Cantilever shaft assembly and load carrier

Abstract

The cantilever shaft assembly of the present application includes an assembly body (10), a rocker plate (20), a cantilever shaft (30), and a pitch adjustment mechanism (40), wherein the upper end of the rocker plate (20) is hingedly connected to the assembly body (10), the cantilever shaft (30) is perpendicular to the rocker plate (20), one end of the cantilever shaft (30) is fixed to the rocker plate (20), and the pitch adjustment mechanism (40) includes a drive unit (41), a link mechanism (43), and a push rod (433), wherein the drive unit (41) is installed in the assembly body (10), a first end of the link mechanism (43) is connected to the drive unit (41), a second end of the link mechanism (43) is hingedly connected to a first end of the push rod (433), and the second end of the push rod (433) is used to push the rocker plate (20) to rock relative to a vertical state. The cantilever shaft assembly facilitates pitch adjustment of the cantilever shaft. The present application further discloses a load carrier including a cantilevered axle assembly.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to a Chinese patent application bearing application number 202321474624.8 and entitled "Cantilever shaft assembly and luggage carrier," filed with the State Intellectual Property Office of the People's Republic of China on June 9, 2023, the entire contents of which are hereby incorporated by reference. [Technical Field]

[0002] This application relates to the field of mobile robotics, and more particularly to cantilevered shaft assemblies and load carriers. [Background technology]

[0003] A baggage carrier is a robot that can move autonomously without human intervention and is widely used in large facilities such as factories and warehouses. A cantilever shaft assembly is a component of the baggage carrier used to transport baggage. However, currently, the cantilever shaft of the cantilever shaft assembly of the baggage carrier is inconvenient to adjust the pitch and cannot be directly docked with the docking device of the target device. Therefore, the baggage carrier can only transport the baggage to the target location and then transport it by transfer, which results in a decrease in baggage transportation efficiency. Summary of the Invention

[0004] The embodiments of the present application have been made in view of the above-mentioned problems, and provide a cantilever shaft assembly and a luggage transport vehicle that can easily adjust the pitch of the cantilever shaft.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

[0006] An embodiment of the present application provides a cantilever shaft assembly including an assembly body, a swing plate, a cantilever shaft, and a pitch adjustment mechanism, wherein the upper end of the swing plate is hingedly connected to the assembly body, the cantilever shaft is perpendicular to the swing plate, and one end of the cantilever shaft is fixed to the swing plate, and the pitch adjustment mechanism includes a drive unit, a link mechanism, and a push rod, wherein the drive unit is installed on the assembly body, a first end of the link mechanism is connected to the drive unit, a second end of the link mechanism is hingedly connected to a first end of the push rod, and the second end of the push rod is used to push the swing plate to swing relative to a vertical state.

[0007] According to one specific implementation mode of the embodiment of the present application, the assembly body includes a mounting plate, and an upper end of the swing plate is hinged to the mounting plate.

[0008] According to one specific embodiment of the present invention, the link mechanism includes a swing lever and a first link, a first end of the swing lever is connected to the drive unit, a second end of the swing lever is hinged to a first end of the first link, and a second end of the first link is hinged to a first end of the push rod.

[0009] According to one specific embodiment of the present invention, the link mechanism includes a swing lever, a first link, and a movable connecting seat, a first end of the swing lever is connected to the drive unit, a second end of the swing lever is hinged to a first end of the first link, the first link is perpendicular to the movable connecting seat, a second end of the first link is hinged to a first end of the movable connecting seat, and the second end of the movable connecting seat is hinged to a first end of the push rod.

[0010] According to one specific implementation mode of the embodiment of the present application, the swing range of the swing plate relative to the vertical state is determined by the size and weight of the luggage and the length of the cantilever shaft.

[0011] According to one specific embodiment of the present invention, the swing range of the swing plate from the vertical state is −5° to 6°, and preferably, the swing range of the swing plate from the vertical state is −3° to 3°.

[0012] According to one specific embodiment of the present invention, a swing limiting mechanism for the swing plate is installed between the swing plate and the mounting plate.

[0013] According to one specific embodiment of the present invention, the swing limiting mechanism includes a limiting rod and a first limiting member, and the limiting rod has a first end connected to the swing plate and a second end connected to the first limiting member through a through hole in the mounting plate.

[0014] According to one specific implementation mode of the embodiment of the present application, the swing limiting mechanism further includes a second limiting member installed on the limiting rod, the second limiting member and the first limiting member being respectively located on both sides of the mounting plate, and a preset limiting distance being provided between the second limiting member and the first limiting member.

[0015] According to one specific implementation mode of the embodiment of the present application, the pitch adjustment mechanism further includes an inclination angle sensor and a control unit, the inclination angle sensor is installed on the cantilever shaft and located at one end away from the mounting plate, the inclination angle sensor is electrically connected to the control unit, and the control unit is electrically connected to the drive unit.

[0016] According to one specific embodiment of the present invention, the drive unit includes a motor and a reducer that are integrally installed, the motor is connected to the reducer, and a first end of the link mechanism is connected to an output shaft of the reducer.

[0017] According to one specific implementation mode of the embodiment of the present application, the assembly body further includes a pusher mechanism for pushing a load suspended from the cantilever shaft.

