Novel obstacle-crossing stair-climbing mechanism of unmanned distribution vehicle

Abstract

The utility model discloses a novel obstacle-crossing stair-climbing mechanism of an unmanned distribution vehicle. The obstacle-crossing stair-climbing mechanism comprises a chassis, a rear-drive walking mechanism is arranged on the rear side of the chassis, a middle-drive walking mechanism is arranged on the front side of the bottom of the chassis, an obstacle-crossing mechanism is arranged on the front side of the chassis, and one side of the obstacle-crossing mechanism is communicated with a front-drive obstacle-crossing driver; the obstacle crossing mechanism comprises a front wheel lever, the two ends of the front wheel lever are rotationally connected with a first front wheel and a second front wheel respectively, one end of the front wheel lever is rotationally connected with the free end of a rocker arm, and the front wheel lever slides and rotates around a shaft point fixed to the position of the chassis. According to the novel obstacle-crossing stair-climbing mechanism of the unmanned distribution vehicle, through mutual cooperation of all parts of the obstacle-crossing mechanism, the smooth upstairs-climbing action can be achieved, the obstacle-crossing mechanism climbs stairs in the design mode that double wheels and a front wheel lever drive the first front wheel and the second front wheel to turn over by a half cycle, the turning and lifting angle is only a half cycle, the control difficulty is reduced, and the work efficiency is improved. And the realization difficulty of the stair climbing movement is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of autonomous obstacle-crossing unmanned delivery vehicles, in particular to an obstacle-crossing and stair-climbing mechanism of a novel unmanned delivery vehicle. Background Art

[0002] With the rapid development of society and the accelerated pace of life, food delivery services have become an indispensable part of modern urban life. Demand for food delivery services is growing, particularly in urban areas densely populated by high-rise buildings. However, traditional food delivery methods are often limited by manpower and efficiency bottlenecks when working in multi-story buildings. Furthermore, in some multi-story hotels, the demand for cross-floor food delivery is increasing. However, existing floor-level food delivery robots, due to their limited design structure and concept, are unable to meet these demands. Therefore, stair-climbing food delivery mechanisms and related technologies have emerged. These not only address the difficulties and inefficiencies faced by delivery drivers, but also significantly improve the overall quality and efficiency of food delivery services.

[0003] 1. Structural design: The low chassis severely limits the working range of the fully automatic unmanned delivery vehicle, and it can only be used for flat single-story indoor delivery.

[0004] 2. Outdoor delivery vehicles do not have the ability to overcome obstacles and climb stairs. They can only be used for automatic delivery between areas as basic units, and cannot be accurately delivered to individual households.

[0005] The crawler climbing mechanism causes great damage to the edge of the steps. Long-term operation may damage the edge of the steps and cause personal injury.

[0006] The climbing mechanism cannot provide stable stopping and fixing capabilities, and may fail during transportation, causing damage. Utility Model Content

[0007] The purpose of the present invention is to provide a novel obstacle climbing mechanism for an unmanned delivery vehicle to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] A novel obstacle climbing mechanism for an unmanned delivery vehicle comprises a chassis, a rear-drive walking mechanism is provided on the rear side of the chassis, a mid-drive walking mechanism is provided on the front bottom side of the chassis, an obstacle climbing mechanism is provided on the front side of the chassis, and one side of the obstacle climbing mechanism is connected to a front-drive obstacle climbing drive;

[0010] The obstacle crossing mechanism includes a front wheel lever, both ends of which are rotatably connected to the front wheel and the front two wheels respectively, one end of the front wheel lever is rotatably connected to the free end of the rocker arm, and the front wheel lever slides around an axis point fixed to the chassis position.

[0011] Preferably, guardrails are provided on both sides of the chassis, an open wheel groove is formed between the guardrails and the chassis, and the obstacle crossing mechanism passes through the open wheel groove.

[0012] Preferably, the axis point is arranged at the bottom of the guardrail, and the axis point includes a fixed-point bearing, and a rotation limiting slide is fixedly connected to the dynamic ring of the fixed-point bearing, and the rotation limiting slide is slidably connected to the front wheel lever.

[0013] Preferably, the rear-drive walking mechanism includes two rollers, and both rollers are provided with independent drive motors.

[0014] Preferably, the obstacle overcoming mechanism further comprises a transmission shaft meshingly connected to the front-wheel drive obstacle overcoming drive output end, and the transmission shaft is fixedly connected to the other end of the rocker arm.

