Cantilever axle assembly and cargo transport vehicle

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 based on a Chinese patent application with application number 202321474624.8, titled "Cantilever Axis Assembly and Goods Carrier", filed with the China National Intellectual Property Administration on June 9, 2023. Herein, all of its content is incorporated into this application by reference.

Technical Field

[0002] This application relates to the field of mobile robot technology, particularly to a cantilever axis assembly and a goods carrier.

Background Art

[0003] A goods 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 axis assembly is a component of a goods carrier for transporting goods. However, currently, the cantilever axis of the cantilever axis assembly of the goods carrier is inconvenient for pitch adjustment, cannot directly dock with the docking device of the target device, and can only transport goods in a transfer manner after the goods are transported to the target position by the goods carrier, which will lead to a decrease in the goods transportation efficiency.

Summary of the Invention

[0004] The embodiments of this application are made in view of the above problems, and provide a cantilever axis assembly and a goods carrier that can facilitate pitch adjustment for the cantilever axis.

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

[0006] Embodiments of the present invention provide a cantilever shaft assembly comprising an assembly body, a rocking plate, a cantilever shaft, and a pitch adjustment mechanism, wherein the upper end of the rocking plate is hinged to the assembly body, the cantilever shaft is perpendicular to the rocking plate, one end of the cantilever shaft is fixed to the rocking plate, the pitch adjustment mechanism comprises a drive unit, a link mechanism, and a push rod, the drive unit is installed in the assembly body, the first end of the link mechanism is connected to the drive unit, the second end of the link mechanism is hinged to the first end of the push rod, and the second end of the push rod is for pushing the rocking plate to rock relative to a vertical position.

[0007] According to one specific embodiment of the present invention, the assembly body includes a mounting plate, and the upper end of the swinging 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, the first end of the swing lever is connected to the drive unit, the second end of the swing lever is hinged to the first end of the first link, and the second end of the first link is hinged to the 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 coupling seat, the first end of the swing lever being connected to the drive unit, the second end of the swing lever being hinged to the first end of the first link, the first link being perpendicular to the movable coupling seat, the second end of the first link being hinged to the first end of the movable coupling seat, and the second end of the movable coupling seat being hinged to the first end of the push rod.

[0010] According to one specific embodiment of the present invention, the oscillation range of the oscillating plate relative to the vertical state is determined by the size of the load, the weight of the load, and the length of the cantilever shaft.

[0011] According to one specific embodiment of the present invention, the oscillation range of the oscillating plate with respect to the vertical state is -5° to 6°, and preferably, the oscillation range of the oscillating plate with respect to the vertical state is -3° to 3°.

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

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

[0014] According to one specific embodiment of the present invention, the oscillation limiting mechanism further includes a second limiting member installed on the limiting rod, the second limiting member and the first limiting member are located on opposite sides of the mounting plate, and a preset limiting distance is provided between the second limiting member and the first limiting member.

[0015] According to one specific embodiment of the present invention, the pitch adjustment mechanism further includes a tilt angle sensor and a control unit, wherein the tilt angle sensor is mounted on the cantilever shaft and 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.

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

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

[0018] In a second embodiment, the present invention provides a cargo transport vehicle comprising a vehicle body and a cantilever axle assembly, wherein the assembly body of the cantilever axle assembly is installed on the vehicle body, and the cantilever axle assembly is the cantilever axle assembly described in any one of the first embodiments.

[0019] The cantilever shaft assembly and cargo transport vehicle according to the embodiment of the present application include an assembly body, a sway plate, a cantilever shaft, and a pitch adjustment mechanism. The upper end of the sway plate is hinged to the assembly body, the cantilever shaft is perpendicular to the sway plate, and one end of the cantilever shaft is fixed to the sway 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, the first end of the link mechanism is connected to the drive unit, the second end of the link mechanism is hinged to the first end of the push rod, and the second end of the push rod is for pushing the sway plate to oscillate relative to the vertical. By pushing the sway plate relative to the vertical with the push rod, the cantilever shaft fixed to the sway plate becomes able to oscillate relative to the horizontal, thereby enabling pitch adjustment of the cantilever shaft. [Brief explanation of the drawing]