[0018] In a second aspect, an embodiment of the present application provides a luggage transport vehicle comprising a vehicle body and a cantilevered axle assembly, wherein an assembly body of the cantilevered axle assembly is mounted on the vehicle body, and the cantilevered axle assembly is the cantilevered axle assembly of any one of the first aspects.

[0019] A cantilever shaft assembly and a luggage carrier according to an embodiment of the present application includes an assembly body, a swing plate, a cantilever shaft, and a pitch adjustment mechanism, wherein the upper end of the swing plate is hingedly connected to the assembly body, the cantilever shaft is perpendicular to the swing plate, and one end of the cantilever shaft is fixed to the swing plate, and the pitch adjustment mechanism includes a drive unit, a link mechanism, and a push rod, wherein the drive unit is installed on the assembly body, a first end of the link mechanism is connected to the drive unit, and a second end of the link mechanism is hingedly connected to a first end of the push rod, and the second end of the push rod is for pushing the swing plate to swing relative to a vertical state. By pushing the swing plate relative to a vertical state with the push rod, the cantilever shaft fixed to the swing plate can swing relative to a horizontal state, thereby achieving pitch adjustment of the cantilever shaft. [Brief explanation of the drawings]

[0020] The accompanying drawings, which are included herein to provide a further understanding of the present application and are incorporated into and constitute a part of this application, are intended to be illustrative and are not to be construed as limiting the scope of the present application. [Figure 1] FIG. 1 is a structural schematic diagram of a cantilever shaft assembly according to an embodiment of the present invention. [Figure 2] FIG. 2 is a cross-sectional view of a cantilever shaft assembly according to an embodiment of the present invention (drag chain mechanism not shown). [Figure 3] FIG. 3 is an exploded structural schematic diagram of the cantilever shaft assembly shown in FIG. [Figure 4] FIG. 4 is a schematic diagram of docking between a cantilever shaft assembly and a docking device according to an embodiment of the present application. [Figure 5]FIG. 5 is a structural schematic diagram of a cantilever shaft assembly according to an embodiment of the present invention, as viewed from the rear. [Figure 6] FIG. 6 is a bottom view of a cantilever shaft assembly according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a schematic diagram showing the movement of a cantilever shaft assembly according to an embodiment of the present invention, as viewed from the front. [Figure 8] FIG. 8 is a schematic diagram showing the movement of a cantilever shaft assembly according to an embodiment of the present invention, viewed from the bottom. [Figure 9a] FIG. 9a is a schematic diagram of a connection structure between the cantilever shaft and the pusher mechanism in the cantilever shaft assembly shown in FIG. [Figure 9b] FIG. 9b is an exploded structural schematic diagram of the embodiment shown in FIG. 9a. [Explanation of symbols]

[0021] 100: cantilever shaft assembly, 10: assembly body, 11: mounting plate, 12: screw hole, 13: arc connecting seat, 20: swing plate; 21: connection portion; 22: hinge connecting shaft; 30: cantilever shaft, 31: cantilever shaft flange, 40: Pitch adjustment mechanism, 41: Drive unit, 411: Motor, 412: Reducer, 42: Output shaft, 43: Link mechanism, 431: Swing lever, 432: First link, 433: Push rod, 44: Tilt angle sensor, 45: Movable connecting seat, 46: Fixed connecting seat, 50: swing limiting mechanism, 51: second limiting member, 52: limiting rod, 53: first limiting member, 60: pusher mechanism, 61: pusher rod base, 62: pusher rod, 63: slide motor, 64: guide rail, 64a: first connection flange, 64b: second connection flange, 65: slider, 66: connection plate, 67: hinge connection point, 68: pusher ring, 69: pusher rod drive unit, 70: drag chain mechanism, 200: vehicle body, 210: bracket, 220: vehicle chassis, 300: docking device, 310: docking axis, A: tray. DETAILED DESCRIPTION OF THE INVENTION

[0022] In order to clarify the purpose, technical solution and advantages of the present application, the present application will be described in more detail below by way of examples with reference to the drawings. Obviously, the described examples are only a part of the embodiments of the present application, and are not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application are all within the scope of protection of the present application.

[0023] Example 1 A luggage transport vehicle is a type of automated guided vehicle (AGV) and includes three main components: a vehicle body, a pusher mechanism, and a cantilever shaft assembly. The cantilever shaft assembly is a cantilever shaft assembly provided by an embodiment of the present application and is installed on the vehicle body. The vehicle body may include a pusher mechanism for pushing luggage suspended from the cantilever shaft. The vehicle body may include various sensors and a navigation system to acquire information about the surrounding environment and realize autonomous navigation.

[0024] The luggage transport vehicle operates through the cooperative action of a cantilever shaft assembly, a pusher mechanism, and a vehicle body. In some examples, the assembly body of the cantilever shaft assembly is disposed on the vehicle body and is used to suspend luggage, while the pusher mechanism is used to push the luggage on the cantilever shaft. During the transportation process, the luggage transport vehicle automatically adjusts speed and direction according to the characteristics of the luggage being transported, ensuring the safety of the luggage during the transportation process and effectively improving logistics work efficiency and reducing labor costs. This makes it an indispensable and important equipment in the modern logistics industry.

