A self-assembly and disassembly based intelligent control type unmanned vehicle cage docking device and method

Abstract

The application discloses a self-loading and unloading intelligent control type unmanned vehicle cage docking device, which comprises a cage, the bottom of the cage is provided with a foot wheel; a rear opening type unmanned vehicle compartment, a motor assembly is arranged at the head end of the unmanned vehicle compartment, a rotating shaft is connected with the motor assembly, a driving sprocket is fixedly arranged on the rotating shaft, a driven sprocket is correspondingly arranged at the position close to the tail of the unmanned vehicle compartment, a transmission chain is tightly arranged between the driving sprocket and the driven sprocket, a magnetic attraction assembly capable of synchronously and circularly moving with the transmission chain is fixedly clamped on the transmission chain, the magnetic attraction assembly is coupled with the cage through magnetic attraction adsorption force, and the cage is driven to complete self-loading and unloading alignment and translation docking in the unmanned vehicle compartment along with the advancing motion of the transmission chain.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle technology, and in particular to a self-loading and unloading intelligent control unmanned vehicle cage docking device and method. Background Technology

[0002] Against the backdrop of rapid iteration in smart logistics warehousing and last-mile intelligent delivery systems, cage trucks, as standardized and recyclable logistics vehicles, have become core carriers in scenarios such as express sorting, park transfers, and urban delivery. Their collaborative application with unmanned delivery vehicles has become a key direction for cost reduction and efficiency improvement in the industry. Currently, as the industry promotes unmanned loading and unloading operations, the physical connection between cage trucks and unmanned vehicles, as well as their automatic vehicle loading adaptation, have become urgent problems to be solved.

[0003] In existing technologies, the connection between cage carts and unmanned vehicles mainly relies on manual positioning or simple mechanical limiting. In the manual pushing method, operators need to push the cage cart into the unmanned vehicle compartment and then temporarily fix it by binding, pins, buckles, etc. This not only depends on the operator's skill level, but also suffers from large positioning deviations and insecure locking. Moreover, the weight of a fully loaded cage cart usually exceeds 100 kilograms, and manual pushing is time-consuming and labor-intensive, resulting in extremely low work efficiency and making it difficult to form an automated closed-loop process of "warehousing and sorting, unmanned vehicle delivery".

[0004] For example, patent application number 202510920175.2 discloses a method for transporting cages by unmanned vehicles and the unmanned vehicle itself, which achieves automatic pairing between cages and unmanned vehicles through information interaction methods such as visual recognition and QR code binding. However, this type of technology only solves the matching and association at the information layer and does not address the physical connection. Even if the information system completes the binding command for the cage and the unmanned vehicle, manual assistance is still required in actual operation to complete the physical placement and fixing of the cage. The automation at the information layer cannot be transformed into a reliable connection at the physical layer. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects of the prior art and provide a smart controllable unmanned vehicle cage docking device and method based on self-loading and unloading, so as to realize the precise docking, automatic locking and autonomous loading and unloading of cage cars and unmanned vehicles, and solve the technical defects of low loading and unloading efficiency and large alignment deviation of traditional manual pushing and pulling cage cars.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a self-loading and unloading intelligent control unmanned vehicle cage docking device, comprising a cage with casters on its lower bottom; comprising a rear-opening unmanned vehicle compartment, wherein a motor assembly is provided at the front end of the unmanned vehicle compartment, the motor assembly is connected to a rotating shaft, a drive sprocket is fixedly mounted on the rotating shaft, a driven sprocket is correspondingly provided at the rear of the unmanned vehicle compartment, a transmission chain is tensioned and wound between the drive sprocket and the driven sprocket, a magnetic suction component is fixedly mounted on the transmission chain and can move synchronously with the transmission chain, the magnetic suction component forms a magnetic coupling with the cage through magnetic attraction force, and drives the cage to complete self-loading, unloading, alignment and translation docking in the unmanned vehicle compartment as the transmission chain moves.

[0007] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, the magnetic suction component includes a linear guide rail, which is located in the middle of the unmanned vehicle compartment. A slider is provided on the linear guide rail, and a magnetic suction seat is fixedly connected to the slider. A fixing clip is installed at one end of the magnetic suction seat, and the fixing clip is clamped on the transmission chain. The linear guide rail guides and limits the magnetic suction seat, bears the traction load, and avoids swaying and jamming when the electromagnet pulls the cage. An electromagnet is installed at the other end of the magnetic base. A cylinder top is connected to the electromagnet. The cylinder top controls the electromagnet to move upward when energized and to move downward to return to its original position when de-energized.

