Unmanned vehicle

Abstract

The utility model discloses an unmanned vehicle, and belongs to the technical field of unmanned driving. The unmanned vehicle can be automatically driven and comprises a compartment, a first carrying unit and a second carrying unit, the compartment is provided with a compartment door opening, and the compartment door opening is communicated with the interior of the compartment; the first carrying unit comprises a tail plate, and the tail plate is arranged at the compartment door opening and can ascend and descend in the first direction. The second carrying unit comprises a lifting trolley, the lifting trolley comprises a trolley body and a lifting platform, the trolley body is arranged on the bottom plate of the compartment and can move in the second direction, and the lifting platform is arranged on the trolley body and can ascend and descend in the first direction. The cage can be automatically carried, the carrying efficiency is improved, and the safety of personnel is protected.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned driving, in particular to an unmanned vehicle. Background Art

[0002] A driverless car, also known as an autonomous vehicle or self-driving car, is a vehicle capable of sensing its surroundings and navigating without human intervention. These vehicles primarily utilize a variety of technologies, including radar, lasers, ultrasound, GPS, odometers, and computer vision, to perceive their surroundings. Through advanced computing and control systems, they can identify obstacles and signage, plan appropriate routes, and control their movements. Furthermore, they possess autonomous control capabilities, enabling them to autonomously complete tasks such as driving, avoiding obstacles, and performing operations according to pre-set instructions.

[0003] When transporting caged cargo on an unmanned vehicle, the cages are equipped with wheels at the bottom, requiring manual labor to push the cages to the vicinity of the vehicle's compartment and then carry them into the vehicle's compartment. However, manual labor is not only time-consuming and labor-intensive, but also inefficient; it is also prone to collisions, compromising personnel safety.

[0004] Therefore, it is urgent to provide an unmanned vehicle to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide an unmanned vehicle that can automatically transport cage boxes, improve transportation efficiency, and protect personnel safety.

[0006] To achieve the above objectives, the following technical solutions are provided:

[0007] Unmanned vehicles, including:

[0008] A carriage having a door, the door being in communication with the interior of the carriage;

[0009] A first transport unit includes a tailgate, which is disposed at the door and can be raised and lowered in a first direction;

[0010] The second transport unit includes a lifting trolley, which includes a trolley body and a lifting platform. The trolley body is arranged on the bottom plate of the carriage and can move along the second direction. The lifting platform is arranged on the trolley body and can be raised and lowered along the first direction.

[0011] As an optional solution for the unmanned vehicle, the lifting vehicle also includes:

[0012] A scissor-type lifting mechanism, wherein the lifting platform is arranged on the scissor-type lifting mechanism;

[0013] The first rotary drive module, the scissor-type lifting mechanism and the first rotary drive module are both arranged on the trolley body, and the first rotary drive module is transmission-connected to the threaded rod of the scissor-type lifting mechanism.

[0014] As an optional solution for the unmanned vehicle, the lifting trolley further includes a first connecting seat, which is fixedly connected to the trolley body, and the second transport unit further includes:

[0015] A translation mounting plate is provided on the bottom plate of the carriage, and a first sprocket is rotatably provided on a first end of the translation mounting plate;

[0016] A chain tensioning seat is provided at the second end of the translation mounting plate, and a second sprocket is rotatably provided on the chain tensioning seat;

[0017] a first transmission chain wound around the first sprocket and the second sprocket, wherein the first connecting seat is fixedly connected to the first transmission chain;

[0018] The second rotation driving module is arranged on the bottom plate of the carriage, and the second rotation driving module is drivingly connected to the first sprocket.

[0019] As an optional solution for the unmanned vehicle, a first guide rail extending along the second direction is provided on the translation mounting plate, and a guide wheel is rotatably provided at the bottom of the vehicle body, and the guide wheel is located on the first guide rail.

[0020] As an optional solution for the unmanned vehicle, the chain tensioning seat is provided with a strip hole extending along the second direction, and the translation mounting plate is provided with a connecting hole, and a fastener passes through the strip hole and is connected to the connecting hole.

[0021] As an optional solution for the unmanned vehicle, the first transport unit also includes a third rotation drive module, which is arranged on the bottom plate of the vehicle compartment. The tailgate is transmission-connected to the third rotation drive module, and the third rotation drive module is used to drive the tailgate to rise and fall along the first direction.

[0022] As an optional solution for the unmanned vehicle, the first transport unit further includes:

[0023] A guide column is provided on the bottom plate of the carriage, a third sprocket and a fourth sprocket are rotatably provided at both ends of the guide column, and a guide groove extending along the first direction is provided on the guide column.