[0025] 1 to 3, an embodiment of the present application provides a cantilever shaft assembly 100 including an assembly body 10, a rocker plate 20, a cantilever shaft 30, and a pitch adjustment mechanism 40. The upper end of the rocker plate 20 is hingedly connected to the assembly body 10. The cantilever shaft 30 is perpendicular to the rocker plate 20, and one end of the cantilever shaft 30 is fixed to the rocker plate 20. The pitch adjustment mechanism 40 includes a drive unit 41, a link mechanism 43, and a push rod 433. The drive unit 41 is installed in the assembly body 10. A first end of the link mechanism 43 is connected to the drive unit 41, and a second end of the link mechanism 43 is hingedly connected to a first end of the push rod 433, and the second end of the push rod 433 is used to push the rocker plate 20 to swing relative to the vertical state.

[0026] Here, the assembly body 10 is for installing the swing plate 20, the cantilever shaft 30, and the pitch adjustment mechanism 40.

[0027] In some examples, the assembly body 10 is also a fixed mounting portion of the cantilever shaft assembly 100, for connecting the cantilever shaft assembly 100 to a device that uses the cantilever shaft assembly 100, such as a luggage carrier.

[0028] In one embodiment, as shown in FIGS. 1 to 3, the assembly body 10 may further include a pusher mechanism 60 for pushing a load suspended from the cantilever shaft 30.

[0029] In some examples, the pusher mechanism 60 is primarily for pushing luggage suspended from a discharge device (e.g., a luggage transport vehicle with a discharge function) and can be driven by a hydraulic or pneumatic system to achieve automatic operation. The pusher mechanism includes a pusher rod and a pusher rod base. The pusher rod is connected to the cantilever shaft 30 via a link. As the pusher rod moves forward, it simultaneously pushes the luggage suspended from the cantilever shaft 30 to the discharge location. The pusher rod base supports the pusher rod to ensure smooth movement.

[0030] Specifically, in some examples, after the cantilever shaft 30 is docked with the docking device of the target device, the pusher mechanism pushes the luggage suspended from the cantilever shaft 30 into the docking device of the target device, thereby completing the transportation of the luggage. When the unloading device is a luggage transport vehicle, as shown in FIG. 4, the vehicle body 200 includes a bracket 210 and a vehicle chassis 220. The cantilever shaft assembly 100 is installed on the bracket 210, and the cantilever shaft 30 extends from the bracket 210. The vehicle chassis 220 moves together with the bracket 210 and the cantilever shaft assembly 100 to transport the luggage.

[0031] As shown in Fig. 4, the docking device 300 is provided with a docking shaft 310 facing outward. The docking shaft 310 is docked coaxially with the cantilever shaft 30. Tray A (i.e., the cargo to be transferred) is hooked onto the cantilever shaft 30 of the cantilever shaft assembly 100 before transfer. Tray A is pushed out from the cantilever shaft 30 by the pusher rod 62 of the pusher mechanism 60 of the cantilever shaft assembly 100 and hooked onto the docking shaft 310. Fig. 4 shows the state in which tray A is pushed out onto the docking shaft 310.

[0032] During the above process, the pusher mechanism cooperates with the cantilever shaft 30 and the adjusting lever, adjusting nut, limit switch, etc. of the assembly body 10 to ensure the accuracy and stability of the unloading process. The pusher mechanism is used to push the load suspended from the cantilever shaft 30 to the unloading location, while the adjusting lever, adjusting nut, limit switch, etc. are used to adjust and limit the range of movement of each component to ensure the normal operation of the entire system. For the specific structure of the pusher mechanism 60, please refer to the detailed description provided later in this application.

[0033] 1 to 3 and 5, in one embodiment, the assembly body 10 may further include a mounting plate 11.

[0034] The mounting plate 11 is intended to achieve a function of mounting and fixing the assembly body 10. In some examples, the mounting plate 11 may be provided with screw holes 12 that can be connected to a device using the cantilever shaft assembly 100. In this case, the cantilever shaft assembly 100 is fixed to the device using the cantilever shaft assembly 100 by connecting the screws to the screw holes 12.

[0035] The swing plate 20 allows the angle between the swing plate 20 and the assembly body 10 to be adjusted.

[0036] In some examples, the assembly body 10 of the cantilever shaft assembly 100 is fixed to the device using the cantilever shaft assembly 100, so that the rocking plate 20 can actually further adjust the angle between itself and the device using the cantilever shaft assembly 100.

[0037] In one embodiment, the upper end of the rocking plate 20 is hingedly connected to the assembly body 10. That is, the rocking plate 20 achieves rocking motion by being hingedly connected to the assembly body 10. In some examples, a connecting seat is formed on the assembly body 10 at a position corresponding to the upper end of the rocking plate 20, and the upper end of the rocking plate 20 is hingedly connected to the connecting seat, allowing the rocking plate 20 to rock around the assembly body 10.

[0038] Referring to FIG. 1, as an alternative embodiment, the assembly body 10 further includes a mounting plate 11, and the upper end of the swing plate 20 is hinged to the mounting plate 11.