[0020] The accompanying drawings described herein are for further understanding of the present application and constitute part of the present application. Illustrative embodiments and descriptions thereof are for illustrative purposes only and are not limiting to the present application. [Figure 1] Figure 1 is a schematic diagram of the structure of a cantilever shaft assembly according to an embodiment of the present invention. [Figure 2] Figure 2 is a cross-sectional view of a cantilever shaft assembly according to an embodiment of the present invention (the drag chain mechanism is not shown). [Figure 3] Figure 3 is a schematic diagram of the exploded structure of the cantilevered shaft assembly shown in Figure 1. [Figure 4] Figure 4 is a schematic diagram of the docking of a cantilever shaft assembly and docking equipment according to an embodiment of the present invention. [Figure 5]FIG. 5 is a schematic structural view of the cantilever shaft assembly according to an embodiment of the present application as viewed from the back. [Figure 6] FIG. 6 is a bottom view of the cantilever shaft assembly according to an embodiment of the present application. [Figure 7] FIG. 7 is a schematic view of the movement of the cantilever shaft assembly according to an embodiment of the present application as viewed from the front. [Figure 8] FIG. 8 is a schematic view of the movement of the cantilever shaft assembly according to an embodiment of the present application as viewed from the bottom. [Figure 9a] FIG. 9a is a schematic view of the connection structure between the cantilever shaft and the pusher mechanism in the cantilever shaft assembly shown in FIG. 1. [Figure 9b] FIG. 9b is an exploded structural schematic view of the embodiment shown in FIG. 9a.

Description of Reference Numerals

[0021] 100: Cantilever shaft assembly, 10: Assembly body, 11: Mounting plate, 12: Screw hole, 13: Arc connecting seat, 20: Oscillating plate, 21: Connection part, 22: Hinge connecting shaft, 30: Cantilever shaft, 31: Cantilever shaft flange, 40: Pitch adjustment mechanism, 41: Driving unit, 411: Motor, 412: Reducer, 42: Output shaft, 43: Link mechanism, 431: Oscillating lever, 432: First link, 433: Push rod, 44: Inclination angle sensor, 45: Movable connecting seat, 46: Fixed connecting seat, 50: Oscillation 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 driving unit, 70: Drag chain mechanism, 200: Vehicle body, 210: Bracket, 220: Vehicle chassis, 300: Docking device, 310: Docking shaft, A: Tray.

Embodiments for Carrying Out the Invention

[0022] The present application will be described in more detail below with reference to the drawings, with examples, in order to further clarify its purpose, technical proposal, and advantages. Clearly, the examples described are only a part of the examples of the present application, not all of them. All other examples that can be obtained by those skilled in the art based on the examples in the present application are all included within the scope of protection of the present application.

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

[0024] A cargo transport vehicle operates through the coordinated action of a cantilever axle assembly, a pusher mechanism, and the vehicle body. In some examples, the assembly body of the cantilever axle assembly is located on the vehicle body and is used to suspend the cargo, while the pusher mechanism is responsible for pushing the cargo on the cantilever axle. During the transport process, the cargo transport vehicle can automatically adjust its speed and direction according to the different characteristics of the cargo being transported, ensuring the safety of the cargo during transport. This effectively improves logistics efficiency and reduces labor costs, making it an indispensable and important piece of equipment in the modern logistics industry.

[0025] Referring to Figures 1 to 3, an embodiment of the present invention provides a cantilever assembly 100 including 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 hinged 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. The first end of the link mechanism 43 is connected to the drive unit 41, and the second end of the link mechanism 43 is hinged to the first end of the push rod 433, and the second end of the push rod 433 is for pushing the rocking plate 20 so that it rocks relative to the vertical.

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

[0027] In some examples, the assembly body 10 also serves as the mounting and fixing portion of the cantilever assembly 100, and is for connecting the cantilever assembly 100 to a device that uses the cantilever assembly 100, such as a cargo transport vehicle.

[0028] In one embodiment, as shown in Figures 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 loads suspended from an unloading device (e.g., a cargo transport vehicle with an unloading 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 a cantilever shaft 30 via a link. As the pusher rod moves forward, it simultaneously pushes the load suspended from the cantilever shaft 30 to the unloading point. The pusher rod base is for supporting the pusher rod to ensure that it can move gently.

