Six-wheel unmanned vehicle with self-balancing vehicle body

Abstract

The utility model discloses a six-wheeled unmanned vehicle with a self-balancing vehicle body, which relates to the field of logistics transportation and comprises an unmanned vehicle body and wheels movably mounted on the left side and the right side of the unmanned vehicle body, a first mounting groove is formed in the top of the unmanned vehicle body, and a balancing component is movably mounted in the first mounting groove. A cargo box is fixedly mounted at the top of the balance assembly, a door closing assembly is movably mounted in the cargo box, and a box door is movably mounted on the right side of the cargo box. The overall gravity center is lowered through the balancing weight arranged in the balancing weight base, the inclination angle is detected through the inclination angle sensor in the advancing process, data are sent to a master controller of the unmanned vehicle body, and then the hydraulic rods located on the left side and the right side of the balancing weight base are controlled through the hydraulic device to conduct telescopic control. The inclination angle sensor is guaranteed to be in a stable inclination angle range, the balance of the cargo tank is further guaranteed, the anti-dumping capacity is higher, and the cargo tank is more suitable for complex and changeable use environments such as cities.

Description

Technical Field

[0001] The utility model relates to the field of logistics and transportation, in particular to a self-balancing six-wheeled unmanned vehicle. Background Art

[0002] With the rapid growth of my country's express delivery industry, logistics technology used for cargo transportation has also been vigorously developed. In the intelligent logistics industry, the degree of intelligence is getting higher and higher, and the further development trend of logistics technology is to realize unmanned delivery of goods. The field of unmanned distribution is penetrating into all walks of life. Unmanned delivery means that unmanned vehicles replace couriers to transport goods. The six-wheeled unmanned vehicle is an unmanned vehicle with six independent drive wheels. It usually adopts a wire-controlled chassis design and has autonomous navigation and remote control functions.

[0003] Existing six-wheeled unmanned logistics vehicles usually maintain balance through the suspension system of the chassis. However, when faced with various uneven terrains, avoiding tipping over during driving is one of the important factors to ensure the practical application of the vehicle. The current six-wheeled unmanned vehicles are difficult to meet the complex and changeable actual use environment. At the same time, during their use, some customers will forget to close the container door after picking up the goods, which poses certain safety hazards. Utility Model Content

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A self-balancing six-wheeled unmanned vehicle comprises an unmanned vehicle body and wheels movably mounted on the left and right sides of the unmanned vehicle body, a mounting slot 1 is provided on the top of the unmanned vehicle body, a balancing assembly is movably mounted inside the mounting slot 1, a cargo box is fixedly mounted on the top of the balancing assembly, a door closing assembly is movably mounted inside the cargo box, a box door is movably mounted on the right side of the cargo box, the balancing assembly comprises a counterweight base, the counterweight base is movably hinged to the inner side of the mounting slot 1, a clipping slot is provided on the rear side of the counterweight base, a counterweight block is movably mounted inside the clipping slot, an inclination sensor is fixedly mounted on the bottom of the counterweight base, a connecting seat is fixedly mounted on the inner side of the mounting slot 1 and on the left and right sides of the counterweight base, a hydraulic rod is movably hinged inside the connecting seat, and a hydraulic device is fixedly mounted on the bottom of the mounting slot 1.

[0006] A further improvement of the technical solution of the present utility model is that: a mounting groove 2 is opened on the top of the cargo box, the door closing assembly includes a main rotating shaft movably installed in the mounting groove 2, and driven shafts are movably installed on the front and rear sides of the right side of the cargo box, the box door is fixedly sleeved on the outside of the driven shaft, and bevel gear 1 is fixedly installed on the front and rear ends of the main rotating shaft, and bevel gear 2 meshing with bevel gear 1 is fixedly installed on the top of the driven shaft, a driving motor is fixedly installed inside the mounting groove 2, and a matching flat gear set is fixedly installed on the outside of the drive motor output shaft and the outside of the main rotating shaft, and a touch switch corresponding to the box door is fixedly installed on the right side of the top inside the cargo box.

[0007] A further improvement of the technical solution of the present utility model is that the connecting seat and the hydraulic rod are located on the left and right sides of the counterweight base and are equidistant from front to back.

[0008] A further improvement of the technical solution of the present utility model is that the hydraulic rods are all connected to the hydraulic device.