[0039] Specifically, in some examples, one or more arc-shaped connecting seats 13 are installed on the top of the mounting plate 11, and one or more connecting portions 21 are correspondingly installed on the top of the swing plate 20. The connecting portions 21 are composed of two arc-shaped connecting plates installed opposite each other, and the arc-shaped connecting seats 13 are located between the two arc-shaped connecting plates installed opposite each other of the connecting portions 21. The top of the swing plate 20 can be connected to the top of the mounting plate 11 by a hinge connection using the hinge connection shaft 22.

[0040] In some examples, the mounting plate 11 is fixed to the device using the cantilever shaft assembly 100. In this case, a first side of the mounting plate 11 is affixed to the device using the cantilever shaft assembly 100, and the top of the rocker plate 20 is hinged to a second side of the mounting plate 11, the first and second sides of the mounting plate 11 being opposite sides.

[0041] In one embodiment, a swing limiting mechanism 50 for the swing plate 20 is installed between the swing plate 20 and the mounting plate 11 .

[0042] A swing limiting mechanism 50 is installed on the rear surface (the side facing the mounting plate 11) of the swing plate 20. The swing limiting mechanism 50 limits the swing angle of the swing plate 20, thereby ensuring that the swing does not exceed a safe range, preventing collision between the swing plate 20 and the mounting plate 11 and effectively avoiding problems such as noise and metal dust.

[0043] Referring to FIG. 2, in one embodiment, the swing limiting mechanism 50 includes a limiting rod 52 and a first limiting member 53, and the limiting rod 52 has a first end connected to the swing plate 20 and a second end connected to the first limiting member 53 through a through hole in the mounting plate 11.

[0044] The material of the first restricting member 53 may be rubber, polyethylene, polyurethane foam, or the like, so as to serve to reduce vibration and noise.

[0045] In some examples, the diameter of this through hole allows the limiting rod 52 to move freely left and right while also allowing the height of both the left and right ends of the limiting rod 52 to be adjusted, so that as the rocking plate 20 rocks upward relative to the vertical position, the first end of the limiting rod 52 also rocks upward together.

[0046] A limiting rod 52 is connected to the rear surface of the swing plate 20. As the swing plate 20 moves, the limiting rod 52 moves along with the first limiting member 53 on the rear surface of the mounting plate 11 (the side facing the swing plate 20 is considered the front surface). Before the safe swing range is exceeded, the first limiting member 53 abuts against the rear surface of the mounting plate 11 to perform a position limiting function, ensuring safe and stable operation of the equipment. The movement distance and position of the limiting rod 52 can be accurately designed and adjusted to achieve a precise position limiting effect.

[0047] Referring to FIG. 2, in one embodiment, the swing limiting mechanism 50 further includes a second limiting member 51 mounted on the limiting rod 52, and the second limiting member 51 and the first limiting member 53 are respectively located on both sides of the mounting plate 11, with a preset limiting distance between the second limiting member 51 and the first limiting member 53.

[0048] Of course, the second restricting member 51 may be installed on the rocking plate 20 .

[0049] In some examples, the first limiting member 53 is located on the rear side of the mounting plate 11, and the second limiting member 51 is located on the front side of the mounting plate 11. The preset limiting distance between the second limiting member 51 and the first limiting member 53 can be determined through appropriate design and adjustment to achieve an accurate position limiting effect.

[0050] When the limiting rod 52 moves along the rear side of the mounting plate 11, taking the first limiting member 53 with it as the rocking plate 20 moves, the first limiting member 53 abuts against the rear side of the mounting plate 11 before the upward swing exceeds a safe swing range. When the limiting rod 52 moves along the front side of the mounting plate 11, taking the second limiting member 51 with it as the rocking plate 20 moves, the second limiting member 51 abuts against the front side of the mounting plate 11 before the downward swing exceeds a safe swing range, thereby fulfilling the position limiting function and ensuring safe and stable operation of the equipment.

[0051] The cantilever shaft 30 is an important component for carrying and transporting the load. In some examples, after the device using the assembly transports the load to a designated location, a pusher mechanism pushes the load from the cantilever shaft 30 to a docking device of the target device. The load is a tray, and a through-hole is provided in the center of the tray, through which the cantilever shaft 30 is inserted. The pusher mechanism pushes the tray, sliding it along the cantilever shaft 30 to the docking device of the target device.

[0052] In one embodiment, the cantilever shaft 30 is perpendicular to the wobble plate 20, and one end of the cantilever shaft 30 is fixed to the wobble plate 20. For example, as shown in Figures 1 and 3, the cantilever shaft 30 is fixedly attached to the wobble plate 20 via a cantilever shaft flange 31.

[0053] Since the cantilever shaft 30 is perpendicular to the rocking plate 20, the rigidity and stability of the cantilever shaft 30 can be maximized, which allows the cantilever shaft 30 to better withstand loads, reduce vibrations, and improve the reliability and performance of the equipment.

[0054] In one embodiment, the swing range of the swing plate 20 in the vertical state may be determined by the size and weight of the load, and the length of the cantilever shaft. Specifically, the swing range of the swing plate 20 in the vertical state can be calculated by combining the size and weight of the load, and the length of the cantilever shaft according to the deformation formula of material mechanics.

[0055] In one embodiment, the oscillation range of the oscillating plate 20 relative to the vertical state is -5° to 6°. The oscillation range of the oscillating plate 20 relative to the vertical state is preferably -3° to 3°. Since one end of the cantilever shaft 30 is fixed to the oscillating plate 20, the oscillation range of the oscillating plate 20 relative to the vertical state is the oscillation range of the cantilever shaft 30.