[0015] Preferably, the front wheel and the front two wheels are all one-way ratchets.

[0016] Preferably, both ends of the outer wall of the front wheel lever are provided with limit blocks.

[0017] Preferably, a road condition detection device is provided on the front side of the chassis, wherein the road condition detection device is connected to a PLC control system, and the PLC control system is connected to a front-wheel drive obstacle-crossing drive.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The obstacle-climbing mechanism of this new unmanned delivery vehicle can achieve a smooth flipping and climbing action through the mutual cooperation of various components of the obstacle-climbing mechanism. The obstacle-climbing mechanism adopts a design method of double wheels and front wheel levers to drive the front wheel and the front two wheels to flip half a circle for stair climbing. The flipping angle is only half a circle, which reduces the control difficulty and the difficulty of achieving the climbing movement.

[0020] At the same time, the front wheel and the front two wheels use one-way ratchets to prevent the vehicle from sliding backward due to the weight of the vehicle body. In this way, even if the power is completely lost, the delivery vehicle can still be parked smoothly on the stairs.

[0021] The obstacle crossing mechanism has expanded the working range and adaptability of the fully unmanned delivery vehicle, achieving the effect of crossing stairs and floors through corridors. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of a delivery vehicle in a preferred embodiment of the present invention when viewed from above;

[0023] Figure 2 This is a schematic diagram of the structure of a delivery vehicle in an upward direction in a preferred embodiment of the present invention;

[0024] Figure 3This is a schematic diagram of the top plan structure of a delivery vehicle in a preferred embodiment of the present invention;

[0025] Figure 4 This is a structural diagram of a delivery vehicle chassis in a preferred embodiment of the present invention;

[0026] Figure 5 This is a structural schematic diagram of the side of the chassis of a delivery vehicle in a preferred embodiment of the present invention;

[0027] Figure 6 This is a structural diagram of the connection between the obstacle crossing mechanism and the chassis in a preferred embodiment of the present invention;

[0028] Figure 7 This is a structural diagram of an obstacle crossing mechanism in a preferred embodiment of the present invention.

[0029] In the figure: 1. chassis, 2. rear-wheel drive traveling mechanism, 3. mid-wheel drive traveling mechanism; 4. obstacle crossing mechanism, 41. front wheel, 42. front two wheels, 43. front wheel lever, 44. rocker arm, 45. drive shaft; 5. front-wheel drive obstacle crossing, 6. guardrail, 7. fixed-point bearing, 71. rotation limit slide. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See also Figure 1-7 , the utility model provides a technical solution:

[0032] A novel obstacle-climbing mechanism for an unmanned delivery vehicle includes a chassis 1. A rear-drive running mechanism 2 is located at the rear of the chassis 1, serving as the primary driving force for the vehicle's movement. A mid-drive running mechanism 3 is located at the bottom front of the chassis 1, providing additional climbing power when climbing stairs. An obstacle-climbing mechanism 4 is located at the front of the chassis 1, utilizing a lever-operated flip-climbing mechanism to climb stairs. A front-drive obstacle-climbing drive 5 is connected to one side of the obstacle-climbing mechanism 4. This drive 5 provides the power to flip the obstacle-climbing mechanism 4.

[0033] The obstacle overcoming mechanism 4 includes a front wheel lever 43, each of which is rotatably connected to the front wheel 41 and the front two wheels 42. The distance between the axes of the front wheel 41 and the front two wheels 42 is preferably between 20-30 cm. The end of the front wheel lever 43 near the front two wheels 42 is rotatably connected to a rocker arm 44, wherein the rocker arm 44 rotates around one end, the free end of the rocker arm 44 is rotatably connected to the front wheel lever 43, and the connection point between the rocker arm 44 and the front wheel lever 43 is coaxial with the front two wheels 42.

[0034] The front wheel lever 43 slides around an axis fixed to the chassis 1. As the front wheel lever 43 rotates around the axis, displacement occurs between the front wheel lever 43 and the axis, causing the front wheel lever 43's center of rotation to gradually shift as it rotates. Consequently, the front wheel lever 43 drives the front wheel 41 and front two wheels 42 to tilt without causing significant fluctuations in the chassis 1, thereby improving the stability of the chassis 1 when climbing stairs.

[0035] Guardrails 6 are provided on both sides of the chassis 1, and an open wheel groove is formed between the guardrails 6 and the chassis 1. The obstacle crossing mechanism 4 passes through the open wheel groove, and the open wheel groove is arranged in a U shape so that the front wheel lever 43 can be flipped at the opening of the open wheel groove.