[0008] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, the cylinder top component includes a cylinder, one end of which is connected to a push base. The push base is provided with an operating hole, and a magnet base is connected through the operating hole. The operating hole is an oblong hole at a 45° angle to the horizontal plane. The electromagnet is fixedly connected to the upper side of the magnet base, and a slide rail pair is provided on the lower side of the push base.

[0009] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, a magnetic attraction plate is provided at the bottom of the cage corresponding to the position of the magnetic attraction component. The magnetic attraction plate is a magnetically conductive metal plate, which serves to protect the bottom plate of the cage and buffer the adsorption gap.

[0010] The specific working process is as follows: When the device needs to attract and pull the cage car, the cylinder top part extends and simultaneously pushes the electromagnet upward to make a lifting motion, so that the electromagnet is in contact with the magnetic attraction plate near the bottom of the cage car. Then the electromagnet is energized to generate a strong magnetic field, forming a closed magnetic circuit with the magnetic attraction plate to achieve stable magnetic attraction coupling. When the cage car is loaded or unloaded and needs to be detached, the electromagnet is de-energized and demagnetized, the magnetic attraction effect disappears, and at the same time the cylinder top part retracts and resets, driving the electromagnet downward to make a return reset motion, so that the electromagnet is completely separated from the magnetic attraction plate, completely releasing the traction constraint on the cage car, and completing a single magnetic attraction docking and detachment operation.

[0011] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, first guide rails are symmetrically arranged on the left and right sides of the unmanned vehicle compartment, and the width of the first guide rails is greater than the width of the casters; the distance between the two first guide rails is adapted to the distance between the left and right casters on the cage.

[0012] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, the unmanned vehicle compartment is equipped with a position sensor. The position sensor is electrically connected to an electronic control module. The electronic control module is connected to a motor assembly and multiple sets of solenoid valves corresponding to cylinders, so as to control the operation of the motor and the extension and retraction of the cylinders in conjunction with the sensing signals.

[0013] In the aforementioned intelligent unmanned vehicle cage docking device based on self-loading and unloading, the inner side of the rear door of the unmanned vehicle compartment is a carrying platform, and the carrying platform is provided with two second guide rails. The distance between the second guide rails on both sides is adapted to the distance between the left and right casters on the cage.

[0014] The aforementioned method for a self-loading and unloading intelligent control unmanned vehicle cage docking device includes system power-on initialization, motor component driving transmission chain to drive magnetic suction component back to the vehicle head origin limit position, and motor stopping and standby after origin sensor senses the position. S1. The unmanned vehicle drives to the cage car parking point, completes the alignment and parking, and the unmanned vehicle automatically opens the car body and the door, and the cage car enters the carrying platform. S2. When the position sensor detects the cage car, the control system outputs an electrical signal, the motor assembly rotates forward, driving the drive sprocket and transmission chain to move the magnetic attraction assembly outward of the car. When the magnetic attraction assembly reaches the position of the cage car, the electromagnet is energized and extends upward, magnetically coupling and adsorbing with the magnetic guide plate at the bottom of the cage car. The motor assembly reverses, and the magnetic attraction assembly and the cage car move synchronously into the car. S3. The cage car enters the carriage and triggers the position sensor. The control system determines that the loading and unloading are in place. The control system cuts off the power supply to the electromagnet. The electromagnet loses power and descends to reset, releasing the magnetic attraction from the cage car. S4. Repeat steps S2-S3 until the position sensor detects that the cage car is completely inside the carriage, then the unmanned vehicle automatically closes the carriage and opens the door. S5. When the cage car is unloading, repeat steps S1 to S4 in reverse order to achieve automatic removal and unloading of the cage car.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention relies on the motor sprocket chain drive and the electromagnet magnetic attraction traction, so that there is no need for manual handling of the cage car to get on and off the car. The control system links the sensors and cylinder components to automatically complete the loading, locking and unloading operations, which greatly reduces the intensity of manual labor. At the same time, there is no need for additional external push and pull tools, and it does not occupy the external loading and unloading space of the car body, which is suitable for the narrow working environment of the rear-opening car body.