[0056] During the unloading process of a device using the cantilever shaft assembly 100, if the swing angle range of the cantilever shaft 30 is too large, it will affect the speed and accuracy of unloading the load. To effectively reduce the error, this embodiment optimizes the swing range through repeated experiments, ensuring the stability and reliability of unloading and improving the efficiency and accuracy of unloading.

[0057] A bending moment occurs in the cantilever shaft 30 when carrying and transporting a load, which causes the cantilever shaft 30 to deform, making it impossible to dock with the docking device of the target device.

[0058] The pitch adjustment mechanism is for adjusting the angle of up and down swing of the cantilever shaft 30 relative to the horizontal state so as to balance the deformation caused by the cantilever shaft 30. In some examples, adjustment of the pitch adjustment mechanism allows the cantilever shaft 30 to successfully dock with the docking device of the target device, and the load can be smoothly transferred to the docking device.

[0059] As shown in FIGS. 3, 5 and 6, in one embodiment, the pitch adjustment mechanism 40 includes a drive unit 41, a link mechanism 43 and a push rod 433.

[0060] The drive unit 41 is a member for supplying a driving force to the pitch adjustment mechanism 40. A through hole is provided in the housing of the drive unit 41, and the output shaft of the drive unit 41 passes through the through hole and is exposed from the housing, and is hingedly connected to the link mechanism 43.

[0061] In one embodiment, the drive unit 41 is mounted on the assembly body 10 .

[0062] In some examples, at least one mounting hole needs to be pre-installed on the side of the assembly body 10 for mounting and fixing the drive unit 41, and a corresponding number of at least one connecting hole needs to be pre-installed on the side of the drive unit 41. These connecting holes and mounting holes need to be in corresponding positions to ensure that the drive unit 41 is accurately mounted on the assembly body 10. Screws and threads may also be used to fix the drive unit 41 to the side of the assembly body 10, which provides a stronger and more reliable mounting.

[0063] As an alternative embodiment, referring to Figures 5 and 6, the drive unit 41 includes a motor 411 and a reducer 412 that are integrally installed, the motor 411 is connected to the reducer 412, and a first end of the link mechanism 43 is connected to the output shaft 42 of the reducer 412.

[0064] In this way, the high-speed, low-torque output from the motor 411 is converted into a low-speed, high-torque output, enabling adjustment of the rotational speed of the output shaft to suit different rotational speed requirements. At the same time, the motor 411 and the reducer 412 are mounted in the same housing, reducing the number of parts and the mounting space, and making the entire system more compact. Furthermore, since the interface between the motor 411 and the reducer 412 is reduced, the number of parts that may fail, such as connection points and bolts, is reduced, thereby improving the reliability of the system.

[0065] In some examples, the motor 411 and the reducer 412 may be connected by a coupling (not shown). The coupling includes two half couplings connected via a central shaft, and the motor shaft and the reducer shaft are connected to the half couplings, respectively.

[0066] The link mechanism 43 is a mechanism that converts rotary motion into linear motion, enabling more stable and smooth energy transmission. Meanwhile, the link mechanism 43 has a smaller contact area between parts than other transmission mechanisms, such as gear transmissions, thereby reducing friction and wear on mechanical parts. The link mechanism 43 also makes the pitch adjustment mechanism 40 more flexible and can achieve angle conversion so that it can adapt to requirements for transmitting energy at different angles. This improves the accuracy and stability of the pitch adjustment mechanism 40, as well as the flexibility and adaptability of the pitch adjustment mechanism 40.

[0067] In one embodiment, a first end of the link mechanism 43 is connected to the drive unit 41. In this manner, the rotational moment output from the drive unit 41 is transmitted to the first end of the linked mechanism 43 connected thereto. According to the operating principle of the link mechanism 43, the rotational moment is converted into linear motion and transmitted to other mechanisms connected to the link mechanism 43, thereby making the energy transmission more stable and smooth and improving the accuracy and stability of the pitch adjustment mechanism 40.

[0068] As an alternative embodiment, the link mechanism 43 includes a swing lever 431 and a first link 432, a first end of the swing lever 431 connected to the drive unit 41, a second end of the swing lever 431 hingedly connected to a first end of the first link 432, and a second end of the first link 432 hingedly connected to a first end of the push rod 433.

[0069] 5 and 6, specifically, the rotational moment output from the drive unit 41 is transmitted to the swing lever 431 connected thereto, and the swing lever 431 begins to rotate around its hinged connection point due to the action of the rotational moment. At this time, the other end of the swing lever 431 also moves accordingly, transmitting energy to the hinged first link 432. After receiving the energy, the first link 432 begins linear movement and transmits the energy to the hinged push rod 433, which then transmits the energy to the driven mechanism.

[0070] The push rod 433 is a member that performs a pushing function in the pitch adjustment mechanism 40 and consists of a single rod, with both ends connected to the link mechanism 43 and the swing plate 20, respectively. When driven by the link mechanism 43, the push rod 433 can swing along with the swing plate 20. The cooperation between the push rod 433 and the link mechanism 43 enables the pitch adjustment mechanism 40 to convert between rotary and linear motion, thereby providing the mechanical system with greater accuracy and stability. At the same time, the push rod 433 can be designed and adjusted differently to accommodate different operating conditions and requirements.