[0036] The axis point is set at the bottom of the guardrail 6, and the axis point includes a fixed-point bearing 7. The position of the fixed-point bearing 7 is fixed. A rotation limit slide 71 is fixed to the dynamic ring of the fixed-point bearing 7. The rotation limit slide 71 rotates around the axis point. The rotation limit slide 71 is slidably connected to the front wheel lever 43. When the front wheel lever 43 is working, it can slide back and forth inside the rotation limit slide 71.

[0037] The rear-drive walking mechanism 2 includes two rollers, each of which is provided with an independent driving motor. Each of the two rollers can operate independently for turning.

[0038] The obstacle climbing mechanism 4 also includes a drive shaft 45 meshingly connected to the output end of the front-wheel obstacle-climbing drive 5. This drive shaft 45 is fixedly connected to the other end of a rocker arm 44. The front-wheel obstacle-climbing drive 5 rotates the drive shaft 45, which is connected to the chassis 1 via a bearing. This rotation of the drive shaft 45 drives the rocker arm 44, which in turn rotates the front wheel lever 43. This in turn causes the front wheel 41 and the front two wheels 42 to flip and alternately contact the steps, enabling climbing.

[0039] Described front wheel 41 and front two wheels 42 are all one-way ratchets. Front wheel 41 and front two wheels 42 are arranged to one-way ratchets, although limit the degree of freedom of front wheel 41 and front two wheels 42, make the delivery vehicle can be stopped on the stairs steadily, avoid slipping.

[0040] Limiting blocks are provided at both ends of the outer wall of the front wheel lever 43. The limiting blocks are used to block the rotation limiting slide 71. The distance between the contact point between the limiting blocks and the rotation limiting slide 71 and the position farthest from the tire extension of the front wheel 41 and the front two wheels 42 determines the height of the chassis 1.

[0041] A road condition detection device is provided on the front side of the chassis 1, and the road condition detection device can use radar detection, wherein the road condition detection device is connected to the PLC control system. When the road condition detection device detects stairs, it feeds back to the PLC control system, and the PLC control system is connected to the front-wheel drive obstacle driving device 5, and the PLC control system controls the front-wheel drive obstacle driving device 5 to start working.

[0042] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "two ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0044] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A novel obstacle climbing mechanism for an unmanned delivery vehicle, comprising a chassis (1), a rear-drive walking mechanism (2) being provided on the rear side of the chassis (1), and characterized in that: A mid-drive walking mechanism (3) is provided on the front side of the bottom of the chassis (1), an obstacle crossing mechanism (4) is provided on the front side of the chassis (1), and one side of the obstacle crossing mechanism (4) is connected to a front-drive obstacle crossing drive (5); The obstacle crossing mechanism (4) includes a front wheel lever (43), the two ends of which are rotatably connected to the front wheel (41) and the front two wheels (42), and one end of which is rotatably connected to the free end of a rocker arm (44). The front wheel lever (43) slides around an axis fixed to the chassis (1).

2. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: Guardrails (6) are provided on both sides of the chassis (1), an open wheel groove is formed between the guardrails (6) and the chassis (1), and the obstacle crossing mechanism (4) passes through the open wheel groove.

3. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 2 is characterized by: The axis point is arranged at the bottom of the guardrail (6), and the axis point includes a fixed-point bearing (7). A rotation limiting slideway (71) is fixed to the dynamic ring of the fixed-point bearing (7), and the rotation limiting slideway (71) is slidably connected to the front wheel lever (43).

4. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: The rear-drive walking mechanism (2) comprises two rollers, and both rollers are provided with independent drive motors.

5. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: The obstacle overcoming mechanism (4) further comprises a transmission shaft (45) meshingly connected to the output end of the front-drive obstacle overcoming drive (5), and the transmission shaft (45) is fixedly connected to the other end of the rocker arm (44).

6. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: The front wheel (41) and the front two wheels (42) are both one-way ratchets.

7. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: Both ends of the outer wall of the front wheel lever (43) are provided with limit blocks.

8. The obstacle climbing mechanism of the novel unmanned delivery vehicle according to claim 1 is characterized by: A road condition detection device is provided on the front side of the chassis (1), wherein the road condition detection device is connected to a PLC control system, and the PLC control system is connected to a front-drive obstacle-crossing drive (5).

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