, the logistics unmanned vehicle 1 sends an unloading instruction to the control system, the control system controls the translation vehicle locking mechanism 33 to release the indoor jacking and translation vehicle 31, and the control system controls the station lifting and translation mechanism 4 to be aligned with the indoor guide rail 32; specifically, the station guide rail 417 of the lifting and translation mechanism 4 is aligned with the indoor guide rail 32, with reference to Figure 6 b- Figure 6 c, Figure 6 c represents the state that the station guide rail 417 of the station lifting and translation mechanism 4 is aligned with the indoor guide rail 32.

[0047] The specific process of S2 is as follows: after receiving the unloading instruction, the control system controls the electric push rod of the station lifting and translation mechanism 4 to extend, so that the station lifting platform 416 is lifted, the station guide rail 417 is lifted to a specified height, the specified height is slightly higher than the height of the indoor guide rail 32, the control system controls the station translation vehicle driving module 412 to work, the station platform lifting assembly 41 is driven to approach the logistics unmanned vehicle 1, and under the monitoring of the automatic alignment control module, the station guide rail 417 is aligned with the indoor guide rail 32 in the vertical direction, with reference to Figure 6b. The control system controls the electric push rod of the station lifting and translating mechanism 4 to retract, so that the station lifting platform 416 descends until the station guide rail 417 is horizontally aligned with the in-vehicle guide rail 32. At this time, the station guide rail 417 is lapped on the logistics unmanned vehicle 1, as shown in Figure 6 c.

[0048] S3, it is judged whether there are still cages 2 in the logistics unmanned vehicle 1. If yes, the in-vehicle lifting and translating vehicle 31 transfers the cage 2 closest to the tail of the logistics unmanned vehicle 1 to the station lifting and translating mechanism 4. Specifically, the in-vehicle lifting and translating vehicle 31 moves to the center position of the cage 2 closest to the tail of the logistics unmanned vehicle 1, and the control system controls the in-vehicle lifting mechanism 34 to lift, so that the foot bowl 21 of the cage 2 is separated from the limiting block 22, as shown in Figure 6 c; the control system controls the in-vehicle lifting and translating vehicle 31 to move from the in-vehicle guide rail 32 to the station guide rail 417, and then move to the center position of the station lifting platform 416 under the guidance of the station guide rail 417, as shown in Figure 7 e, Figure 7 e is a schematic diagram of the in-vehicle lifting and translating vehicle 31 moving to the center position of the station lifting platform 416 with the cage; the control system controls the in-vehicle lifting mechanism 34 to descend until the cage 2 is placed on the station guide rail 417, and then controls the in-vehicle lifting mechanism 34 to descend by a certain distance so that the in-vehicle lifting mechanism 34 is completely separated from the cage 2. The in-vehicle lifting and translating vehicle 31 returns to the logistics unmanned vehicle 1, as shown in Figure 7 f, Figure 7 f is a schematic diagram of the position of the in-vehicle lifting and translating vehicle 31 after returning to the logistics unmanned vehicle 1; S4 is performed; if not, S5 is performed. S4, the control system judges whether the station cage supporting assembly 42 is full of cages 2. If not, the station lifting and translating mechanism 4 transfers the cage 2 to the station cage supporting assembly 42. Specifically, it is placed on a group of support legs farthest away from the station lifting and translating mechanism 4 and without placing a cage 2. The specific placement process is as follows: the control system controls the station lifting platform 416 to move to the center position of a group of support legs farthest away from the station lifting and translating mechanism 4 and without placing a cage 2, and then controls the electric push rod 4154 to retract, so that the station lifting platform 416 descends until the four feet of the cage 2 fall on the support legs, and then controls the electric push rod 4154 to retract by a certain distance so that the station guide rail 417 of the station lifting platform 416 is completely separated from the cage 2, as shown in Figure 7 f- Figure 7 g, Figure 7 g indicates a schematic diagram of the cage 2 placed on the support legs; and returns to S2, if yes, as shown in Figure 8 h, which indicates a schematic diagram of the station cage supporting assembly 42 full of cages 2; the control system controls the station lifting and translating mechanism 4 to separate from the logistics unmanned vehicle 1, and controls the station lifting platform 416 to descend by a certain height, as shown in Figure 8i and Figure 8 k, Figure 8 i represents the position diagram of the cage 2 just placed on the station lifting and translating mechanism 4 when the cage 2 is full on the station cage supporting assembly 42, Figure 8 k represents the final position diagram of the cage 2 placed on the station lifting and translating mechanism 4 when the cage 2 is full on the station cage supporting assembly 42, S5 is performed; In order to avoid the relative displacement between the station lifting platform 416 and the cage 2 when the station lifting platform 416 moves, the station cage locking mechanism is arranged on the indoor guide rail 32, so that the control system controls the station cage locking mechanism to lock the cage 2 on the indoor guide rail 32 before the station lifting and translating mechanism 4 translates the cage 2, and the control system controls the station cage locking mechanism to unlock before the four feet of the cage 2 fall on the supporting foot.

