Intelligent trolley walking mechanism for logistics transportation

Abstract

The application relates to the technical field of intelligent trolley walking mechanisms, in particular to an intelligent trolley walking mechanism for logistics carrying, which comprises a moving chassis mechanism and a supporting bottom plate installed on the top of the moving chassis mechanism, one side of the top of the supporting bottom plate is fixedly provided with a vertical fixing plate, one side of the vertical fixing plate, which faces the center of the supporting bottom plate, is rotationally connected with a closed-loop chain type conveying belt; equidistant through shaft sleeves are fixedly arranged in the closed-loop chain type conveying belt; and supporting shafts are rotationally connected in the shaft sleeves; the closed-loop chain type conveying belt and the multiple material carrying frames arranged on the vertical fixing plate realize dynamic matching of the material carrying stations and the taking and placing points. All the material carrying frames can be circulated to the butt joints of the same height as required, so that the matching clamping mechanism does not need to perform a complex vertical lifting stroke, the motion freedom degree of the clamping mechanism is greatly simplified, and the taking and placing operation cycle period is greatly shortened compared with a traditional multi-layer rack AGV.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle walking mechanism technology, specifically to an intelligent vehicle walking mechanism for logistics handling. Background Technology

[0002] In electronics and medical manufacturing scenarios, material handling must simultaneously meet requirements for high-precision docking, low collision damage, and high cleanliness. AGVs (Automated Guided Vehicles) are currently the core equipment for material flow between processes. Existing AGV material loading structures mainly employ two types of solutions: One type involves installing fixed multi-layer material racks on the base of the traveling mechanism. The height and position of the material positions are fixed. After the materials are transferred to the workstation, the robotic arm mounted on the trolley or the gripper on the workstation side performs the picking and placing operations. The drawbacks of this type of solution are quite obvious: First, the gripper needs to perform long-stroke lifting and lowering to locate material positions at different heights, resulting in a long picking and placing cycle. Moreover, the addressing error can easily lead to scratches and damage to precision materials, making it unsuitable for the low-damage requirements of electronic and medical products. Second, the space utilization rate of fixed material racks is low. The material capacity transferred by the trolley in a single operation is significantly limited by the size of the trolley, making it difficult to meet the flexible production needs of multiple batches and small quantities.

[0003] Another type involves adding a single-layer lifting mechanism to the trolley, which can only achieve a single height increase or decrease of the entire platform. Although this simplifies the gripper action to some extent, it still cannot achieve independent scheduling of multiple materials. When different batches of materials need to be picked up or put down, the gripper still needs to be repeatedly adjusted. Moreover, uneven material weight distribution can easily cause the trolley's center of gravity to shift, increasing the risk of tipping over when traveling at high speed or turning, resulting in insufficient operational stability. Therefore, this invention proposes an intelligent trolley walking mechanism for logistics handling. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent trolley walking mechanism for logistics transportation that saves handling time, improves the independent scheduling performance of materials, and facilitates the clamping and picking of materials by grippers, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a walking mechanism for a logistics handling vehicle, comprising a mobile chassis mechanism and a support base plate installed on the top of the mobile chassis mechanism, wherein a vertical fixing plate is fixedly installed on one side of the top of the support base plate, and a closed-loop chain conveyor belt is rotatably connected to the side of the vertical fixing plate facing the center of the support base plate. The closed-loop chain conveyor belt has through bushings fixed at equal intervals. A support shaft is rotatably connected inside the bushing. A guide is fixed to one end of the support shaft facing the vertical fixed plate. The vertical fixed plate has a guide rail that matches the movement trajectory of the closed-loop chain conveyor belt, corresponding to the running path of the guide. The guide is embedded in the guide rail and slides along the guide rail to restrict the circumferential rotation of the support shaft, so that the support shaft always remains horizontal. The support shaft is fixedly connected to a loading frame at one end away from the vertical fixing plate. The loading frame has an opening on the side away from the vertical fixing plate. The loading frame has a docking and clamping mechanism inside, which is used to lock the position of the loading box placed in the loading frame. The top of the support base plate is fixed with a clamping mechanism corresponding to the loading and unloading side of the loading frame. The loading and unloading working surface of the clamping mechanism is flush with the discharge station of the closed-loop chain conveyor belt, and is used to cooperate with the docking and clamping mechanism to complete the automatic loading and unloading of the loading box.