[0071] 7, in one embodiment, the second end of the link mechanism 43 is hingedly connected to the first end of the push rod 433, and the second end of the push rod 433 is used to push the rocking plate 20 to rock relative to the vertical state. In this way, when a rotational moment output from the drive unit 41 is transmitted to the link mechanism 43, the link mechanism 43 begins to move and transmits energy to the hinged push rod 433. As a result, the push rod 433 pushes forward in conjunction with the movement of the link mechanism 43, transmitting thrust to the rocking plate 20 via its second end. Due to the action of the thrust, the rocking plate 20 rocks vertically around its fulcrum (the hinge connection point).

[0072] As shown in FIG. 7, the included angle α of the rocking plate 20 in the vertical position may range from -5° to 6°. Once the length of the cantilever shaft is determined, the specific value of the included angle α may be designed and adjusted according to different load weight conditions. When the load weight is large, the specific value of the included angle α increases, and when the load weight is small, the specific value of the included angle α decreases accordingly. Specifically, the included angle α of the rocking plate 20 in the vertical position is calculated according to the deformation formula in material mechanics, combining the size of the load, the weight of the load, and the length of the cantilever shaft.

[0073] Furthermore, in the design process of the push rod 433, factors such as the length, shape, and material of the push rod 433 must be taken into consideration to ensure that it can provide optimal pushing effect under different operating conditions. In some examples, based on the properties of trigonometric functions, there is a certain correspondence between the length of the push rod 433 and the swing angle range of the swing plate 20. By adjusting the length of the push rod 433, this correspondence can be changed, and the swing angle range of the swing plate 20 can be adjusted. This adjustment method can very accurately control the movement characteristics of the pitch adjustment mechanism 40, improving the accuracy and stability of the pitch adjustment mechanism 40 and allowing it to adapt to different operating conditions and requirements.

[0074] In some examples, to improve the stability and accuracy of the pitch adjustment mechanism 40, the second end of the push rod 433 is fixedly connected to the rocking plate 20. Compared with when the second end of the push rod 433 only abuts against the rocking plate 20, the fact that the second end of the push rod 433 is fixedly connected to the rocking plate 20 can avoid errors caused by friction between the push rod 433 and the rocking plate 20, which can reduce the accuracy of the system. Furthermore, when the second end of the push rod 433 is fixedly connected to the rocking plate 20, the force transmitted by the push rod 433 is more stable, and the motion state of the system can be better controlled. The second end of the push rod 433 and the rocking plate 20 are fixedly connected by a fixed connecting seat 46.

[0075] During the transportation process, the weight of the load causes deformation of the cantilever shaft 30, which affects the operating effect of the pitch adjustment mechanism 40. To solve this problem, referring to FIG. 2, in one embodiment, the pitch adjustment mechanism 40 further includes a tilt angle sensor 44 and a control unit (not shown), where the tilt angle sensor 44 is installed on the cantilever shaft 30 and located at one end remote from the mounting plate 11. The tilt angle sensor 44 is electrically connected to the control unit, which is electrically connected to the drive unit 41. As shown in FIG. 2, the tilt angle sensor 44 may be installed inside the cantilever shaft 30.

[0076] In this way, the pitch adjustment mechanism 40 can be automatically adjusted through cooperation between the tilt angle sensor 44 and the control unit. The tilt angle sensor 44 is attached to the cantilever shaft 30 and located at one end away from the mounting plate 11. It monitors the tilt angle of the cantilever shaft 30 and transmits real-time tilt data to the control unit. The control unit is electrically connected to the drive unit 41 and can adjust the output of the drive unit 41 based on the data fed back by the tilt angle sensor 44, thereby automatically adjusting the pitch angle of the cantilever shaft 30 so that the cantilever shaft 30 can accurately dock and eject from the docking device of the target device. This automatic adjustment method effectively avoids the hassle and inaccuracy of manually adjusting the cantilever shaft 30.

[0077] In order to achieve high-precision pitch tilt angle adjustment, as an optional embodiment, the tilt angle sensor 44 is a high-precision tilt angle sensor 44, and by improving the control accuracy of the tilt angle sensor 44, it is possible to accurately detect the pitch angle of the cantilever shaft 30 and achieve accurate control of the pitch adjustment mechanism 40. In this way, even if a large load is applied to the cantilever shaft 30, high-precision pitch tilt angle adjustment can be achieved by improving the control accuracy of the tilt angle sensor 44.

[0078] A cantilever shaft assembly 100 according to an embodiment of the present application includes an assembly body 10, a rocking plate 20, a cantilever shaft 30, and a pitch adjustment mechanism 40. The upper end of the rocking plate 20 is hingedly connected to the assembly body 10. The cantilever shaft 30 is perpendicular to the rocking plate 20, and one end of the cantilever shaft 30 is fixed to the rocking plate 20. The pitch adjustment mechanism 40 includes a drive unit 41, a link mechanism 43, and a push rod 433. The drive unit 41 is installed in the assembly body 10. A first end of the link mechanism 43 is connected to the drive unit 41, and a second end of the link mechanism 43 is hingedly connected to a first end of the push rod 433. The second end of the push rod 433 is used to push the rocking plate 20 to swing relative to the vertical state. The push rod 433 pushes the swing plate 20 toward the vertical position, causing the cantilever shaft 30 fixed to the swing plate 20 to swing toward the horizontal position, thereby realizing pitch adjustment of the cantilever shaft 30.