[0049] S5, the indoor lifting and translating vehicle 31 moves to the initial position, the control system sends the unloading completion instruction to the logistics unmanned vehicle 1, the control system controls the translating vehicle locking mechanism 33 to lock the indoor lifting and translating vehicle 31, the logistics unmanned vehicle 1 closes the electric rolling shutter door 5, and the specific process is shown in FIG. 9. Figure 8 j, Figure 8 j represents the state diagram of the electric rolling shutter door 5 completely closed; The loading step is also included, which is performed in reverse order of the unloading step.

[0050] Referring to FIG. 9, Figure 13 The loading step is specifically as follows: S11, the logistics unmanned vehicle 1 reaches the specified position, and the electric rolling shutter door 5 is opened; S12, the logistics unmanned vehicle 1 sends the loading instruction to the control system, the control system controls the translating vehicle locking mechanism 33 to release the indoor lifting and translating vehicle 31, and the control system controls the station lifting and translating mechanism 4 to lift the cage 2 to align with the indoor guide rail 32; specifically, the station guide rail 417 of the station lifting and translating mechanism 4 aligns with the indoor guide rail 32.

[0051] The specific process of S12 is as follows: after the control system receives the loading instruction, the control system controls the electric push rod of the station lifting and translating mechanism 4 to extend, so that the station lifting platform 416 is lifted, and the station guide rail 417 is lifted to a specified height, which is slightly higher than the height of the indoor guide rail 32, the control system controls the station translating vehicle driving module 412 to work, so that the station platform lifting assembly 41 approaches the logistics unmanned vehicle 1, and under the monitoring of the automatic alignment control module, the station guide rail 417 is vertically aligned with the indoor guide rail 32. The control system controls the electric push rod of the station lifting and translating mechanism 4 to retract, so that the station lifting platform 416 is lowered, until the station guide rail 417 is horizontally aligned with the indoor guide rail 32, at this time, the station guide rail 417 is lapped on the logistics unmanned vehicle 1.

[0052] S13, determine whether the logistics unmanned vehicle 1 is full of cages 2. If not, the in-vehicle lifting and translating vehicle 31 moves the cage 2 to the position closest to the head of the logistics unmanned vehicle 1 that is not filled with cages 2. Specifically, the in-vehicle lifting and translating vehicle 31 moves to the center position of the cage 2, and the control system controls the in-vehicle lifting mechanism 34 to lift, so that the cage 2 is separated from the station lifting and translating mechanism 4. The control system then controls the in-vehicle lifting and translating vehicle 31 to move from the station guide rail 417 into the in-vehicle guide rail 32, and moves under the guidance of the in-vehicle guide rail 32 to transport the cage 2 to the position closest to the head of the logistics unmanned vehicle 1 that is not filled with cages 2. The control system controls the in-vehicle lifting mechanism 34 to descend until the foot cup 21 of the cage 2 is fitted into the limit block 22. Then, the control system controls the in-vehicle lifting mechanism 34 to descend a certain distance so that the in-vehicle lifting mechanism 34 is completely separated from the cage 2. The station lifting and translating mechanism 4 then transfers the next cage 2 and returns to S13. If yes, proceed to S14. S14, the vehicle interior lifting and lateralizing vehicle 31 moves to the initial position, the control system sends the unloading completion instruction to the logistics unmanned vehicle 1, the logistics unmanned vehicle 1 closes the electric roller shutter door 5, and the station lifting and lateralizing mechanism 4.