[0006] Furthermore, the docking clamping mechanism includes a fixed side plate, a contact moving part, a bottom clamping part, and a locking part. There are two fixed side plates, and both fixed side plates are fixedly installed on one side inside the material loading frame. The contact moving part is slidably connected inside the material frame, and both ends of the contact moving part are slidably connected to the two fixed side plates. The loading frame is located between two fixed side plates and is also provided with a connection port. The bottom clamping component is set at the connection port. The contact moving component is connected to the bottom clamping component, and the loading box is provided with a clamping edge corresponding to the position of the bottom clamping component. The locking element is provided in two parts, which are located on both sides of the material frame, and the locking element locks the contact moving part.

[0007] Furthermore, the contact moving part includes a moving block, a contact plate, a contact rod and a connecting spring. The moving block is slidably connected inside the material frame. The bottom of the moving block is provided with a U-shaped opening, and the two sides of the U-shaped opening are respectively provided with pushing grooves. The bottom clamping part is connected to the two pushing grooves. The contact plate is fixedly installed on the top of the moving block. One end of the contact rod is fixedly connected to one side of the contact plate, and the other end of the contact rod can contact the outside of the loading box. The two ends of the connecting spring are fixedly connected to the inner wall of the loading frame and the other side of the contact plate, respectively. Through the provided contact moving parts, the loading box can be contacted and connected after it moves to a certain position inside the loading frame.

[0008] Furthermore, the end of the contact rod near the loading box is spherically shaped.

[0009] Furthermore, the fixed side plate is provided with a limiting groove on the side near the moving block, and a limiting block is provided on the outside of the moving block, with one end of the limiting block slidably connected inside the limiting groove.

[0010] Furthermore, the bottom clamping component includes a fixed shaft, a clamping plate, a following shaft, and a reset component. Both ends of the fixed shaft are fixedly connected to the inner wall of the connection port. One end of the clamping plate is rotatably sleeved on the outside of the fixed shaft. Both ends of the clamping plate are respectively provided with a connecting end and a clamping end. The clamping end clamps the inner side of the clamping edge. The following shaft is fixed through the connecting end, and the two ends of the following shaft are slidably connected to the two pushing grooves respectively. The reset component is installed at the bottom of the clamping plate, and the bottom clamping component is provided to clamp the clamping edge of the loading box.

[0011] Furthermore, the reset component includes a reset plate and a reset spring. The reset plate is fixedly installed at the bottom of the loading frame, and the two ends of the reset spring are fixedly connected to the reset plate and the clamping plate, respectively.

[0012] Furthermore, the locking component includes a locking rod, a locking spring, a synchronizing plate, and a release component. The locking rod slides along one side of the material loading frame and slides through one of the fixed side plates. The moving block has a locking hole corresponding to the position of the locking rod. The other end of the locking rod is fixedly connected to the synchronizing plate. The locking spring is sleeved on the outside of the locking rod. One end of the locking spring is fixedly connected to the inner wall of the material loading frame, and the other end of the locking spring is fixedly connected to a fixing ring. The fixing ring is fixedly sleeved on the outside of the locking rod. The release element is located on the outside of the material loading frame and is connected to the synchronization plate. Through the provided locking element, the moving block is locked.

[0013] Furthermore, a clamping block is fixedly installed on the side of the synchronization plate facing the loading frame. The loading frame has a moving opening corresponding to the position of the clamping block, and the clamping block slides through the moving opening. The clamping block clamps the outside of the loading box, thereby achieving a further locking effect on the loading box.

[0014] Furthermore, the release element includes a release rod and a pusher rod. The material frame has a receiving channel corresponding to the position of the release rod. The release rod slides through the receiving channel. A positioning spring is also sleeved on the outside of the release rod. One end of the positioning spring is fixedly connected to the inner wall of the receiving channel, and the other end of the positioning spring is fixedly connected to a positioning ring, which is fixedly installed at the release rod. There are two pusher rods. One end of the two pusher rods is hinged to the release rod, and the other end of the pusher rod is hinged to the synchronous plate through a hinge support. Through the release element, the locking rod is assisted in being released.