[0030] Specifically, in some examples, the pusher mechanism completes the transfer of the load by pushing the load suspended from the cantilever shaft 30 to the docking device of the target device after the cantilever shaft 30 has docked to the docking device of the target device. When the loading device is a cargo transport vehicle, as shown in Figure 4, the vehicle body 200 includes a bracket 210 and a vehicle chassis 220. The cantilever shaft assembly 100 is mounted on the bracket 210, and the cantilever shaft 30 extends from the bracket 210. The vehicle chassis 220 moves along the bracket 210 and the cantilever shaft assembly 100 simultaneously to transport the load.

[0031] As shown in Figure 4, the docking device 300 is equipped with a docking shaft 310 that faces outward. The docking shaft 310 is docked coaxially with the cantilever shaft 30. Tray A (i.e., the cargo to be transported) is hooked onto the cantilever shaft 30 of the cantilever shaft assembly 100 before transport. 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. Figure 4 shows the situation in which tray A is being pushed onto the docking shaft 310.

[0032] In the process described above, the pusher mechanism works in cooperation with the cantilever shaft 30 and the adjustment lever, adjustment nut, limit switch, etc. in the assembly body 10 to ensure the accuracy and stability of the unloading process. The pusher mechanism is for pushing the load suspended from the cantilever shaft 30 to the unloading point, while the adjustment lever, adjustment nut, limit switch, etc. 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 later in this application.

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

[0034] The mounting plate 11 is for the purpose of mounting and securing 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 screws to the screw holes 12.

[0035] The oscillating plate 20 allows for adjustment of the angle between the oscillating plate 20 and the assembly body 10.

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

[0037] In one embodiment, the upper end of the oscillating plate 20 is hinged to the assembly body 10. That is, the oscillating plate 20 achieves oscillation through hinge connection with the assembly body 10. In some examples, a connecting seat is formed in the assembly body 10 at a position corresponding to the upper end of the oscillating plate 20, and the oscillating plate 20 oscillates around the assembly body 10 by hinge connection of the upper end of the oscillating plate 20 to the connecting seat.

[0038] Referring to Figure 1, in a selective embodiment, the assembly body 10 further includes a mounting plate 11, and the upper end of the oscillating 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 parts 21 are installed correspondingly on the top of the oscillating plate 20. The connecting part 21 consists of two arc-shaped connecting plates installed opposite each other, while the arc-shaped connecting seat 13 is located between the two arc-shaped connecting plates installed opposite each other. The top of the oscillating plate 20 can be connected to the top of the mounting plate 11 by hinge connection using a hinge connecting shaft 22.

[0040] In some examples, the mounting plate 11 is fixed to a device using a cantilever shaft assembly 100. In this case, the first side of the mounting plate 11 is attached to the device using the cantilever shaft assembly 100, the top of the oscillating plate 20 is hinged to the second side of the mounting plate 11, and the first and second sides of the mounting plate 11 are 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, ensuring that its 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 Figure 2, in one embodiment, the oscillation limiting mechanism 50 includes a limiting rod 52 and a first limiting member 53. The first end of the limiting rod 52 is connected to the oscillation plate 20, and the second end is connected to the first limiting member 53 through a through hole in the mounting plate 11.

[0044] The material of the first limiting member 53 may be rubber, polyethylene, foamed polyurethane, or the like, so as to serve a role in reducing vibration and noise.

[0045] In some examples, the diameter of the through-hole allows the limiting rod 52 to move freely in the left-right direction while simultaneously adjusting the height of both ends of the limiting rod 52, and adapts to the fact that the first end of the limiting rod 52 swings upward along with the swinging plate 20 as it swings upward relative to the vertical.

[0046] A limiting rod 52 is connected to the rear surface of the oscillating plate 20. As the oscillating plate 20 moves, the limiting rod 52 moves along with the first limiting member 53 on the rear surface of the mounting plate 11 (with the side facing the oscillating plate 20 as the front). Before exceeding the safe oscillating range, the first limiting member 53 contacts the rear surface of the mounting plate 11 to perform a position limiting function, ensuring the safe and stable operation of the equipment. The movement distance and position of the limiting rod 52 can be precisely controlled through appropriate design and adjustment to achieve a precise position limiting effect.