[0016] 2. In this invention, the electromagnet is mechanically lifted or pulled down by a cylinder to control its vertical movement, thus completing the attraction and disengagement actions. The cylinder lifting component is the power actuator for the vertical lifting of the electromagnet, which can precisely control the longitudinal stroke of the electromagnet. At the same time, the slide rail pair provides auxiliary guidance and lateral constraint for the longitudinal extension and retraction of the pusher, forming a double-layer guide and limit structure, which solves the problems of tilting, jamming, and unilateral wear that occur when the pusher moves back and forth for a long time.

[0017] 3. This invention deploys multiple sets of position sensors inside the car to collect travel signals in real time, and the electronic control module regulates the start and stop of the motor and the extension and retraction of the cylinder, effectively avoiding the problem of car body deviation and misalignment, and achieving precise alignment and locking of the car body.

[0018] 4. The cage is equipped with guide wheels at the bottom. The unmanned vehicle compartment has symmetrical first guide rails on the left and right sides. The first guide rails ensure that the cage does not move, slip, or tip over when the unmanned vehicle accelerates, decelerates, turns, or bumps. The carrying platform has two second guide rails. The two second guide rails form a guide surface, which automatically aligns when pushed in, does not deviate, and does not jam the wheels. The whole process is smooth and seamless, which completely solves the positioning difficulty when the cage enters the unmanned vehicle compartment. The cage will automatically center as it approaches. The operator only needs to push it lightly, which is convenient for operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the cage car entering the unmanned vehicle structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the unmanned vehicle of the present invention; Figure 4 This is a schematic diagram of the installation of the magnetic suction assembly of the present invention; In the attached diagram: 1. Cage; 11. Casters; 2. Unmanned vehicle cabin; 21. Motor assembly; 211. Rotating shaft; 212. Drive sprocket; 213. Driven sprocket; 22. Transmission chain; 23. Magnetic suction assembly; 231. Linear guide rail; 232. Slider; 233. Magnetic suction base; 234. Fixing clip; 235. Electromagnet; 236. Cylinder top component; 2361. Cylinder; 2362. Push base; 2363. Running hole; 24. First guide rail; 25. Second guide rail; 26. Rear door. Detailed Implementation

[0020] 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. Example 1.

[0021] A self-loading and unloading intelligent controllable vehicle cage docking device, such as Figure 1-4 As shown, it includes three cage carts 1, each of which is equipped with casters 11 on its bottom side; It also includes a rear-opening unmanned vehicle compartment 2. The unmanned vehicle compartment 2 has a motor assembly 21 at the front end. The motor assembly 21 is connected to a rotating shaft 211. A drive sprocket 212 is fixed on the rotating shaft 211. A driven sprocket 213 is correspondingly arranged inside the unmanned vehicle compartment 2 near the rear. A transmission chain 22 is tensioned and wound between the drive sprocket 212 and the driven sprocket 213. A magnetic suction component 23 is fixedly clamped on the transmission chain 22 and can move synchronously with the transmission chain. The magnetic suction component 23 forms a magnetic coupling with the cage car 1 through magnetic attraction force, and drives the cage car 1 to complete self-loading, unloading, positioning and translation docking in the unmanned vehicle compartment 2 as the transmission chain 22 moves.

[0022] The magnetic attraction component 23 includes a linear guide rail 231, which is located in the middle of the unmanned vehicle compartment 2. A slider 232 is provided on the linear guide rail 231, and a magnetic base 233 is fixedly connected to the slider 232. A fixing clip 234 is installed at one end of the magnetic base 233, and the fixing clip 234 is locked onto the transmission chain 22. An electromagnet 235 is installed at the other end of the magnetic base 233. A cylinder top component 236 is connected to the electromagnet 235. The cylinder top component 236 controls the electromagnet 235 to move upward when energized and to move downward to return to its original position when de-energized.

[0023] The cylinder top component 236 includes a cylinder 2361, one end of which is connected to a push base 2362. The push base 2362 is provided with an operating hole 2363, through which a magnet base 233 is connected. The electromagnet 235 is fixedly connected to the upper side of the magnet base 233.

[0024] The running hole 2363 is an oblong hole at a 45° angle to the horizontal plane. The running hole 2363 not only serves as a radial limit, effectively restricting horizontal offset, radial sway, and angular deflection during the pushing process of the pusher 2362, ensuring the coaxiality of the cylinder power output; it also has a vertical sliding guide function, providing a regular sliding trajectory for the extension and retraction movement of the pusher 2362, making the lifting and lowering action of the electromagnet smooth and without jamming or offset.