[0015] This invention has at least the following beneficial effects: 1. This invention achieves dynamic matching between material loading stations and pick-up / placement points by setting a closed-loop chain conveyor belt and multiple material loading frames on a vertical fixed plate. All material loading frames can be circulated to the same height interface as needed, eliminating the need for complex vertical lifting strokes in the clamping mechanism, greatly simplifying the motion freedom of the clamping mechanism, and significantly shortening the pick-up / placement cycle compared to traditional multi-layer rack AGVs; 2. In this invention, the docking and clamping mechanism inside the loading frame and the guide rail on the vertical fixing plate form a dual constraint: the guide rail ensures that the loading frame maintains a horizontal posture throughout the circulation process; the docking and clamping mechanism locks the loading box at multiple points when the trolley is traveling at high speed, turning, or vibrating. This effectively prevents the physical displacement of the loading box during the transfer process and ensures the initial coordinate accuracy of the loading frame when it reaches the pick-up and drop-off position. 3. In this invention, the docking clamping mechanism and the cooperating gripping mechanism adopt a mechanical linkage design, which can realize the instantaneous switch from "clamping state" to "free release state" when the cooperating gripping mechanism intervenes. This design avoids secondary interference during the release process of traditional clamps, ensures a smooth transition when the loading box is removed, and significantly reduces the risk of goods falling or structural wear during handling. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the mobile chassis mechanism of the present invention; Figure 2 This is an exploded view of the mobile chassis mechanism of the present invention; Figure 3 This is a schematic diagram of the vertical fixing plate structure of the present invention; Figure 4 This is a schematic diagram of the guide rail structure of the present invention; Figure 5 For the present invention Figure 4 Enlarged structural diagram of region A in the middle; Figure 6 This is a schematic diagram of the lifting plate structure of the present invention; Figure 7 This is a schematic diagram of the clamping and locking mechanism of the present invention; Figure 8 This is a schematic diagram of the material carrier frame structure of the present invention; Figure 9 This is a schematic diagram of the loading box structure of the present invention; Figure 10 This is a top view of the loading box structure of the present invention; Figure 11 This is a side sectional view of the material carrier frame of the present invention. Figure 12 This is a schematic diagram of the clamping plate structure of the present invention; Figure 13 This is a schematic diagram of the bottom clamping component structure of the present invention; Figure 14 This is a schematic diagram of the detachment component structure of the present invention.

[0017] In the diagram: 1-Mobile chassis mechanism; 2-Support base plate; 3-Vertical fixed plate; 31-Closed-loop chain conveyor belt; 32-Shaft sleeve; 33-Guide rail; 4-Support shaft; 41-Guide component; 411-Guide frame; 412-Guide wheel; 5-Carrying frame; 51-Connecting port; 52-Moving port; 53-Accommodation channel; 6-Docking and clamping mechanism; 61-Fixed side plate; 611-Limiting groove; 62-Contact moving component; 621-Moving block; 6211-Pushing groove; 6212-Limiting block; 6213-Locking hole; 622-Contact plate; 623-Contact rod; 624-Connecting spring; 63-Bottom clamping component; 631-Fixed shaft; 632-Clamping plate; 6321-Connecting end; 63 22-Clamping end; 633-Following shaft; 64-Locking component; 641-Locking rod; 6411-Fixing ring; 642-Locking spring; 643-Synchronizing plate; 6431-Clamping block; 644-Release component; 6441-Release rod; 6442-Push support rod; 6443-Positioning spring; 65-Reset component; 651-Reset plate; 652-Reset spring; 7-Loading box; 71-Clamping edge; 8-Matching clamping mechanism; 81-Adjusting base; 82-Transverse track; 83-Rotating rod; 84-Rotating motor; 85-Lifting threaded rod; 86-Drive component; 87-Lifting plate; 88-Rotating sleeve; 9-Clamping locking component; 91-Gripper; 92-Electric push rod; 93-Push frame. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1 Please see Figures 1 to 2 A smart vehicle walking mechanism for logistics handling includes a mobile chassis mechanism 1 and a support base plate 2 mounted on top of the mobile chassis mechanism 1. The mobile chassis mechanism 1 in this application uses STM32H743 as the underlying motion control core, and is paired with NVIDIA Jetson Nano for visual recognition and path planning. The dual-chip collaborative operation is achieved through UART + DMA high-speed communication interface. The vehicle is equipped with four McCollum wheels and a 12V / 200W DC servo motor, along with a 1024-line incremental encoder to achieve omnidirectional motion feedback. Its maximum moving speed reaches 1.2 m / s, and its zero-radius rotational angular velocity reaches 90° / s. Combined with the NVIDIA platform's visual SLAM navigation algorithm, in complex 5m×5m scenarios, the positioning error is less than ±15mm, and the obstacle avoidance response time is less than 150ms. Compared to traditional differential drive vehicles, this design improves space utilization by 60%, enabling highly maneuverable movements such as translation and rotation within narrow passages less than 80cm wide, significantly enhancing its mobility in dense warehouse or production line environments. The vehicle performs parallel processing of visual recognition, path planning, and task scheduling on the NVIDIA platform, while motion control and status feedback are simultaneously executed on the STM32 platform. It can simultaneously identify target materials during movement without stopping the scan, reducing the single-cycle operation time from 18 seconds in traditional solutions to 12 seconds. The system also supports dynamic task priority adjustment; when a high-priority material is detected, the current task can be interrupted and the path replanned, improving task response efficiency by 50%. This design upgrades the vehicle from a simple handling tool to an intelligent workstation with autonomous sorting capabilities, improving overall logistics efficiency by 45% in multi-variety, small-batch production scenarios.