[0047] Referring to Figure 2, in one embodiment, the oscillation limiting mechanism 50 further includes a second limiting member 51 installed on a limiting rod 52, the second limiting member 51 and the first limiting member 53 are located on opposite sides of the mounting plate 11, and there is a preset limiting distance between the second limiting member 51 and the first limiting member 53.

[0048] Of course, the second limiting member 51 may also be installed on the oscillating 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. By determining the preset limiting distance between the second limiting member 51 and the first limiting member 53 through appropriate design and adjustment, a precise positional limiting effect can be achieved.

[0050] As the limiting rod 52 moves along the rear side of the mounting plate 11, pulling the first limiting member 53 along with the movement of the oscillating plate 20, the first limiting member 53 contacts the rear surface of the mounting plate 11 before the upward oscillating exceeds a safe range of motion. As the limiting rod 52 moves along the front side of the mounting plate 11, pulling the second limiting member 51 along with the movement of the oscillating plate 20, the second limiting member 51 contacts the front surface of the mounting plate 11, performing its position limiting function before the downward oscillating exceeds a safe range of motion, thereby ensuring the safe and stable operation of the equipment.

[0051] The cantilever shaft 30 is a crucial component for supporting and transporting the load. In some examples, after a device using the assembly has transported the load to a designated location, a pusher mechanism pushes the load from the cantilever shaft 30 to the docking equipment of the target device. The load is a tray with a through hole in the center, into which the cantilever shaft 30 is inserted. The pusher mechanism pushes the tray, sliding it along the cantilever shaft 30 to the docking equipment of the target device.

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

[0053] Since the cantilever shaft 30 is perpendicular to the oscillating plate 20, the rigidity and stability of the cantilever shaft 30 can be maximized. As a result, the cantilever shaft 30 can withstand loads better, vibrations can be reduced, and the reliability and performance of the equipment can be improved.

[0054] In one embodiment, the oscillation range of the oscillating plate relative to the vertical state may be determined by the size of the load, the weight of the load, and the length of the cantilever shaft. Specifically, the oscillation range of the oscillating plate 20 relative to the vertical state can be calculated by combining the size of the load, the 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 with respect to the vertical state is -5° to 6°. Preferably, the oscillation range of the oscillating plate 20 with respect to the vertical state is -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 with respect to the vertical state is the oscillation range of the cantilever shaft 30.

[0056] In the unloading process of a device using a cantilever shaft assembly 100, if the oscillation angle range of the cantilever shaft 30 is too large, it will affect the unloading speed and accuracy of the load. To effectively reduce errors, this embodiment optimizes the oscillation range through repeated experiments to ensure the stability and reliability of unloading, as well as improve the efficiency and accuracy of unloading.

[0057] The cantilever shaft 30 generates a bending moment when carrying and transporting the load. As a result, the cantilever shaft 30 deforms, making it impossible to dock with the target device's docking equipment.

[0058] The pitch adjustment mechanism is used to adjust the vertical oscillation angle of the cantilever shaft 30 relative to the horizontal position in order to balance the deformation caused by the cantilever shaft 30. In some examples, by adjusting the pitch adjustment mechanism, the cantilever shaft 30 can successfully dock with the docking equipment of the target device, and the load can be smoothly transferred to the docking equipment.

[0059] As shown in Figures 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 component that supplies 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 is exposed from the housing through the through hole and hinged to the link mechanism 43.

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

[0062] In some examples, at least one mounting hole must be pre-installed on the side of the assembly body 10 for mounting and securing the drive unit 41, and at least one corresponding number of connection holes must be pre-installed on the side of the drive unit 41. To ensure that the drive unit 41 is accurately mounted to the assembly body 10, these connection holes and mounting holes must be in corresponding positions. The drive unit 41 may also be secured to the side of the assembly body 10 using screws and threads. This allows for a more robust and secure mounting.

[0063] As a selective embodiment, referring to Figures 5 and 6, the drive unit 41 includes a motor 411 and a reduction gear 412 that are integrally mounted, the motor 411 being connected to the reduction gear 412, and the first end of the link mechanism 43 being connected to the output shaft 42 of the reduction gear 412.

[0064] In this way, the high-speed, low-torque output from the motor 411 is converted to a low-speed, high-torque output, enabling adjustment of the rotational speed of the output shaft and accommodating different rotational speed requirements. At the same time, because the motor 411 and the reduction gear 412 are mounted in the same housing, the number of parts and mounting space are reduced, making the entire system more compact. Furthermore, because the interface between the motor 411 and the reduction gear 412 is reduced, the reliability of the system can be improved by reducing the number of connection points and potentially failing parts such as bolts.