[0053] refer to Figure 9 l and Figure 9 m, where Figure 9 l is a schematic diagram of three cages in a vehicle before and after unloading / loading. Figure 9 m is a schematic diagram of a vehicle with 3 cages 2 before unloading and before loading. The method in this embodiment is also applicable to loading and unloading of a vehicle with 3 cages 2. Example

[0054] This embodiment replaces the cage 2 with a standard pallet 6, based on embodiment 1. (Refer to...) Figure 4 The pallet 6 is used to carry the cargo box 7, and the limiting block 22 is used to hold the pallet 6. The pallet 6 is a standard 1200x1000mm pallet, and the cargo box 7 is used to carry bulk commodities. The distribution of the limiting blocks 22 can be adapted and adjusted according to the shape and size of the standard pallet 6. The pallet 6 can be held in place by the limiting blocks 22, so that the pallet 6 will not move horizontally during transportation by the unmanned logistics vehicle 1. This embodiment also proposes an unmanned loading and unloading method for the unmanned logistics vehicle, which is adapted to the pallet 6. The specific steps of the method are consistent with the loading and unloading of the cage box 2 in Embodiment 1. Reference Figure 10 ,in Figure 10 n represents a schematic diagram showing the pallet 6 carrying the cargo box 7 before the unmanned logistics vehicle unloads goods. Figure 10 o represents a schematic diagram of the pallet 6 carrying the cargo box 7 and placing it on the station cage support assembly 42 after unloading. Example

[0055] This embodiment replaces the station lifting and translating mechanism 4 with an AMR (Automatic Loading and Unloading Forklift) 8, based on embodiment 1. (Refer to...)Figure 5 The AMR automatic loading and unloading forklift 8 is electrically connected to the control system via a communication scheduling module.

[0056] This embodiment also proposes an unmanned loading and unloading method for a logistics unmanned vehicle, employing the aforementioned unmanned loading and unloading system for a logistics unmanned vehicle, including unloading and loading steps: The unloading steps are as follows: S101, the unmanned logistics vehicle 1 arrives at the designated location, and the electric roller shutter door 5 opens; (Reference) Figure 11 p, Figure 11 p indicates that the electric roller shutter door 5 is fully open; S102, the unmanned logistics vehicle 1 sends an unloading instruction to the control system, and the control system controls the translation vehicle locking mechanism 33 to release the lifting translation vehicle 31 inside the vehicle; S103, the in-vehicle lifting and shifting vehicle 31 sequentially transports the cage 2 to the rear of the unmanned logistics vehicle 1, for reference. Figure 11 q, Figure 11 'q' indicates that the in-vehicle lifting and lateralizing vehicle 31 transports the cage 2 to the rear of the unmanned logistics vehicle 1. If a cage 2 is placed at the rear of the unmanned logistics vehicle 1, the in-vehicle lifting and lateralizing vehicle 31 moves to the center position of the cage 2, and the in-vehicle lifting mechanism 34 then lifts the cage 2 so that the foot cups 21 of the cage 2 move away from the limit block. Cages 2 in other positions are lifted first and then moved to the rear of the unmanned logistics vehicle 1. The AMR automated loading and unloading forklift then transfers the cages 2 at the rear of the unmanned logistics vehicle 1 to the unloading point until all cages 2 are unloaded; (Reference) Figure 11 s and Figure 11 r, Figure 11 s represents a schematic diagram showing the state of the AMR automated loading and unloading forklift inserting into the rear of the unmanned logistics vehicle 1; Figure 11 r represents a schematic diagram of the AMR automated loading and unloading forklift transferring the cage 2 out of the unmanned logistics vehicle 1.

[0057] S104, the in-vehicle lifting and sliding vehicle 31 moves to its initial position. The control system sends an unloading completion command to the unmanned logistics vehicle 1. The control system controls the sliding vehicle locking mechanism 33 to lock the in-vehicle lifting and sliding vehicle 31, and the unmanned logistics vehicle 1 closes the electric roller shutter door 5. (Reference) Figure 11 t, Figure 11 t indicates that the electric roller shutter door 5 is completely closed after unloading is completed.

[0058] The loading steps are as follows: S111, the unmanned logistics vehicle 1 arrives at the designated location, and the electric roller shutter door 5 opens; S122, the unmanned logistics vehicle 1 sends a loading instruction to the control system, and the control system controls the translation vehicle locking mechanism 33 to release the lifting translation vehicle 31 inside the vehicle; S123, the AMR automatic loading and unloading forklift transfers the cage box 2 to the tail of the logistics unmanned vehicle 1, and the in-vehicle jacking and translating vehicle 31 transfers and places the cage box 2 in sequence from the head to the tail of the logistics unmanned vehicle 1 until the logistics unmanned vehicle 1 is full of cage boxes 2; S124, the in-vehicle jacking and translating vehicle 31 moves to the initial position, the control system sends a loading completion instruction to the logistics unmanned vehicle 1, the control system controls the jacking and translating vehicle locking mechanism 33 to lock the in-vehicle jacking and translating vehicle 31, and the logistics unmanned vehicle 1 closes the electric roller shutter door 5.