[0024] A second transmission chain is wound around the third sprocket and the fourth sprocket, and the third rotation drive module is in transmission connection with the third sprocket and the fourth sprocket;

[0025] The second connecting seat is fixedly connected to the second transmission chain and can slide along the guide groove. The tail plate is hinged to the second connecting seat, and an auxiliary connecting piece is provided between the tail plate and the second connecting seat.

[0026] As an optional solution for the unmanned vehicle, the first transport unit further includes an electric winch, which is fixedly mounted on the second connecting seat, and a cable of the electric winch is connected to the tailgate.

[0027] As an optional solution for the unmanned vehicle, the unmanned vehicle further includes:

[0028] A fence frame is arranged in the carriage and fixedly connected to the floor of the carriage;

[0029] At least one pair of detection sensors is respectively arranged on two sides of the fence frame.

[0030] As an optional solution for the unmanned vehicle, the unmanned vehicle further includes a control box, which is arranged on the fence frame, and the first rotation drive module, the second rotation drive module and the third rotation drive module are all electrically connected to the control box, and / or

[0031] The unmanned vehicle further comprises a plurality of limit blocks, which are arranged on the bottom plate of the vehicle compartment at intervals along the second direction.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The unmanned vehicle provided by the utility model has a tailgate installed at the door of the carriage that can be raised and lowered in a first direction, and a lifting trolley of the second handling unit is installed on the floor of the carriage, wherein the trolley body of the lifting trolley can move in a second direction, and the lifting platform can be raised and lowered in the first direction. When it is necessary to transport goods, the cage is pushed onto the tailgate, and after the tailgate drives the cage to rise to be flush with the floor, the trolley body drives the lifting platform to the bottom of the cage, and the lifting platform rises and lifts the cage. Then the trolley body drives the cage to a designated position inside the carriage, completing the automatic transportation of the cage, which not only improves the transportation efficiency but also eliminates the need for human intervention, protecting personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0035] Figure 1This is a schematic diagram of the assembly of the unmanned vehicle from the first perspective in an embodiment of the present utility model;

[0036] Figure 2 This is a schematic diagram of the assembly of the unmanned vehicle from a second perspective in an embodiment of the present utility model;

[0037] Figure 3 This is a structural diagram of a cage box in an embodiment of the present utility model;

[0038] Figure 4 This is a structural diagram of the first transport unit in the first perspective of an embodiment of the utility model;

[0039] Figure 5 This is a schematic structural diagram of the first transport unit in the second perspective of the embodiment of the present utility model (the cable of the electric winch is not shown);

[0040] Figure 6 This is a structural diagram of the second transport unit in an embodiment of the present utility model;

[0041] Figure 7 This is a structural diagram of the lifting trolley in an embodiment of the present utility model;

[0042] Figure 8 This is a structural diagram of a fence frame with a control box in an embodiment of the present utility model.

[0043] Reference numerals:

[0044] 100, cage; 101, load-bearing plate; 102, front running wheel; 103, rear running wheel; 104, grid;

[0045] 1. Carriage; 2. First transport unit; 3. Second transport unit; 4. Fence frame; 5. Detection sensor; 6. Limit block; 7. Control box;

[0046] 11. Doorway; 12. Floor;

[0047] 21. Tailgate; 211. Sloped surface; 212. Support platform; 213. Second guide rail; 22. Third rotary drive module; 23. Guide column; 231. Guide groove; 24. Third sprocket; 25. Fourth sprocket; 26. Second transmission chain; 27. Second connecting seat; 28. Auxiliary connecting member; 29. ​​Electric winch;

[0048] 31. Lifting trolley; 311. Trolley body; 312. Lifting platform; 313. Scissor lift mechanism; 3131. Threaded rod; 314. First rotation drive module; 315. First connecting seat; 316. Guide wheel; 32. Translational mounting plate; 321. First guide rail; 33. First sprocket; 34. Chain tensioning seat; 341. Bar hole; 35. Second sprocket; 36. First transmission chain; 37. Second rotation drive module. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0050] In the description of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model 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 utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0051] It should also be noted that, in the description of this utility model, unless otherwise specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0052] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0053] In order to automatically transport the cage box, improve the transportation efficiency and protect the safety of personnel, this embodiment provides an unmanned vehicle, which is combined with the following Figures 1 to 8 The specific contents of this embodiment are described in detail. It should be noted that the first direction mentioned in this embodiment is Figure 1 The Z direction in this embodiment is the second direction Figure 1 The X direction in .