[0009] A further improvement of the technical solution of the present utility model is that the clamping groove is located in the counterweight base and is arranged symmetrically on the left and right, and a cover plate is fixedly installed on the outer side of the clamping groove.

[0010] A further improvement of the technical solution of the present utility model is that the inclination sensor is arranged at the center of the bottom of the counterweight base.

[0011] A further improvement of the technical solution of the present utility model is that the driving motor adopts a reduction motor.

[0012] A further improvement of the technical solution of the present invention is that: a total of six wheels are provided, and the six wheels are symmetrically distributed on the left and right sides of the unmanned vehicle body.

[0013] Due to the adoption of the above technical solution, the present invention has achieved the following technical advancements compared to the prior art:

[0014] 1. The utility model provides a self-balancing six-wheeled unmanned vehicle. The overall center of gravity is lowered by the counterweight block arranged in the counterweight base, and the inclination angle is detected by the inclination sensor during the driving process and the data is sent to the main control of the unmanned vehicle body. Then, the hydraulic rods on the left and right sides of the counterweight base are controlled by the hydraulic device to be extended and retracted, ensuring that the inclination sensor is within a relatively stable inclination range, thereby ensuring the balance of the cargo box. It has a stronger anti-dumping ability and is more suitable for complex and changeable usage environments such as cities.

[0015] 2. The utility model provides a self-balancing six-wheeled unmanned vehicle, which drives the main shaft to rotate through the drive motor and the flat gear set outside the main shaft, and drives the driven shaft to rotate through the bevel gear 1 and bevel gear 2 between the main shaft and the driven shaft, thereby driving the box door to rotate. When the box door rotates to close, the contact switch triggers the stop of the drive motor to automatically close the box door, reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of the self-balancing six-wheeled unmanned vehicle of the present invention;

[0017] Figure 2 This is a schematic structural diagram of the installation slot 1 of the present utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the balancing component of the present utility model;

[0019] Figure 4 This is a schematic structural diagram of a door closing assembly of the present invention;

[0020] Figure 5 For this utility model Figure 4 Schematic diagram of the enlarged structure at A.

[0021] In the figure: 1. Unmanned vehicle body; 2. Wheel; 3. Mounting slot 1; 4. Cargo box; 41. Mounting slot 2; 5. Balancing assembly; 51. Counterweight base; 52. Clip-on slot; 53. Counterweight block; 54. Inclination sensor; 55. Connecting seat; 56. Hydraulic rod; 57. Cover plate; 58. Hydraulic device; 6. Door closing assembly; 61. Main shaft; 62. Driven shaft; 63. Bevel gear 1; 64. Bevel gear 2; 65. Drive motor; 66. Flat gear set; 67. Touch switch; 7. Box door. DETAILED DESCRIPTION

[0022] The utility model is described in further detail below:

[0023] like Figures 1 to 5As shown, the utility model provides a self-balancing six-wheeled unmanned vehicle, comprising an unmanned vehicle body 1 and wheels 2 movably mounted on the left and right sides of the unmanned vehicle body 1, a mounting slot 3 is provided on the top of the unmanned vehicle body 1, a balancing assembly 5 is movably mounted inside the mounting slot 3, a cargo box 4 is fixedly mounted on the top of the balancing assembly 5, a door closing assembly 6 is movably mounted inside the cargo box 4, and a box door 7 is movably mounted on the right side of the cargo box 4, the balancing assembly 5 comprises a counterweight base 51, the counterweight base 51 is movably hinged to the inner side of the mounting slot 3, a clipping slot 52 is provided on the rear side of the counterweight base 51, a counterweight block 53 is movably mounted inside the clipping slot 52, an inclination sensor 54 is fixedly mounted on the bottom of the counterweight base 51, a connecting seat 55 is fixedly mounted on the inner side of the mounting slot 3 and on the left and right sides of the counterweight base 51, a hydraulic rod 56 is movably hinged inside the connecting seat 55, and a hydraulic device 58 is fixedly mounted on the bottom of the mounting slot 3.