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

[0066] The link mechanism 43 is a mechanism that converts rotational motion into linear motion, making energy transmission more stable and smoother. On the other hand, compared to other transmission mechanisms such as gear transmission, the link mechanism 43 has a smaller contact area between its parts, thereby reducing friction and wear on mechanical parts. Furthermore, the link mechanism 43 can also perform angle conversion, making the pitch adjustment mechanism 40 more flexible and adaptable to the requirement of transmitting energy at different angles. This improves the accuracy and stability of the pitch adjustment mechanism 40, as well as its flexibility and adaptability.

[0067] In one embodiment, the first end of the link mechanism 43 is connected to the drive unit 41. In this way, the rotational moment output from the drive unit 41 is transmitted to the first end of the link mechanism 43 connected to it. 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 energy transmission more stable and smoother and improving the accuracy and stability of the pitch adjustment mechanism 40.

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

[0069] Referring to Figures 5 and 6, specifically, the rotational moment output from the drive unit 41 is transmitted to the oscillating lever 431 connected to it, and the oscillating lever 431 begins to rotate around its hinge connection point due to the action of the rotational moment. At this time, the other end of the oscillating lever 431 also moves in conjunction with it, transmitting energy to the hinged first link 432. After receiving the energy, the first link 432 begins linear motion, transmitting the energy to the hinged push rod 433, which in turn transmits the energy to the driven mechanism.

[0070] The push rod 433 is a component that performs a pushing function in the pitch adjustment mechanism 40. It consists of a single rod, with both ends connected to the link mechanism 43 and the oscillating plate 20, respectively. Driven by the link mechanism 43, the push rod 433 can move in an oscillating motion, pulling the oscillating plate 20 along with it. The cooperation between the push rod 433 and the link mechanism 43 enables the conversion of rotational motion and linear motion in the pitch adjustment mechanism 40, thereby providing the mechanical system with high accuracy and stability. At the same time, the push rod 433 can be adapted to different operating conditions and requirements through different designs and adjustments.

[0071] Referring to Figure 7, in one embodiment, the second end of the link mechanism 43 is hinged to the first end of the push rod 433, and the second end of the push rod 433 is for pushing the oscillating plate 20 so that it oscillates relative to the vertical. In this way, when the 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 is pushed forward in conjunction with the movement of the link mechanism 43, and the thrust is transmitted to the oscillating plate 20 via its second end. Due to the action of the thrust, the oscillating plate 20 oscillates vertically around its fulcrum (hinge connection point).

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

[0073] Furthermore, in the design process of the push rod 433, it is necessary to consider elements such as the length, shape, and material of the push rod 433 in order to ensure that it can exert the optimal pushing effect under different operating conditions. In some examples, there is a certain correspondence between the length of the push rod 433 and the oscillation angle range of the oscillating plate 20, based on the properties of trigonometric functions. By adjusting the length of the push rod 433, this correspondence can be changed, thereby adjusting the oscillation angle range of the oscillating plate 20. This adjustment method allows for very precise control of the motion characteristics of the pitch adjustment mechanism 40, improving the accuracy and stability of the pitch adjustment mechanism 40 and enabling adaptation to different operating conditions and requirements.

[0074] In some examples, the second end of the push rod 433 is fixedly connected to the oscillating plate 20 in order to improve the stability and accuracy of the pitch adjustment mechanism 40. Compared to the case where the second end of the push rod 433 only contacts the oscillating plate 20, the fixed connection of the second end of the push rod 433 to the oscillating plate 20 avoids errors caused by friction between the push rod 433 and the oscillating plate 20, which would reduce the accuracy of the system. Furthermore, when the second end of the push rod 433 is fixedly connected to the oscillating plate 20, the force transmitted by the push rod 433 becomes more stable, and the motion state of the system can be better controlled. The second end of the push rod 433 and the oscillating plate 20 are fixedly connected by a fixed connecting seat 46.