[0025] The lower side of the push base 2362 is provided with a slide rail pair 2364, which is fixedly connected to the magnet base 233. The slide rail pair 2364 can assist in guiding and laterally constraining the longitudinal extension and retraction movement of the push base 2362. In conjunction with the center limit of the running hole 2363, it effectively shares the lateral force of single-hole sliding and prevents the push base 2362 from tilting, jamming, or unilateral wear during long-term reciprocating motion. The slide rail pair 2364 and the running hole 2363 form a double-layer guide and limit structure.

[0026] The unmanned vehicle compartment 2 is symmetrically provided with first guide rails 24 on the left and right sides respectively. The width of the first guide rails 24 is greater than the width of the casters 11. The distance between the two first guide rails 24 is adapted to the distance between the left and right casters 11 on the cage 1, which can ensure that the cage 1 has no risk of lurching, slipping or tipping when the unmanned vehicle accelerates, decelerates, turns or bumps. It has high reliability.

[0027] A magnetic attraction mating plate is provided at the bottom of the cage car 1 corresponding to the position of the magnetic attraction component 23. The magnetic attraction mating plate is a magnetically conductive metal plate. This avoids the electromagnet 235 directly attracting the sheet metal of the cage car, and prevents the cage car plate from being damaged by long-term magnetic attraction and magnetization deformation. For vulnerable parts, only the mating plate needs to be replaced, reducing the maintenance cost of the cage car.

[0028] The inner side of the rear door 26 of the unmanned vehicle compartment 2 is a carrying platform. The carrying platform is equipped with two second guide rails 25. The spacing between the second guide rails 25 on both sides is adapted to the widest width of the cage 1. The two second guide rails 25 form a guide surface. When the cage 1 enters the unmanned vehicle carrying platform, the casters 11 abut against and roll along the corresponding guide surface of the unmanned vehicle to constrain and correct the direction of travel of the cage 1 in real time, ensuring that the cage 1 enters smoothly in a straight line. This completely solves the positioning difficulty when the cage 1 first enters the unmanned vehicle compartment 2. The cage 1 can automatically center itself when it gets close, and the operator only needs to push it lightly, which is convenient for operation.

[0029] The unmanned vehicle 2 is equipped with multiple sets of position sensors. The position sensors are electrically connected to the electronic control module. The electronic control module is connected to the motor assembly and the solenoid valves corresponding to the multiple sets of cylinders, so as to control the operation of the motor and the extension and retraction of the cylinders in conjunction with the sensing signals.

[0030] A method for a self-loading and unloading intelligent control unmanned vehicle cage docking device includes system power-on initialization, motor assembly 21 driving transmission chain 22 to drive magnetic suction assembly 23 back to the vehicle head origin limit position, and motor stopping and standby after the origin sensor senses the position. S1. The unmanned vehicle drives to the cage car parking point, completes the alignment and parking, and the unmanned vehicle automatically opens the car body and door 26, and the cage car 1 enters the carrying platform. S2. The transmitter detects the cage car 1, and the control system outputs an electrical signal. The motor assembly 21 rotates forward, driving the drive sprocket 212 and the transmission chain 22 to move the magnetic attraction assembly 23 to the outside of the car. When the magnetic attraction assembly 23 reaches the position of the cage car, the electromagnet 235 is energized and extends upward, magnetically coupling and adsorbing with the magnetic guide plate at the bottom of the cage car 1. The motor assembly 21 reverses, and the magnetic attraction assembly 23 and the cage car 1 move synchronously into the car. S3. Cage car 1 enters the carriage and triggers the sensor. The control system determines that the installation is in place and cuts off the power supply to electromagnet 235. Electromagnet 235 loses power and descends to reset, releasing the magnetic attraction from cage car 1. S4. Repeat steps S2-S3 until the sensor detects that the cage car has entered the carriage. The unmanned vehicle will then automatically close the carriage and open the door 26. S5. When the cage car is unloading, repeat steps S1 to S4 in reverse order to achieve automatic removal and unloading of the cage car.

[0031] It is very easy to operate, greatly reducing the intensity of manual labor, and enabling precise docking, automatic locking, and autonomous loading and unloading between cage cars and unmanned vehicles.