[0020] Please see Figures 3 to 6 A vertical fixing plate 3 is fixedly installed on one side of the top of the support base plate 2, and a closed-loop chain conveyor belt 31 is rotatably connected to the side of the vertical fixing plate 3 facing the center of the support base plate 2. A through bushing 32 is fixed at a medium distance on the closed-loop chain conveyor belt 31. A support shaft 4 is rotatably connected inside the bushing 32. A guide member 41 is fixed at one end of the support shaft 4 facing the vertical fixed plate 3. The vertical fixed plate 3 has a guide rail 33 that matches the movement trajectory of the closed-loop chain conveyor belt 31, corresponding to the running path of the guide member 41. The guide member 41 is embedded in the guide rail 33 and slides along the guide rail 33 to restrict the circumferential rotation of the support shaft 4, so that the material frame 5 always remains horizontal. As a further supplementary explanation, the guide component 41 includes a guide frame 411 and guide wheels 412. The guide frame 411 is cross-shaped, and one side center of the guide frame 411 is fixedly connected to the support shaft 4. There are four guide wheels 412, which are rotatably connected to the four corners of the other side of the guide frame 411, and the guide wheels 412 are slidably connected to the guide rail 33. The support shaft 4 is fixedly connected to a material frame 5 at one end away from the vertical fixing plate 3. The material frame 5 has an opening on the side away from the vertical fixing plate 3. The material frame 5 is provided with a docking and clamping mechanism 6 inside. The docking and clamping mechanism 6 is used to lock the position of the loading box 7 placed in the material frame 5. A clamping mechanism 8 is fixed on the top of the support base plate 2 corresponding to the loading and unloading side of the loading frame 5. The loading and unloading working surface of the clamping mechanism 8 is flush with the discharge station of the closed-loop chain conveyor belt 31, and is used to cooperate with the docking clamping mechanism 6 to complete the automatic loading and unloading of the loading box 7.

[0021] Please see Figures 8 to 14 The docking clamping mechanism 6 includes a fixed side plate 61, a contact moving part 62, a bottom clamping part 63 and a locking part 64. There are two fixed side plates 61, and both fixed side plates 61 are fixedly installed on one side inside the material frame 5. The contact moving part 62 is slidably connected inside the material frame 5, and both ends of the contact moving part 62 are slidably connected to the two fixed side plates 61. The loading frame 5 is located between the two fixed side plates 61 and is provided with a connection port 51. The bottom clamping member 63 is located at the connection port 51. The contact moving member 62 is connected to the bottom clamping member 63, and the loading box 7 is provided with a clamping edge 71 corresponding to the position of the bottom clamping member 63. In this application, the bottom edges of the loading box 7 protrude downward to form a closed rectangular annular boss, i.e., a U-shaped structure. The four sides of the U-shaped structure form the clamping edge 71. When the loading box 7 is placed in the loading frame 5, the bottom clamping member 63 can penetrate into the U-shaped structure. Its stroke abuts or hooks with the inner wall on one side of the clamping edge 71 to achieve physical constraint of spatial position. There are two locking members 64, which are located on both sides of the material frame 5 respectively, and the locking members 64 lock the contact moving member 62.