[0075] During the transport process, the cantilever shaft 30 deforms due to the weight of the load, affecting the operational effectiveness of the pitch adjustment mechanism 40. To solve this problem, with reference to Figure 2, in one embodiment, the pitch adjustment mechanism 40 further includes a tilt angle sensor 44 and a control unit (not shown), the tilt angle sensor 44 being installed on the cantilever shaft 30 and located at one end away from the mounting plate 11. The tilt angle sensor 44 is electrically connected to the control unit, and the control unit is electrically connected to the drive unit 41. As shown in Figure 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 the cooperation of the tilt angle sensor 44 and the control unit. The tilt angle sensor 44 is attached to the cantilever shaft 30 and is located at one end away from the mounting plate 11, and transmits real-time tilt data to the control unit by monitoring the tilt angle of the cantilever shaft 30. 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 with the docking equipment of the target device and be unloaded. This automatic adjustment method effectively avoids the effort and inaccuracies that would result from manually adjusting the cantilever shaft 30.

[0077] To achieve high-precision pitch tilt angle adjustment, as a selective embodiment, the tilt angle sensor 44 is a high-precision tilt angle sensor 44. By improving the control accuracy of the tilt angle sensor 44, the pitch angle of the cantilever shaft 30 can be accurately detected, enabling precise control of the pitch adjustment mechanism 40. In this way, even when 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] The cantilever shaft assembly 100 according to the 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 being hinged 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, the first end of the link mechanism 43 is connected to the drive unit 41, the second end of the link mechanism 43 is hinged to the first end of the push rod 433, and the second end of the push rod 433 is for pushing the rocking plate 20 so that it rocks relative to the vertical. The push rod 433 pushes the oscillating plate 20 relative to the vertical, causing the cantilever shaft 30 fixed to the oscillating plate 20 to oscillate relative to the horizontal, thereby enabling pitch adjustment of the cantilever shaft 30.

[0079] In some examples, the cantilever assembly 100 is attached to a cargo transport vehicle and is used to carry and transport cargo and to supply the cargo to a target device. Since the cantilever assembly 100 can adjust the pitch of the cantilever 30, when a load is mounted on the cantilever 30, the cantilever assembly 100 can effectively balance the bending of the cantilever 30 due to the load and improve the efficiency of cargo transport by directly docking with the docking equipment of the target device.

[0080] Example 2 The configuration of this embodiment is basically the same as that of Embodiment 1, but differs in the following respects. Specifically, in this embodiment, the link mechanism 43 includes a swing lever 431, a first link 432, and a movable connecting seat 45. The first end of the swing lever 431 is connected to the drive unit 41, the second end of the swing lever 431 is hinged to the first end of the first link 432, the first link 432 is perpendicular to the movable connecting seat 45, the second end of the first link 432 is hinged to the first end of the movable connecting seat 45, and the second end of the movable connecting seat 45 is hinged to the first end of the push rod 433.

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

[0082] The movable coupling seat 45 is shaped like a hanger lug and includes a base plate and two hinge coupling plates, with both sides of the base plate fixedly connected to the first end of each hinge coupling plate, and the second ends of the two hinge coupling plates each have through holes for the hinge coupling shaft to pass through, so that the movable coupling seat 45 can rotate around the hinge coupling shaft.

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

[0084] Referring to Figure 8, specifically, the rotational moment output from the drive unit 41 is transmitted to the oscillating lever 431 connected to it, and the oscillating lever 431 begins to rotate around its hinge connection point due to the action of the rotational moment. At this time, the other end of the oscillating lever 431 also moves in conjunction with it, transmitting energy to the hinged first link 432. After receiving the energy, the first link 432 begins linear motion and transmits the energy to the hinged movable coupling seat 45, which maintains a relatively stable state of motion and transmits the energy to the push rod 433, which in turn transmits the energy to the driven mechanism, ensuring the precision and efficiency of the link mechanism 43.

[0085] Example 3 An embodiment of the present application provides a cargo transport vehicle. The cargo transport vehicle includes a vehicle body and a cantilever axle assembly 100, the assembly body of the cantilever axle assembly 100 being installed on the vehicle body. Here, the cantilever axle assembly 100 is the cantilever axle assembly 100 described in any of the above embodiments.