[0024] The overall center of gravity is lowered by the counterweight block 53 provided in the counterweight base 51, and the inclination angle is detected during travel by the inclination sensor 54 and the data is sent to the main control of the unmanned vehicle body 1. Then, the hydraulic rods 56 located on the left and right sides of the counterweight base 51 are controlled by the hydraulic device 58 for extension and retraction control to ensure that the inclination sensor 54 is within a relatively stable inclination range, thereby ensuring the balance of the cargo box 4. It has a stronger anti-dumping ability and is more suitable for complex and changeable use environments such as cities.

[0025] like Figure 4 and Figure 5 As shown, a mounting groove 2 41 is provided on the top of the cargo box 4, and the door closing assembly 6 includes a main rotating shaft 61 movably installed in the mounting groove 2 41, and a driven shaft 62 is movably installed on the front and rear sides of the right side of the cargo box 4, and the box door 7 is fixedly sleeved on the outside of the driven shaft 62, and a bevel gear 1 63 is fixedly installed on the front and rear ends of the main rotating shaft 61, and a bevel gear 2 64 meshing with the bevel gear 1 63 is fixedly installed on the top of the driven shaft 62, and a drive motor 65 is fixedly installed inside the mounting groove 2 41, and a matching flat gear set 66 is fixedly installed on the outside of the output shaft of the drive motor 65 and the outside of the main rotating shaft 61, and a touch switch 67 corresponding to the box door 7 is fixedly installed on the right side of the top inside the cargo box 4.

[0026] The main rotating shaft 61 is driven to rotate by the driving motor 65 and the flat gear set 66 outside the main rotating shaft 61, and the driven shaft 62 is driven to rotate by the bevel gear 1 63 and the bevel gear 2 64 between the main rotating shaft 61 and the driven shaft 62, thereby driving the box door 7 to rotate. When the box door 7 rotates to close, the contact switch 67 is triggered to stop the driving motor 65, so as to automatically close the box door 7 and reduce safety hazards.

[0027] like Figure 2 and Figure 3As shown, the connecting seat 55 and the hydraulic rod 56 are located on the left and right sides of the counterweight base 51 and are equidistant from front to back.

[0028] The hydraulic rods 56 are all connected to a hydraulic device 58 .

[0029] The connecting seat 55 and the hydraulic rod 56 are arranged on the left and right sides of the counterweight base 51, and the hydraulic rod 56 is connected to the hydraulic device 58. The hydraulic device 58 controls the oil supply of the hydraulic rods 56 on both sides to adjust the cargo box 4 to ensure its balance.

[0030] like Figure 3 As shown, the clamping slot 52 is located in the counterweight base 51 and is symmetrically arranged on both sides. A cover plate 57 is fixedly installed on the outer side of the clamping slot 52.

[0031] The card slot 52 is located in the counterweight base 51 symmetrically on the left and right, and the counterweight block 53 inside it is used to counterweight the cargo box 4 to lower the center of gravity and ensure stability. The card slot 52 is covered by a cover plate 57, which can be disassembled to disassemble and assemble the counterweight block 53.

[0032] like Figure 3 As shown, the inclination sensor 54 is located at the center of the bottom of the counterweight base 51.

[0033] The inclination sensor 54 is located in the middle of the bottom of the counterweight base 51, thereby ensuring accurate detection of the inclination of the left and right directions of the balance assembly 5.

[0034] like Figure 4 As shown, the driving motor 65 is a reduction motor.

[0035] The driving motor 65 adopts a reduction motor to ensure its stable operation.

[0036] like Figure 2 As shown, there are six wheels 2 in total, and the six wheels 2 are symmetrically distributed on the left and right sides of the unmanned vehicle body 1.

[0037] The arrangement of six wheels 2 has good passability and adaptability.

[0038] The following is a detailed description of the working principle of the self-balancing six-wheeled unmanned vehicle.