Claims

1. A self-loading and unloading intelligent unmanned vehicle cage docking device, characterized in that: Includes a cage cart (1), the bottom of which is equipped with casters (11); The unmanned vehicle compartment (2) is opened from the rear. A motor assembly (21) is provided at the front end of the unmanned vehicle compartment (2). The motor assembly (21) is connected to a rotating shaft (211). An active sprocket (212) is fixed on the rotating shaft (211). A driven sprocket (213) is correspondingly provided at the rear end of the unmanned vehicle compartment (2). A transmission chain (22) is tensioned and wound between the active sprocket (212) and the driven sprocket (213). A magnetic suction assembly (23) that can move synchronously with the transmission chain is fixedly mounted on the transmission chain (22). The magnetic suction assembly (23) forms a magnetic coupling with the cage car (1) through magnetic attraction force, and drives the cage car (1) to complete self-loading, unloading, positioning and translation docking in the unmanned vehicle compartment (2) as the transmission chain (22) moves.

2. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 1, characterized in that: The magnetic suction assembly (23) includes a linear guide rail (231), which is located in the middle of the unmanned vehicle compartment (2). A slider (232) is provided on the linear guide rail (231), and a magnetic suction seat (233) is fixedly connected to the slider (232). A fixing clip (234) is installed at one end of the magnetic suction seat (233), and the fixing clip (234) is locked on the transmission chain (22). An electromagnet (235) is installed at the other end of the magnetic suction seat (233), and a cylinder top piece (236) is connected to the electromagnet (235). The cylinder top piece (236) controls the electromagnet (235) to move upward when energized and to move downward when de-energized.

3. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 2, characterized in that: The cylinder top component (236) includes a cylinder (2361), one end of which is connected to a pusher (2362). The pusher (2362) has an operating hole (2363) and a magnet base (233) is connected through the operating hole (2363). The electromagnet (235) is fixedly connected to the upper side of the magnet base (233).

4. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 3, characterized in that: The running hole (2363) is a waist-shaped hole at a 45° angle to the horizontal plane.

5. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 3, characterized in that: The push base (2362) is provided with a slide rail pair on its lower side.

6. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 1, characterized in that: The unmanned vehicle compartment (2) is symmetrically provided with first guide rails (24) on the left and right sides respectively. The width of the first guide rails (24) is greater than the width of the casters (11). The distance between the two first guide rails (24) is adapted to the distance between the left and right casters (11) on the cage (1).

7. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 1, characterized in that: The bottom of the cage car (1) is provided with a magnetic attraction plate corresponding to the position of the magnetic attraction component (23), and the magnetic attraction plate is a magnetically conductive metal plate.

8. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 1, characterized in that: The inside of the rear door (26) of the unmanned vehicle is a carrying platform, and the carrying platform is provided with two second guide rails (25). The distance between the second guide rails (25) on both sides is adapted to the distance between the left and right casters (11) on the cage (1).

9. The intelligent unmanned vehicle cage docking device based on self-loading and unloading as described in claim 1, characterized in that: The unmanned vehicle is equipped with a position sensor, which is electrically connected to an electronic control module. The electronic control module is connected to the motor assembly and the solenoid valves corresponding to the cylinders.

10. A method for a self-loading and unloading intelligent unmanned vehicle cage docking device according to claims 1-9, characterized in that: Including system power-on initialization, the motor assembly (21) drives the transmission chain (22) to drive the magnetic suction assembly (23) back to the origin limit of the vehicle head, and the motor assembly stops and stands by after the origin sensor senses the position; S1. The unmanned vehicle drives to the parking point of the cage car (1), completes the alignment and parking, and the unmanned vehicle automatically opens the car body and the door (26), and the cage car (1) enters the carrying platform. S2. When the position sensor detects the cage car, the control system outputs an electrical signal, the motor assembly (21) rotates forward, driving the drive sprocket (212) and the transmission chain (22) to move the magnetic suction assembly (23) to the outside of the car. When the magnetic suction assembly (23) reaches the position of the cage car, the electromagnet (235) is energized and extends upward, magnetically coupling and adsorbing with the magnetic guide plate at the bottom of the cage car. The motor assembly (21) rotates in reverse, and the magnetic suction assembly (23) and the cage car (1) move synchronously to the inside of the car. S3. The cage car (1) enters the carriage and triggers the position sensor. The control system determines that the loading and unloading are in place. The control system cuts off the power supply to the electromagnet (235). The electromagnet (235) loses power and descends to reset, and is magnetically separated from the cage car (1). S4. Repeat steps S2-S3 until the position sensor detects that the cage car (1) has entered the carriage, and the unmanned vehicle automatically closes the carriage and opens the door (26). S5. When the cage car (1) is unloaded from the box, repeat steps S1 to S4 in reverse order to realize the automatic removal and unloading of the cage car (1).

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