[0086] The cargo transport vehicle according to the embodiment of the present invention includes a vehicle body and is flexibly movable as needed to adapt to different transport scenarios. As described in the above embodiment, its cantilever assembly 100 has good load-bearing capacity and strength and can withstand the mass of the suspended load. When a load is mounted on the cantilever, the cantilever assembly 100 can improve cargo transport efficiency by effectively balancing the bending of the cantilever due to the load and directly docking with the docking equipment of the target device.

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

[0088] Referring to Figures 1 to 3 and Figures 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 connecting 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 cantilevered 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, which guides and protects the cable, and moves along with the slider 65 and slide motor 63.

[0090] As shown in Figure 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 hinged to the hinge connection point 67, allowing the pusher rod base 61 to rotate around the slider 65. The pusher rod 62 is installed inside the pusher rod base 61, with one end of the pusher rod 62 connected to the pusher rod base 61 and the other end of the pusher rod 62 connected to the 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, and the pusher rod drive unit 69 is for supplying 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 a clearance 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 or a hydraulic cylinder, etc. The pusher rod 62 may be a telescopic rod.

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

[0093] The foregoing description is merely a preferred embodiment of the present application and does not limit it. Any modifications, substitutions of equivalents, improvements, etc., made within the spirit and principles of the present application should be included within the scope of protection of the present application.

Claims

1. A cantilever shaft assembly, Includes the assembly body, oscillating plate, cantilever shaft and pitch adjustment mechanism, The upper end of the oscillating plate is hinged to the assembly body. The cantilever shaft is perpendicular to the oscillating plate, and one end of the cantilever shaft is fixed to the oscillating plate. The pitch adjustment mechanism includes a drive unit, a linkage mechanism, and a push rod. The drive unit is installed in the assembly body, The first end of the link mechanism is connected to the drive unit, and the second end of the link mechanism is hinged to the first end of the push rod. The second end of the push rod is for pushing the oscillating plate so that it oscillates relative to the vertical. The assembly body includes a mounting plate, and the upper end of the swing plate is hinged to the mounting plate. A mechanism for limiting the oscillation of the oscillating plate is installed between the oscillating plate and the mounting plate. The oscillation limiting mechanism includes a limiting rod and a first limiting member, The limiting rod has a first end connected to the oscillating plate and a second end connected to the first limiting member through a through hole in the mounting plate. A cantilever shaft assembly characterized by the following features.

2. The link mechanism includes a swinging lever and a first link, The first end of the swing lever is connected to the drive unit, the second end of the swing lever is hinged to the first end of the first link, and the second end of the first link is hinged to the first end of the push rod. The cantilever shaft assembly according to feature 1.

3. The link mechanism includes a swing lever, a first link, and a movable connecting seat. The first end of the swinging lever is connected to the drive unit, the second end of the swinging lever is hinged to the first end of the first link, the first link is perpendicular to the movable coupling seat, the second end of the first link is hinged to the first end of the movable coupling seat, and the second end of the movable coupling seat is hinged to the first end of the push rod. The cantilever shaft assembly according to feature 1.

4. The range of motion of the swinging plate relative to the vertical position is determined by the size of the load, the weight of the load, and the length of the cantilever shaft. The cantilever shaft assembly according to feature 1.

5. The oscillation range of the oscillating plate relative to the vertical state is -5° to 6°, preferably -3° to 3°. The cantilever shaft assembly according to feature 4.

6. The oscillation limiting mechanism further includes a second limiting member installed on the limiting rod, The second limiting member and the first limiting member are located on opposite sides of the mounting plate, and there is a preset limiting distance between the second limiting member and the first limiting member. The cantilever shaft assembly according to feature 1.

7. The pitch adjustment mechanism further includes a tilt angle sensor and a control unit, The tilt angle sensor is mounted 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. The cantilever shaft assembly according to feature 1.

8. The drive unit includes an integrally installed motor and a reduction gear, the motor being connected to the reduction gear, and the first end of the link mechanism being connected to the output shaft of the reduction gear. The cantilever shaft assembly according to feature 1.

9. The assembly body further includes a pusher mechanism for pushing a load suspended from the cantilever shaft. The cantilever shaft assembly according to feature 1.

10. It is a cargo transport vehicle, Including the vehicle body and cantilever axle assembly, The assembly body of the cantilever axle assembly is installed on the vehicle body, and the cantilever axle assembly is the cantilever axle assembly according to any one of claims 1 to 9. A cargo transport vehicle characterized by the following features.

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