[0079] In some examples, the cantilever shaft assembly 100 is mounted on a load carrier to carry and transport loads and deliver the loads to a target device. The cantilever shaft assembly 100 can adjust the pitch of the cantilever shaft 30. When a load is loaded on the cantilever shaft 30, the cantilever shaft assembly 100 can effectively balance the bending of the cantilever shaft 30 due to the load, and directly dock with the docking device of the target device, thereby improving the efficiency of load transportation.

[0080] Example 2 The configuration of this embodiment is basically the same as that of the first embodiment, but differs in the following respects: In this embodiment, the link mechanism 43 includes a swing lever 431, a first link 432, and a movable connecting seat 45, a first end of the swing lever 431 is connected to the drive unit 41, a second end of the swing lever 431 is hinged to a first end of the first link 432, the first link 432 is perpendicular to the movable connecting seat 45, a second end of the first link 432 is hinged to a first end of the movable connecting seat 45, and a second end of the movable connecting seat 45 is hinged to a first end of the push rod 433.

[0081] The first end of the swing lever 431 and the drive unit 41 may be hinged or fixedly connected.

[0082] The shape of the movable connecting seat 45 is similar to a hanger lug, and includes a bottom plate and two hinge connecting plates. Both sides of the bottom plate are fixedly connected to the first ends of the hinge connecting plates, and the second ends of the two hinge connecting plates are each provided with a through hole for passing through the hinge connecting shaft so that the movable connecting seat 45 can rotate around the hinge connecting shaft.

[0083] The movable connecting seat 45 can be mounted vertically, with its base plate installed substantially horizontally, and the two hinge connecting plates installed substantially perpendicular to the first link 432 of the link mechanism 43. The movable connecting seat 45 is hingedly connected to the second end of the first link 432 via the base plate. A connecting end is installed at the first end of the push rod 433, and is located between the two hinge connecting plates. A hinge connecting shaft is installed at the connecting end, corresponding to the through-holes in the two hinge connecting plates. Therefore, by passing the hinge connecting shaft through the through-hole, the movable connecting seat 45 is hingedly connected to the push rod 433, and the push rod 433 and the movable connecting seat 45 can be connected to the link mechanism 43. In this way, the movable connecting seat 45 allows the movement of the first link 432 to be decomposed into two subsystems, the movable connecting seat 45 and the link mechanism 43. Even if the first link 432 moves in a complex manner, the movable connecting seat 45 can maintain a relatively stable state of movement without being affected by the first link 432, thereby improving the accuracy and efficiency of the link mechanism 43.

[0084] 8, specifically, the rotational moment output from the drive unit 41 is transmitted to the swing lever 431 connected thereto, and the swing lever 431 begins to rotate around its hinged connection point due to the action of the rotational moment. At this time, the other end of the swing lever 431 also moves accordingly, transmitting energy to the hinged first link 432. After receiving the energy, the first link 432 begins to move linearly and transmits the energy to the hinged movable connecting seat 45. The movable connecting seat 45 maintains a relatively stable motion state and transmits the energy to the push rod 433, and the push rod 433 transmits the energy to the driven mechanism, ensuring the accuracy and efficiency of the link mechanism 43.

[0085] Example 3 An embodiment of the present application provides a luggage transporter, the luggage transporter including a vehicle body and a cantilevered axle assembly 100, the assembly body of the cantilevered axle assembly 100 being mounted on the vehicle body, wherein the cantilevered axle assembly 100 is the cantilevered axle assembly 100 described in any of the above embodiments.

[0086] The luggage transport vehicle according to the embodiment of the present application includes a vehicle body that can be flexibly moved as needed to accommodate different transportation scenarios. As described in the above embodiment, the cantilever shaft assembly 100 has good load-bearing capacity and strength and can withstand the weight of the suspended luggage. When a luggage is loaded on the cantilever shaft, the cantilever shaft assembly 100 effectively balances the bending of the cantilever shaft due to the load and allows it to directly dock with the docking device of the target device, thereby improving luggage transportation efficiency.

[0087] Finally, the pusher mechanism in the embodiment of the present application will be described in detail.

[0088] 1 to 3 and 9a to 9b, in one embodiment, the pusher mechanism 60 includes a pusher rod 62, a pusher rod base 61, a slide motor 63, a guide rail 64, a slider 65, a connection plate 66, a hinge connection point 67, a pusher ring 68, and a pusher rod drive unit 69.

[0089] One end of the guide rail 64 is fixedly connected to the cantilever shaft flange 31 by a first connecting flange 64a and a second connecting flange 64b, and the other end of the guide rail 64 is connected to a slider 65, which is also connected to a slide motor 63. The slide motor 63 drives the slider 65 to slide along the guide rail 64. The slide motor 63 receives electrical energy via a cable and converts it into mechanical energy. The cable is located within the drag chain of the drag chain mechanism 70, and the drag chain serves to guide and protect the cable, moving along with the slider 65 and slide motor 63.