[0059] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, so: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. An unmanned loading and unloading system of a logistics unmanned vehicle, comprising a logistics unmanned vehicle (1) and a plurality of cages (2) arranged on the logistics unmanned vehicle (1), characterized in that, The unmanned logistics vehicle (1) is connected to a control system via a CAN bus. The unmanned logistics vehicle (1) is equipped with a transfer vehicle-mounted translation and lifting mechanism (3) for the cage (2). The control system is electrically connected to the station lifting and translation mechanism (4) via a communication scheduling module. The control system is electrically connected to an automatic alignment control module for assisting the transfer vehicle-mounted translation and lifting mechanism (3) and the station lifting and translation mechanism (4) in docking. The station lifting and translation mechanism (4) includes a station cage support assembly (42) for placing the cage (2) and a station platform lifting assembly (41) for transferring the cage (2) to the station cage support assembly (42).

2. The unmanned loading and unloading system of claim 1, wherein, The transfer vehicle-mounted translation and lifting mechanism (3) includes a pair of in-vehicle guide rails (32) arranged in parallel on the logistics unmanned vehicle (1), an in-vehicle lifting and translation vehicle (31) that is slidably nested inside the in-vehicle guide rails (32), and an in-vehicle lifting mechanism (34) arranged on the in-vehicle lifting and translation vehicle (31). The in-vehicle lifting and translation vehicle (31) and the in-vehicle lifting mechanism (34) are both electrically connected to the control system. The logistics unmanned vehicle (1) is provided with a translation vehicle locking mechanism (33) for locking the in-vehicle lifting and translation vehicle (31). The translation vehicle locking mechanism (33) is electrically connected to the control system. The rear of the logistics unmanned vehicle (1) is provided with an electric roller shutter door (5).

3. The unmanned loading and unloading system of claim 2, wherein, The station cage support assembly (42) is provided with several sets of support legs, and each set of support legs has at least 4 legs distributed on the four legs of the cage (2).

4. The unmanned loading and unloading system of claim 2, wherein, The station platform lifting assembly (41) includes a station translation mechanism and a station lifter (415). The station lifter (415) is mounted on the station translation mechanism. The station lifter (415) has a docking platform on its top. The station translation mechanism drives the station platform lifting assembly (41) to make translational movements toward or away from the unmanned logistics vehicle (1). The station lifter (415) drives the docking platform to make vertical lifting movements. The docking platform is used to carry the cage (2).

5. The unmanned loading and unloading system of claim 4, wherein, The station translation mechanism includes a station translation frame (411) and a pair of parallel station translation rails (414). The station translation frame (411) is equipped with a station translation vehicle drive module (412) electrically connected to the control system. The output end of the station translation vehicle drive module (412) is connected to a station translation wheel (413) that is slidably connected to the station translation rails (414). The station translation frame (411) is connected to a plurality of auxiliary wheels (418) that are slidably connected to the station translation rails (414). The docking platform includes a station lifting platform (416) and a pair of parallel station guide rails (417). The station guide rails (417) have the same shape as the in-vehicle guide rails (32), and the station guide rails (417) are provided with a portion of the station lifting platform (416) protruding from the in-vehicle guide rails (32) at one end. The station guide rails (417) are provided with a station cage locking mechanism that is electrically connected to the control system through a communication scheduling module. The station lifting device (415) comprises a first support frame (4151) hinged at one end to the station translation frame (411), a second support frame (4152) hinged at one end to the station lifting platform (416), and an electric push rod (4154) hinged at one end to the station translation frame (411), the other end of the first support frame (4151) being slidingly connected to the station lifting platform (416), the second support frame (4152) being slidingly connected to the station translation frame (411), the other end of the electric push rod (4154) being hinged to the station lifting platform (416), the first support frame (4151) and the second support frame (4152) being equal in length and being hinged together at the center position by a hinge shaft (4153), and the electric push rod (4154) being electrically connected to the control system.

6. The unmanned loading and unloading system of claim 2, wherein, The logistics unmanned vehicle (1) is provided with a plurality of limiting blocks (22) on both sides of the indoor guide rail (32), and each of the four foot supports of the cage box (2) is provided with a foot bowl (21), and the foot bowl (21) is clamped on the limiting block (22).