[0054] like Figure 3As shown, the cage box 100 in this embodiment is provided with a load-bearing plate 101 at the bottom, and a grid 104 is provided around the load-bearing plate 101. The load-bearing plate 101 and the grid 104 are arranged to form a space for placing express delivery. A pair of front running wheels 102 are provided on the front side of the bottom of the load-bearing plate 101, and a pair of rear running wheels 103 are provided on the rear side of the bottom of the load-bearing plate 101. The distance between the two front running wheels 102 is greater than the distance between the two rear running wheels 103.

[0055] like Figures 1 to 7 As shown, the unmanned vehicle in this embodiment includes a carriage 1, a first transport unit 2, and a second transport unit 3. The carriage 1 has a door 11 that communicates with the interior of the carriage 1. The first transport unit 2 includes a tailgate 21, which is mounted at the door 11 and can be raised and lowered in a first direction. The second transport unit 3 includes a lifting trolley 31, which includes a trolley body 311 and a lifting platform 312. The trolley body 311 is mounted on the floor 12 of the carriage 1 and can move in a second direction. The lifting platform 312 is mounted on the trolley body 311 and can be raised and lowered in the first direction.

[0056] In short, the unmanned vehicle provided by the present invention has a tailgate 21 installed at the door 11 of the carriage 1, which can be raised and lowered in a first direction. The lifting trolley 31 of the second handling unit 3 is installed on the floor 12 of the carriage 1, wherein the trolley body 311 of the lifting trolley 31 can move in the second direction, and the lifting platform 312 can be raised and lowered in the first direction. When it is necessary to transport goods, the cage 100 is pushed onto the tailgate 21. The tailgate 21 drives the cage 100 to rise to the same level as the floor 12. The trolley body 311 then drives the lifting platform 312 to enter the bottom of the cage 100. The lifting platform 312 rises and lifts the cage 100. Then, the trolley body 311 drives the cage 100 to a designated position inside the carriage 1, completing the automatic transport of the cage 100. This not only improves the transport efficiency, but also eliminates the need for human intervention, thus protecting personnel safety.

[0057] Furthermore, the lifting trolley 31 also includes a scissor lift mechanism 313 and a first rotation drive module 314, with the lifting platform 312 disposed on the scissor lift mechanism 313. Both the scissor lift mechanism 313 and the first rotation drive module 314 are disposed on the trolley body 311, with the first rotation drive module 314 being in driving connection with the threaded rod 3131 of the scissor lift mechanism 313. Exemplarily, the first rotation drive module 314 is a servo motor, which drives the rotation of the threaded rod 3131 to adjust the height of the lifting platform 312 on the scissor lift mechanism 313. The scissor lift mechanism 313 is conventional and will not be described in detail here.

[0058] Furthermore, the lifting trolley 31 also includes a first connecting seat 315, which is fixedly connected to the trolley body 311. The second transport unit 3 also includes a translation mounting plate 32, a chain tensioning seat 34, a first transmission chain 36, and a second rotation drive module 37. The translation mounting plate 32 is mounted on the floor 12 of the carriage 1. A first sprocket 33 is rotatably mounted on the first end of the translation mounting plate 32. The chain tensioning seat 34 is mounted on the second end of the translation mounting plate 32. A second sprocket 35 is rotatably mounted on the chain tensioning seat 34. The first transmission chain 36 is wound around the first and second sprockets 33 and 35. The first connecting seat 315 is fixedly connected to the first transmission chain 36. The second rotation drive module 37 is mounted on the floor 12 of the carriage 1 and is in transmission connection with the first sprocket 33. When the trolley body 311 needs to move in the second direction, starting the second rotation drive module 37 can rotate the first transmission chain 36 on the first sprocket 33 and the second sprocket 35, and then the first sprocket 33 drives the first connecting seat 315 on the trolley body 311 to move.

[0059] Furthermore, a first guide rail 321 extending in the second direction is provided on the translation mounting plate 32, and a guide wheel 316 is rotatably provided at the bottom of the trolley body 311, and the guide wheel 316 is located on the first guide rail 321. By adding the first guide rail 321 and the guide wheel 316, the trolley body 311 is easily guided to move only in the second direction, thereby improving the movement accuracy of the lifting trolley 31.

[0060] Furthermore, a second guide rail 213 extending along the second direction is provided on the tailgate 21 . The second guide rail 213 and the first guide rail 321 are located on the same straight line. When the lifting trolley 31 moves out of the carriage 1 , it can continue to move along the second guide rail 213 .