[0090] 9b, a connecting plate 66 is installed on the side of the slider 65 facing the pusher rod base 61, and a hinge connection point 67 is installed on the pusher rod base 61. The connecting plate 66 is hingedly connected to the hinge connection point 67, allowing the pusher rod base 61 to rotate around the slider 65. A pusher rod 62 is installed in the pusher rod base 61, and one end of the pusher rod 62 is connected to the pusher rod base 61 and the other end of the pusher rod 62 is connected to a pusher ring 68.

[0091] The pusher rod drive unit 69 is installed on the pusher rod base 61, and is also connected to the pusher rod 62, for supplying a driving force to the pusher rod 62. The pusher ring 68 is fitted onto the cantilever shaft 30, and the pusher rod 62 is fixedly connected to the pusher ring 68 through an avoidance hole in the cantilever shaft flange 31 and can slide along the cantilever shaft 30. The pusher rod drive unit 69 may be a cylinder, a hydraulic cylinder, or the like. The pusher rod 62 may be a telescopic rod.

[0092] The operating principle of pusher mechanism 60 will be described below with reference to Figures 1 to 3 and 9a and 9b. When pusher mechanism 60 pushes a tray, which is a load suspended from cantilever shaft 30, slide motor 63 drives slider 65 to slide along guide rail 64, and slider 65 moves toward docking device 300, dragging pusher rod base 61 along. After pusher rod base 61 reaches a designated position, pusher rod drive unit 69 drives pusher rod 62 to move toward docking device 300, and pusher rod 62 pushes the tray into docking device 300 via pusher ring 68. When the angle is adjusted by tilting cantilever shaft 30, pusher rod 62 and pusher rod base 61 rotate around slider 65 and tilt synchronously.

[0093] The above description is only a preferred embodiment of the present application, and does not limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. 1. A cantilever shaft assembly comprising: an assembly body, a swing plate, a cantilever shaft, and a pitch adjustment mechanism; The upper end of the swing plate is hingedly connected to the assembly body, the cantilever shaft is perpendicular to the rocking plate, and one end of the cantilever shaft is fixed to the rocking plate; the pitch adjustment mechanism includes a drive unit, a link mechanism, and a push rod; the drive unit is installed in the assembly body; a first end of the link mechanism connected to the drive unit, and a second end of the link mechanism hingedly connected to a first end of the push rod; The second end of the push rod is for pushing the swing plate to swing relative to a vertical state. A cantilever shaft assembly comprising:

2. The assembly body includes a mounting plate, and an upper end of the swing plate is hingedly connected to the mounting plate.

2. The cantilever shaft assembly of claim 1.

3. the link mechanism includes a swing lever and a first link; a first end of the rocker lever connected to the drive unit, a second end of the rocker lever hingedly connected to a first end of the first link, and a second end of the first link hingedly connected to a first end of the push rod; 2. The cantilever shaft assembly of claim 1.

4. the link mechanism includes a swing lever, a first link, and a movable connecting seat; a first end of the swing lever connected to the drive unit, a second end of the swing lever hinged to a first end of the first link, the first link being perpendicular to the movable connecting seat, a second end of the first link hinged to the first end of the movable connecting seat, and a second end of the movable connecting seat hinged to a first end of the push rod; 2. The cantilever shaft assembly of claim 1.

5. The swing range of the swing plate relative to the vertical state is determined by the size and weight of the luggage and the length of the cantilever shaft.

2. The cantilever shaft assembly of claim 1.

6. The swing range of the swing plate relative to the vertical state is -5° to 6°, and preferably, the swing range of the swing plate relative to the vertical state is -3° to 3°.

6. A cantilever shaft assembly according to claim 5.

7. a swing limiting mechanism for the swing plate is installed between the swing plate and the mounting plate; 3. The cantilever shaft assembly of claim 2.

8. the swing limiting mechanism includes a limiting rod and a first limiting member, The limiting rod has a first end connected to the swing plate and a second end connected to the first limiting member through a through hole in the mounting plate.

8. A cantilever shaft assembly according to claim 7.

9. The swing limiting mechanism further includes a second limiting member installed on the limiting rod, The second limiting member and the first limiting member are respectively located on both sides of the mounting plate, and there is a preset limiting distance between the second limiting member and the first limiting member.

9. A cantilever shaft assembly according to claim 8.

10. the pitch adjustment mechanism further includes a tilt angle sensor and a control unit; the tilt angle sensor is installed on the cantilever shaft and is located at one end away from the mounting plate, the tilt angle sensor is electrically connected to the control unit, and the control unit is electrically connected to the drive unit.

3. The cantilever shaft assembly of claim 2.

11. The drive unit includes a motor and a reducer that are integrally installed, the motor is connected to the reducer, and a first end of the link mechanism is connected to an output shaft of the reducer.

2. The cantilever shaft assembly of claim 1.

12. The assembly body further includes a pusher mechanism for pushing a load suspended from the cantilever shaft.

3. The cantilever shaft assembly of claim 2.

13. A luggage transport vehicle, a vehicle body and a cantilever axle assembly; An assembly body of the cantilever shaft assembly is installed on the vehicle body, and the cantilever shaft assembly is the cantilever shaft assembly according to any one of claims 1 to 12. A luggage transport vehicle characterized by:

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