[0022] The contact moving part 62 includes a moving block 621, a contact plate 622, a contact rod 623 and a connecting spring 624. The moving block 621 is slidably connected inside the material frame 5. The bottom of the moving block 621 is provided with a U-shaped opening, and the two sides of the U-shaped opening are respectively provided with push grooves 6211. The bottom clamping part 63 is connected to the two push grooves 6211. The contact plate 622 is fixedly installed on the top of the moving block 621. One end of the contact rod 623 is fixedly connected to one side of the contact plate 622, and the other end of the contact rod 623 can contact the outside of the loading box 7. The end of the contact rod 623 near the loading box 7 is spherically shaped. The two ends of the connecting spring 624 are fixedly connected to the inner wall of the loading frame 5 and the other side of the contact plate 622, respectively. In this application, each moving block 621 is preferably provided with two contact plates 622 and two contact rods 623, so as to ensure that the contact rod 623 can stably push the moving block 621 to move when subjected to force.

[0023] The fixed side plate 61 is provided with a limiting groove 611 on the side near the moving block 621, and a limiting block 6212 is provided on the outside of the moving block 621. One end of the limiting block 6212 is slidably connected inside the limiting groove 611.

[0024] The bottom clamping component 63 includes a fixed shaft 631, a clamping plate 632, a following shaft 633, and a reset component 65. Both ends of the fixed shaft 631 are fixedly connected to the inner wall of the connection port 51. One end of the clamping plate 632 is rotatably sleeved on the outside of the fixed shaft 631. Both ends of the clamping plate 632 are respectively provided with a connecting end 6321 and a clamping end 6322. The clamping end 6322 clamps the inner side of the clamping edge 71. The follower shaft 633 is fixed at the through-connection end 6321, and both ends of the follower shaft 633 are slidably connected to the two push grooves 6211 respectively. The reset piece 65 is installed at the bottom of the clamping plate 632. In this application, the push groove 6211 is composed of a horizontal section and an inclined section. When the horizontal section moves relative to the follower shaft 633, the follower shaft 633 does not move due to the limiting connection of the clamping plate 632. When the push groove 6211 moves relative to the follower shaft 633 to the inclined section position, the follower shaft 633 rotates under the action of the inclined section. When the follower shaft 633 rotates, it drives the clamping plate 632 to rotate. The clamping plate 632 rotates around the axis of the fixed shaft 631. The reset component 65 includes a reset plate 651 and a reset spring 652. The reset plate 651 is fixedly installed at the bottom of the loading frame 5, and the two ends of the reset spring 652 are fixedly connected to the reset plate 651 and the clamping plate 632 respectively.

[0025] The locking component 64 includes a locking rod 641, a locking spring 642, a synchronizing plate 643, and a releasing component 644. The locking rod 641 slides along one side of the material loading frame 5 and slides through one of the fixed side plates 61. The moving block 621 has a locking hole 6213 corresponding to the position of the locking rod 641. The other end of the locking rod 641 is fixedly connected to the synchronizing plate 643. The locking spring 642 is sleeved on the outside of the locking rod 641. One end of the locking spring 642 is fixedly connected to the inner wall of the material loading frame 5, and the other end of the locking spring 642 is fixedly connected to a fixing ring 6411. The fixing ring 6411 is fixedly sleeved on the outside of the locking rod 641. The release element 644 is located on the outside of the material frame 5 and is connected to the synchronization plate 643.

[0026] A clamping block 643 is also fixedly installed on the side of the synchronous plate 643 facing the loading frame 5. The loading frame 5 is provided with a moving opening 52 corresponding to the position of the clamping block 6431, and the clamping block 6431 slides through the moving opening 52 to clamp the outside of the loading box 7.

[0027] The release component 644 includes a release rod 6441 and a push support rod 6442. The material frame 5 is provided with a receiving channel 53 corresponding to the position of the release rod 6441. The release rod 6441 slides through the receiving channel 53. A positioning spring 6443 is also sleeved on the outside of the release rod 6441. One end of the positioning spring 6443 is fixedly connected to the inner wall of the receiving channel 53, and the other end of the positioning spring 6443 is fixedly connected to a positioning ring, which is fixedly installed at the release rod 6441. There are two push support rods 6442. One end of the two push support rods 6442 is hinged to the release rod 6441, and the other end of the push support rods 6442 is hinged to the synchronous plate 643 through a hinge support.