[0061] Furthermore, the chain tensioning seat 34 is provided with a strip-shaped hole 341 extending in the second direction, and the translational mounting plate 32 is provided with a connecting hole, through which a fastener is connected. The provision of the strip-shaped hole 341 in the chain tensioning seat 34 facilitates adjustment of the position of the chain tensioning seat 34 in the second direction, helping to maintain the tension of the first transmission chain 36 and prevent the first transmission chain 36 from falling off.

[0062] Furthermore, the first transport unit 2 includes a third rotary drive module 22, which is disposed on the floor 12 of the carriage 1. The tailgate 21 is in transmission connection with the third rotary drive module 22, and the third rotary drive module 22 is configured to drive the tailgate 21 upward and downward in the first direction. The second rotary drive module 37 and the third rotary drive module 22 may be, but are not limited to, motors with reducers.

[0063] Exemplarily, the first transport unit 2 further includes a guide column 23, a second transmission chain 26, and a second connecting seat 27. The guide column 23 is disposed on the floor 12 of the carriage 1. A third sprocket 24 and a fourth sprocket 25 are rotatably mounted on each end of the guide column 23. The guide column 23 is provided with a guide slot 231 extending in the first direction. The second transmission chain 26 is wound around the third sprocket 24 and the fourth sprocket 25. The third rotary drive module 22 is in transmission connection with the third sprocket 24 and the fourth sprocket 25. The second connecting seat 27 is fixedly connected to the second transmission chain 26 and is capable of sliding along the guide slot 231. The tailgate 21 is hinged to the second connecting seat 27. An auxiliary connecting member 28 is provided between the tailgate 21 and the second connecting seat 27 to keep the tailgate 21 in a horizontal position. Starting the third rotation drive module 22 can drive the second transmission chain 26 on the third sprocket 24 and the fourth sprocket 25 to rotate, and the second transmission chain 26 drives the second connecting seat 27 and the tail plate 21 to move, so as to lift the cage box 100 along the first direction.

[0064] Furthermore, the first transport unit 2 also includes an electric winch 29, which is fixedly mounted on the second connecting seat 27. The cable of the electric winch 29 is connected to the tailgate 21. After the cage 100 is transported within the carriage 1, the electric winch 29 can rotate the tailgate 21 relative to the second connecting seat 27, so that the tailgate 21 switches from a horizontal position to a nearly vertical position. The tailgate 21 can then partially close the door 11 to prevent the cage 100 from falling out of the carriage 1.

[0065] Further, if Figure 2 、 Figure 4 Combine Figure 8 As shown, the unmanned vehicle also includes a fence frame 4 and at least one pair of detection sensors 5. The fence frame 4 is disposed within the vehicle compartment 1 and fixedly connected to the floor 12 of the vehicle compartment 1. The at least one pair of detection sensors 5 are disposed on opposite sides of the fence frame 4. The addition of the fence frame 4 ensures that the cage 100 contacts the fence frame 4 after entering the vehicle compartment 1, preventing direct collision between the cage 100 and the sidewalls of the vehicle compartment 1. The pair of detection sensors 5 includes a laser emitting sensor and a laser receiving sensor. The addition of at least one pair of detection sensors 5 allows detection of whether the cage 100 has entered a designated position on the fence frame 4.

[0066] Furthermore, the unmanned vehicle also includes a control box 7, which is disposed on the fence frame 4. The first rotary drive module 314, the second rotary drive module 37, and the third rotary drive module 22 are all electrically connected to the control box 7. The control box 7 controls the start and stop and operating speed of the first rotary drive module 314, the second rotary drive module 37, and the third rotary drive module 22. The unmanned vehicle also includes a plurality of limit blocks 6, which are spaced apart along the second direction on the floor 12 of the carriage 1. A ramp surface 211 and a support platform 212 are also provided on the tailgate 21. The front running wheels 102 of the cage 100 can crawl along the ramp surface 211 to the upper surface of the tailgate 21. The load plate 101 of the cage 100 is pressed against the support platform 212, and the rear running wheels 103 of the cage 100 are suspended. While the lifting trolley 31 is actually moving the cage 100 in the second direction, the lifting platform 312 presses against the rear half of the load plate 101, causing the rear wheels 103 to remain suspended in the air. Only the front wheels 102 move forward with the lifting trolley 31. When the cage 100 reaches the designated position, the lifting platform 312 descends and lowers the cage 100, causing the rear wheels 103 to land and be positioned by the stoppers 6, restricting their movement.