7. The unmanned loading and unloading system of claim 6, wherein, The cage box (2) is replaced by a standard tray (6), the tray (6) is used for carrying a cargo box (7), and the limiting block (22) is used for clamping the tray (6).

8. The unmanned loading and unloading system of claim 6, wherein, The station lifting and translating mechanism (4) is replaced by an AMR automatic loading and unloading forklift (8), and the AMR automatic loading and unloading forklift (8) is electrically connected to the control system through a communication scheduling module.

9. An unmanned loading and unloading method of a logistics unmanned vehicle, using the unmanned loading and unloading system of any one of claims 2-7, characterized in that, The unloading step comprises: S1, the logistics unmanned vehicle (1) reaches a specified position, and the electric roller shutter door (5) is opened; S2, the logistics unmanned vehicle (1) sends an unloading instruction to the control system, the control system controls the translation vehicle locking mechanism (33) to release the indoor lifting and translating vehicle (31), and the control system controls the station lifting and translating mechanism (4) to be aligned with the indoor guide rail (32); S3, it is judged whether there is still a cage box (2) in the logistics unmanned vehicle (1), if yes, the indoor lifting and translating vehicle (31) transfers the cage box (2) closest to the tail of the logistics unmanned vehicle (1) to the station lifting and translating mechanism (4), and the indoor lifting and translating vehicle (31) returns to the logistics unmanned vehicle (1) to perform S4; if not, S5 is performed; S4, the control system judges whether the station cage box supporting assembly (42) is full of cage boxes (2), if not, the station lifting and translating mechanism (4) transfers the cage box (2) to the station cage box supporting assembly (42), and then returns to S2, if yes, the control system controls the station lifting and translating mechanism (4) to be separated from the logistics unmanned vehicle (1), and controls the station lifting platform (416) to be lowered by a certain height, and S5 is performed; S5, the indoor lifting and translating vehicle (31) moves to an initial position, the control system sends an unloading completion instruction to the logistics unmanned vehicle (1), the control system controls the translation vehicle locking mechanism (33) to lock the indoor lifting and translating vehicle (31), and the logistics unmanned vehicle (1) closes the electric roller shutter door (5); The loading step is performed in reverse order of the unloading step.

10. An unmanned loading and unloading method of a logistics unmanned vehicle, using the unmanned loading and unloading system of claim 8, characterized in that, The unloading step and the loading step are included. The unloading step is as follows: S101, the logistics unmanned vehicle (1) reaches a specified position, and the electric roller shutter door (5) is opened; S102, the logistics unmanned vehicle (1) sends a unloading instruction to the control system, and the control system controls the translation vehicle locking mechanism (33) to release the in-vehicle jacking translation vehicle (31); S103, the in-vehicle jacking translation vehicle (31) sequentially transports the cage box (2) to the tail of the logistics unmanned vehicle (1), and the AMR automatic loading and unloading forklift transports the cage box (2) at the tail of the logistics unmanned vehicle (1) to the unloading point, until all the cage boxes (2) are unloaded; S104, the in-vehicle jacking translation vehicle (31) moves to the initial position, the control system sends a unloading completion instruction to the logistics unmanned vehicle (1), the control system controls the translation vehicle locking mechanism (33) to lock the in-vehicle jacking translation vehicle (31), and the logistics unmanned vehicle (1) closes the electric rolling shutter door (5); The loading steps are as follows: S111, the logistics unmanned vehicle (1) reaches the specified position, and the electric rolling shutter door (5) is opened; S122, the logistics unmanned vehicle (1) sends a loading instruction to the control system, and the control system controls the translation vehicle locking mechanism (33) to release the in-vehicle jacking translation vehicle (31); S123, the AMR automatic loading and unloading forklift transports the cage box (2) to the tail of the logistics unmanned vehicle (1), and the in-vehicle jacking translation vehicle (31) sequentially transports and places the cage box (2) in order from the head to the tail of the logistics unmanned vehicle (1), until the logistics unmanned vehicle (1) is filled with the cage boxes (2); S124, the in-vehicle jacking translation vehicle (31) moves to the initial position, the control system sends a loading completion instruction to the logistics unmanned vehicle (1), the control system controls the translation vehicle locking mechanism (33) to lock the in-vehicle jacking translation vehicle (31), and the logistics unmanned vehicle (1) closes the electric rolling shutter door (5).

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