[0028] Specific implementation process: In this application, when the loading frame 5 rotates to a set position with the closed-loop chain conveyor belt 31, such as the bottom left position of the vertical fixing plate 3, the clamping mechanism 8 will smoothly push the clamped loading box 7 into the loading frame 5. During the process of placing the loading box 7, the clamping edge 71 at the bottom of the loading box 7 moves along the bottom of the loading frame 5 until the loading box 7 moves to contact the ball-shaped end of the contact rod 623 and continues to move towards the inside of the loading frame 5. At this time, the two contact rods 623 are moved synchronously, and the contact rods 623 drive the moving block 621 to move through the contact plate 622. At this time, the moving block 621 moves between the two fixed side plates 61. While the moving block 621 moves, the pushing groove 6211 at its bottom moves relative to the following shaft 633 until the clamping edge 71 moves above the clamping end 6322 of the clamping plate 632. At this time, the inclined section of the pushing groove 6211 moves to the following shaft 633. The moving block 621 continues to move, and under the action of the inclined section of the pushing groove 6211, the following shaft 633 rotates upward. At this time, the clamping plate 632, due to the limitation of the fixed shaft 631, drives the clamping plate 632 to rotate synchronously when the following shaft 633 rotates, until the clamping edge 71 of the loading box 7 deviates from the clamping end 6322. At this time, the clamping plate The clamping end 6322 of 632 rotates toward the clamping edge 71. At this time, the two locking holes 6213 of the moving block 621 move to the positions of the two locking rods 641. Under the elastic force of the locking spring 642, one end of the locking rod 641 is inserted into the locking hole 6213, thereby locking the moving block 621. While the locking rod 641 moves, the wedge-shaped clamping block 6431 is driven by the synchronous plate 643 to be inserted into the material frame 5. At this time, the clamping end 6322 of the clamping plate 632 and the two clamping blocks 6431 clamp the loading box 7, thereby ensuring that the loading box 7 can be continuously and stably transmitted with the material frame 5 and the closed-loop chain conveyor belt 31. When the trolley reaches the next unloading position, the empty material frame 5 is pre-adjusted. In order to ensure the clamping position, a pressure sensor can also be installed on the side of the clamping block 6431 facing the loading box 7. That is, when it is clamped, the indicator light on the loading frame 5 will light up green, and then cooperate with the clamping mechanism 8 to disengage from the loading frame 5.

[0029] Example 2 Please see Figures 4 to 6 Embodiment 2 is a further supplementary description of Embodiment 1. Specifically, the clamping mechanism 8 includes an adjusting base 81, a transverse track 82, a rotating rod 83, a rotating motor 84, a lifting threaded rod 85, a driving component 86, a lifting plate 87, and a rotating sleeve 88. The transverse track 82 is set on the supporting base plate 2, and the adjusting base 81 is set on the transverse track 82. The transverse track 82 in this application is an existing linear guide rail. The driving component enables the adjusting base 81 to slide along the transverse track 82. Therefore, no further details are provided. The rotating rod 83 is rotatably connected to the adjusting base 81. In this application, the rotating rod 83 is configured to drive the rotating sleeve 88 to rotate, thereby adjusting the rotation angle of the clamping locking member 9, as shown in the attached instruction manual. Figures 6 to 7 The rotary motor 84 is installed inside the adjusting base 81 and is used to drive the rotating rod 83. The lifting threaded rod 85 is rotatably connected to the adjusting base 81. The driving component 86 is set inside the adjusting base 81 and is used to drive the lifting threaded rod 85. The lifting plate 87 is threaded onto the outside of the lifting threaded rod 85, and the lifting plate 87 is rotatably sleeved onto the outside of the rotating sleeve 88. The rotating rod 83 has two protruding strips on its outside, and the rotating sleeve 88 is slidably sleeved onto the rotating rod 83 and the outside of the two protruding strips. An extension block is installed at the bottom of the rotating sleeve 88, and the extension block is connected to the clamping locking piece 9. The clamping locking component 9 includes a gripper 91, an electric push rod 92, and a push frame 93. The gripper 91 is installed at the extension block, the electric push rod 92 is installed at the bottom of the gripper 91, and the output end of the electric push rod 92 is fixedly connected to the push frame 93. The push frame 93 is provided with two push ends, and the two push ends are used to push one end of the release rod 6441. Specific implementation process: In this application, the loading frame 5 is also provided with a gripping side opening at the position corresponding to the gripper 91. When the loading box 7 on the loading frame 5 is taken out, the gripper 91 moves to the gripping side opening. At the same time, the electric push rod 92 runs, thereby causing the push frame 93 to move toward the two release rods 6441. At this time, the push frame 93 pushes the release rod 6441. While the release rod 6441 moves, the pushing force it provides acts on the push support rod 6442. The push support rod rotates with the synchronous plate 643. At the same time, the synchronous plate 643 moves by pushing the support rod 6442 because it is limited by the locking rod 641. At this time, the synchronous plate 643 moves because it is limited by the locking rod 641, and the locking rod 641 disengages from the locking hole 6213. As a further supplementary explanation, in this application, the movement of the synchronous plate 643 relies on the lever linkage and elastic recovery mechanism. The axial movement of the release rod 6441 causes the hinged push rod 6442 to swing, thereby converting the linear thrust into the lateral displacement of the synchronous plate 643. Since the locking rod 641 and the clamping block 6431 are both fixed on the synchronous plate 643, the movement of the synchronous plate 643 simultaneously drives the locking rod 641 and the clamping block 6431 to move synchronously. At this time, the synchronous plate 643 causes the locking rod 641 to disengage from the locking hole 6213, and the clamping block 6431 to disengage from the outside of the loading box 7. Since the gripper 91 is not clamped to the loading box 7, the elastic force of the return spring 652 pulls the clamping plate 632 to rotate in the opposite direction, causing the clamping end 6322 to disengage from the clamping edge 71. At this time, under the reverse thrust of the contact rod 623, the loading box 7 is pushed towards the gripper 91, thereby achieving the function of quickly picking up materials from the loading box 7. Meanwhile, in this application, when the internal weight of the loading box 7 is large, the gripper 91 pulls the loading box 7 away while the electric push rod 92 extends continuously, so that the push frame 93 continuously contacts and squeezes the release rod 6441, thereby ensuring that the loading box 7 is stably released from the loading frame 5.