[0067] Note that the above are merely preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. Unmanned vehicle, characterized by: include: A carriage (1) having a carriage door (11), wherein the carriage door (11) is in communication with the interior of the carriage (1); A first transport unit (2) includes a tail plate (21), wherein the tail plate (21) is arranged at the door (11) and can be raised and lowered in a first direction; The second transport unit (3) includes a lifting trolley (31), the lifting trolley (31) including a trolley body (311) and a lifting platform (312), the trolley body (311) is arranged on the bottom plate (12) of the carriage (1) and can move along the second direction, and the lifting platform (312) is arranged on the trolley body (311) and can be raised and lowered along the first direction.

2. The unmanned vehicle according to claim 1, characterized in that: The lifting trolley (31) further comprises: A scissor-type lifting mechanism (313), wherein the lifting platform (312) is arranged on the scissor-type lifting mechanism (313); A first rotation drive module (314), the scissor-type lifting mechanism (313) and the first rotation drive module (314) are all arranged on the trolley body (311), and the first rotation drive module (314) is transmission-connected to the threaded rod (3131) of the scissor-type lifting mechanism (313).

3. The unmanned vehicle according to claim 2, characterized in that: The lifting trolley (31) further includes a first connecting seat (315), wherein the first connecting seat (315) is fixedly connected to the trolley body (311), and the second transport unit (3) further includes: A translation mounting plate (32) is arranged on the bottom plate (12) of the carriage (1), and a first sprocket (33) is rotatably arranged on a first end of the translation mounting plate (32); A chain tensioning seat (34) is arranged at the second end of the translation mounting plate (32), and a second sprocket (35) is rotatably arranged on the chain tensioning seat (34); A first transmission chain (36) is wound around the first sprocket (33) and the second sprocket (35), and the first connecting seat (315) is fixedly connected to the first transmission chain (36); A second rotation drive module (37) is arranged on the bottom plate (12) of the carriage (1), and the second rotation drive module (37) is transmission-connected to the first sprocket (33).

4. The unmanned vehicle according to claim 3, characterized in that: A first guide rail (321) extending along the second direction is provided on the translation mounting plate (32), and a guide wheel (316) is rotatably provided at the bottom of the trolley body (311), and the guide wheel (316) is located on the first guide rail (321).

5. The unmanned vehicle according to claim 3, characterized in that: The chain tensioning seat (34) is provided with a strip hole (341) extending along the second direction, and the translation mounting plate (32) is provided with a connecting hole, and a fastener passes through the strip hole (341) and is connected to the connecting hole.

6. The unmanned vehicle according to claim 3, characterized in that: The first transport unit (2) further comprises a third rotation drive module (22), the third rotation drive module (22) being arranged on the bottom plate (12) of the carriage (1), the tail plate (21) being transmission-connected to the third rotation drive module (22), and the third rotation drive module (22) being used to drive the tail plate (21) to rise and fall along the first direction.

7. The unmanned vehicle according to claim 6, characterized in that: The first transport unit (2) further comprises: A guide column (23) is provided on the bottom plate (12) of the carriage (1), a third sprocket (24) and a fourth sprocket (25) are rotatably provided at both ends of the guide column (23), and a guide groove (231) extending along a first direction is provided on the guide column (23); A second transmission chain (26) is wound around the third sprocket (24) and the fourth sprocket (25), and the third rotation drive module (22) is in transmission connection with the third sprocket (24) and the fourth sprocket (25); A second connecting seat (27) is fixedly connected to the second transmission chain (26) and can slide along the guide groove (231); the tail plate (21) is hinged to the second connecting seat (27); and an auxiliary connecting member (28) is provided between the tail plate (21) and the second connecting seat (27).

8. The unmanned vehicle according to claim 7, characterized in that: The first transport unit (2) further comprises an electric winch (29), the electric winch (29) being fixedly mounted on the second connecting seat (27), and the cable of the electric winch (29) being connected to the tail plate (21).

9. The unmanned vehicle according to claim 6, characterized in that: The unmanned vehicle further comprises: A fence frame (4), the fence frame (4) being arranged in the carriage (1) and fixedly connected to the bottom plate (12) of the carriage (1); At least one pair of detection sensors (5) is respectively and relatively arranged on two sides of the fence frame (4).

10. The unmanned vehicle according to claim 9, characterized in that: The unmanned vehicle further comprises a control box (7), wherein the control box (7) is arranged on the fence frame (4), the first rotation drive module (314), the second rotation drive module (37) and the third rotation drive module (22) are all electrically connected to the control box (7), and / or The unmanned vehicle further comprises a plurality of limit blocks (6), wherein the plurality of limit blocks (6) are arranged on the bottom plate (12) of the vehicle compartment (1) at intervals along the second direction.

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