[0039] like Figures 1 to 5As shown, cargo is loaded into the cargo box 4, and the unmanned vehicle body 1 is driven by a driving engine independently connected to the six wheels 2 set in the chassis of the unmanned vehicle body 1 to move. When the unmanned vehicle body 1 is on an uneven road, the cargo box 4 is installed on the counterweight base 51, and the counterweight base 51 is installed on the inner side of the mounting groove 3. The counterweight block 53 set in the counterweight base 51 lowers the overall center of gravity, and the inclination angle is detected during the movement through the inclination sensor 54 and the data is sent to the main control of the unmanned vehicle body 1, and then the hydraulic rod 56 on the left and right sides of the counterweight base 51 is controlled by the hydraulic device 58 to perform telescopic control to ensure that the inclination sensor 5 4 is in a relatively stable inclination range, thereby ensuring the balance of the cargo box 4 and preventing it from tipping over. After the user opens the cargo box 4 to take the goods, if the door 7 is not closed within a certain period of time, the unmanned vehicle body 1 is mainly controlled to control the driving motor 65, and the main rotating shaft 61 is driven to rotate by the driving motor 65 and the flat gear set 66 outside the main rotating shaft 61. The driven shaft 62 is driven to rotate by the bevel gear 1 63 and the bevel gear 2 64 between the main rotating shaft 61 and the driven shaft 62, thereby driving the door 7 to rotate. When the door 7 rotates to close, the contact switch 67 is triggered to stop the driving motor 65, so as to automatically close the door 7 and reduce safety hazards.

[0040] The above generally describes the present invention in detail. However, it is obvious to those skilled in the art that modifications or improvements may be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A self-balancing six-wheeled unmanned vehicle, comprising an unmanned vehicle body (1) and wheels (2) movably mounted on the left and right sides of the unmanned vehicle body (1), characterized in that: The top of the unmanned vehicle body (1) is provided with a mounting groove (3), a balancing assembly (5) is movably mounted inside the mounting groove (3), a cargo box (4) is fixedly mounted on the top of the balancing assembly (5), a door closing assembly (6) is movably mounted inside the cargo box (4), and a box door (7) is movably mounted on the right side of the cargo box (4); The balancing assembly (5) includes a counterweight base (51), the counterweight base (51) is movably hinged to the inner side of the mounting groove (3), a clamping groove (52) is provided on the rear side of the counterweight base (51), a counterweight block (53) is movably installed inside the clamping groove (52), an inclination sensor (54) is fixedly installed at the bottom of the counterweight base (51), a connecting seat (55) is fixedly installed on the inner side of the mounting groove (3) and the left and right sides of the counterweight base (51), a hydraulic rod (56) is movably hinged inside the connecting seat (55), and a hydraulic device (58) is fixedly installed at the bottom of the mounting groove (3).

2. The self-balancing six-wheeled unmanned vehicle according to claim 1, characterized in that: The top of the cargo box (4) is provided with a second mounting groove (41), the door closing assembly (6) includes a main rotating shaft (61) movably mounted in the second mounting groove (41), the front and rear sides of the right side of the cargo box (4) are both movably mounted with a driven shaft (62), the box door (7) is fixedly sleeved on the outside of the driven shaft (62), the front and rear ends of the main rotating shaft (61) are both fixedly mounted with a bevel gear (63), the top of the driven shaft (62) is fixedly mounted with a second bevel gear (64) meshing with the bevel gear (63), the inside of the second mounting groove (41) is fixedly mounted with a driving motor (65), the outside of the output shaft of the driving motor (65) and the outside of the main rotating shaft (61) are fixedly mounted with a matching flat gear set (66), and the right side of the top of the cargo box (4) is fixedly mounted with a touch switch (67) corresponding to the box door (7).

3. The self-balancing six-wheeled unmanned vehicle according to claim 1, characterized in that: The connecting seat (55) and the hydraulic rod (56) are located on the left and right sides of the counterweight base (51) and are arranged equidistantly from front to back.

4. The self-balancing six-wheeled unmanned vehicle according to claim 3, characterized in that: The hydraulic rods (56) are all connected to the hydraulic device (58).

5. The self-balancing six-wheeled unmanned vehicle according to claim 1, characterized in that: The clamping slot (52) is located in the counterweight base (51) and is arranged in a bilaterally symmetrical manner. A cover plate (57) is fixedly installed on the outer side of the clamping slot (52).

6. The self-balancing six-wheeled unmanned vehicle according to claim 1, characterized in that: The tilt sensor (54) is located at the center of the bottom of the counterweight base (51).

7. The self-balancing six-wheeled unmanned vehicle according to claim 2, characterized in that: The driving motor (65) is a reduction motor.

8. The self-balancing six-wheeled unmanned vehicle according to claim 1, characterized in that: A total of six wheels (2) are provided, and the six wheels (2) are symmetrically distributed on the left and right sides of the unmanned vehicle body (1).

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