[0030] It should be noted that, in this document, 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 any such 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 includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A walking mechanism for a logistics handling vehicle, comprising a mobile chassis mechanism (1) and a supporting base plate (2) mounted on top of the mobile chassis mechanism (1), characterized in that: A vertical fixing plate (3) is fixedly installed on one side of the top of the support base plate (2), and a closed-loop chain conveyor belt (31) is rotatably connected to the side of the vertical fixing plate (3) facing the center of the support base plate (2). The closed-loop chain conveyor belt (31) has through bushings (32) fixed at equal intervals. A support shaft (4) is rotatably connected inside the bushing (32). A guide (41) is fixed at one end of the support shaft (4) facing the vertical fixing plate (3). The vertical fixing plate (3) has a guide rail (33) that matches the movement trajectory of the closed-loop chain conveyor belt (31) on the running path of the guide (41). The guide (41) is embedded in the guide rail (33) and slides along the guide rail (33) to restrict the circumferential rotation of the support shaft (4) so ​​that the material frame (5) always remains horizontal. The support shaft (4) is fixedly connected to a loading frame (5) at one end away from the vertical fixing plate (3). The loading frame (5) has an opening on one side away from the vertical fixing plate (3). The loading frame (5) is provided with a docking clamping mechanism (6) inside. The docking clamping mechanism (6) is used to lock the position of the loading box (7) placed in the loading frame (5). The top of the support base plate (2) is fixed with a clamping mechanism (8) corresponding to the loading and unloading side of the loading frame (5). The loading and unloading working surface of the clamping mechanism (8) is flush with the discharge station of the closed-loop chain conveyor belt (31) and is used to cooperate with the docking clamping mechanism (6) to complete the automatic loading and unloading of the loading box (7).

2. The intelligent vehicle walking mechanism for logistics handling according to claim 1, characterized in that: The docking clamping mechanism (6) includes a fixed side plate (61), a contact moving part (62), a bottom clamping part (63) and a locking part (64). There are two fixed side plates (61), and both fixed side plates (61) are fixedly installed on one side inside the material frame (5). The contact moving part (62) is slidably connected inside the material frame (5), and the two ends of the contact moving part (62) are slidably connected to the two fixed side plates (61); The loading frame (5) is located between two fixed side plates (61) and is provided with a connection port (51). The bottom clamping member (63) is provided at the connection port (51). The contact moving member (62) is connected to the bottom clamping member (63), and the loading box (7) is provided with a clamping edge (71) corresponding to the position of the bottom clamping member (63). Two locking members (64) are provided, and the two locking members (64) are located on both sides of the material frame (5), and the locking members (64) lock the contact moving member (62).

3. The intelligent vehicle walking mechanism for logistics handling according to claim 2, characterized in that: The contact moving part (62) includes a moving block (621), a contact plate (622), a contact rod (623) and a connecting spring (624). The moving block (621) is slidably connected inside the material frame (5). The bottom of the moving block (621) is provided with a U-shaped opening, and the two sides of the U-shaped opening are respectively provided with push grooves (6211). The bottom clamping part (63) is connected to the two push grooves (6211). The contact plate (622) is fixedly installed on the top of the moving block (621). One end of the contact rod (623) is fixedly connected to one side of the contact plate (622), and the other end of the contact rod (623) can contact the outside of the loading box (7). The two ends of the connecting spring (624) are fixedly connected to the inner wall of the loading frame (5) and the other side of the contact plate (622), respectively.

4. The intelligent vehicle walking mechanism for logistics handling according to claim 3, characterized in that: The contact rod (623) is spherically shaped at one end near the loading box (7).

5. The intelligent vehicle walking mechanism for logistics handling according to claim 2, characterized in that: The fixed side plate (61) is provided with a limiting groove (611) on the side near the moving block (621), and a limiting block (6212) is provided on the outside of the moving block (621). One end of the limiting block (6212) is slidably connected inside the limiting groove (611).

6. The intelligent vehicle walking mechanism for logistics handling according to claim 2, characterized in that: The bottom clamping component (63) includes a fixed shaft (631), a clamping plate (632), a following shaft (633), and a reset component (65). Both ends of the fixed shaft (631) are fixedly connected to the inner wall of the connecting port (51). One end of the clamping plate (632) is rotatably sleeved on the outside of the fixed shaft (631). Both ends of the clamping plate (632) are respectively provided with a connecting end (6321) and a clamping end (6322). The clamping end (6322) clamps the inner side of the clamping edge (71). The following shaft (633) is fixed through the connecting end (6321), and both ends of the following shaft (633) are slidably connected to the two push grooves (6211) respectively. The reset piece (65) is installed at the bottom of the clamping plate (632).

7. The intelligent vehicle walking mechanism for logistics handling according to claim 6, characterized in that: The reset component (65) includes a reset plate (651) and a reset spring (652). The reset plate (651) is fixedly installed at the bottom of the loading frame (5), and the two ends of the reset spring (652) are fixedly connected to the reset plate (651) and the clamping plate (632) respectively.

8. The intelligent vehicle walking mechanism for logistics handling according to claim 3, characterized in that: The locking component (64) includes a locking rod (641), a locking spring (642), a synchronizing plate (643), and a release component (644). The locking rod (641) slides along one side of the loading frame (5) and slides through one of the fixed side plates (61). The moving block (621) has a locking hole (6213) corresponding to the position of the locking rod (641). The other end of the locking rod (641) is fixedly connected to the synchronizing plate (643). The locking spring (642) is sleeved on the outside of the locking rod (641). One end of the locking spring (642) is fixedly connected to the inner wall of the loading frame (5), and the other end of the locking spring (642) is fixedly connected to a fixing ring (6411). The fixing ring (6411) is fixedly sleeved on the outside of the locking rod (641). The release element (644) is located on the outside of the material frame (5) and is connected to the synchronization plate (643).

9. The intelligent vehicle walking mechanism for logistics handling according to claim 8, characterized in that: A clamping block (6431) is also fixedly installed on the side of the synchronous plate (643) facing the loading frame (5). The loading frame (5) is provided with a moving opening (52) corresponding to the position of the clamping block (6431), and the clamping block (6431) slides through the moving opening (52). The clamping block (6431) clamps the outside of the loading box (7).

10. The intelligent vehicle walking mechanism for logistics handling according to claim 8, characterized in that: The release component (644) includes a release rod (6441) and a push rod (6442). The material frame (5) is provided with a receiving channel (53) corresponding to the position of the release rod (6441). The release rod (6441) slides through the receiving channel (53). A positioning spring (6443) is also sleeved on the outside of the release rod (6441). One end of the positioning spring (6443) is fixedly connected to the inner wall of the receiving channel (53), and the other end of the positioning spring (6443) is fixedly connected to a positioning ring, which is fixedly installed at the release rod (6441). There are two push rods (6442). One end of the two push rods (6442) is hinged to the release rod (6441), and the other end of the push rods (6442) is hinged to the synchronous plate (643).

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