CN117485225A - Unmanned vehicle for express grabbing - Google Patents
Unmanned vehicle for express grabbing Download PDFInfo
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- CN117485225A CN117485225A CN202311370760.7A CN202311370760A CN117485225A CN 117485225 A CN117485225 A CN 117485225A CN 202311370760 A CN202311370760 A CN 202311370760A CN 117485225 A CN117485225 A CN 117485225A
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- 238000001179 sorption measurement Methods 0.000 claims description 84
- 238000006073 displacement reaction Methods 0.000 claims description 58
- 238000005192 partition Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 10
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/36—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
- B60P1/38—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon forming the main load-transporting element or part thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P9/00—Other vehicles predominantly for carrying loads, e.g. load carrying vehicles convertible for an intended purpose
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The application discloses an unmanned car for express delivery snatchs for reduce the cost of labor of express delivery transportation. The application comprises the following steps: the device comprises a control head, a frame, at least four wheel modules, a first telescopic rod, a second telescopic rod, a grabbing structure, a storage box, at least four lifting cylinders and a grabbing fixing module; the frame is divided into a front frame and a rear frame which can be split and stretched, and the front frame and the rear frame are connected through a first telescopic rod; an illuminating lamp and a camera are arranged on the periphery of the frame; the wheel module is connected with the frame through a second telescopic rod; the control headstock is arranged on the frame; the lifting cylinder is arranged on the wheel module; the storage box is fixed in the frame and is divided into a front storage box and a rear storage box which are splittable, and the front storage box and the rear storage box are respectively positioned on the front frame and the rear frame; the grabbing fixing module is positioned on the lifting cylinder; the centre of the grabbing fixing module is provided with a grabbing structure.
Description
Technical Field
The embodiment of the application relates to the field of unmanned vehicle transportation, in particular to an unmanned vehicle for express grabbing.
Background
In the prior art, unmanned vehicles are widely applied to industries such as agriculture, transportation industry, catering industry and the like which need to transfer articles. Along with the continuous improvement of unmanned technique and artificial intelligence technique, unmanned vehicles for transporting goods become one of the important fields of these two technological preliminary applications, especially on express delivery transportation and takeaway transportation, unmanned vehicles gradually replace traditional manual transport goods through steady speed, accurate route design and obstacle avoidance's function. The unmanned vehicle is an intelligent vehicle which senses road environment through various sensors, automatically plans a driving route and controls the vehicle to reach a preset target, senses the surrounding environment of the vehicle through vehicle-mounted sensors (cameras, obstacle avoidance radars and the like), and controls the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained through sensing, so that the vehicle can safely and reliably run on the road.
Especially in the delivery transportation industry, take-out can more examine the speed of transferring take-out than take-out transportation, and the unmanned person in the delivery industry mainly transfers the express from the area A to the area B (site to site) or transfers the goods from the area A to the receiver position (site to receiver site).
In this application, the first situation is mainly handled, and in the prior art, after the goods are transferred to the storage box manually and fully loaded, the storage box fully loaded with the goods is required to be placed on an unmanned vehicle, and the specified area is reached through a design route. But this way greatly increases the labor cost and fails to realize a higher degree of automated express transportation.
Disclosure of Invention
The application discloses an unmanned car for express delivery snatchs for reduce the cost of labor of express delivery transportation.
The application provides an unmanned vehicle for express delivery snatchs, include:
the device comprises a control head, a frame, at least four wheel modules, a first telescopic rod, a second telescopic rod, a grabbing structure, a storage box, at least four lifting cylinders and a grabbing fixing module;
the frame is divided into a front frame and a rear frame which can be split and stretched, and the front frame and the rear frame are connected through a first telescopic rod;
an illuminating lamp and a camera are arranged on the periphery of the frame;
the wheel module is connected with the frame through a second telescopic rod;
the control headstock is arranged on the frame;
the lifting cylinders are respectively arranged on the wheel modules;
the storage box is fixed in the frame;
the storage box is divided into a front storage box and a rear storage box which are splittable, and the front storage box and the rear storage box are respectively positioned on a front frame and a rear frame;
the grabbing fixing module is positioned on the lifting cylinder;
the centre of the grabbing fixing module is provided with a grabbing structure.
Optionally, the grabbing and fixing module comprises 2X-axis telescopic rods, 4Y-axis telescopic rods, 2 storage blocks and a central motor;
the front frame and the rear frame are connected by 2Y-axis telescopic rods with two adjacent lifting cylinders;
the 2X-axis telescopic rods penetrate through the two storage blocks respectively, and two ends of each X-axis telescopic rod are connected with 2 adjacent lifting cylinders;
the 2 storage blocks are respectively connected with the central motor through 2Y-axis telescopic rods.
Optionally, the grabbing structure comprises a fixed plate, a lifting rod, a displacement plate and at least two grabbing devices;
the center of the fixed plate is connected with a center motor;
at least 4 lifting rods are arranged on the fixed plate;
the fixed plate is fixed with the displacement plate through at least 4 lifting rods;
the displacement plate is provided with a displacement track;
at least two grabbing devices are arranged on the displacement track of the displacement plate.
Optionally, the gripping device comprises at least two displacement joints and two suction bars;
the displacement joint comprises at least 2 moment arm sheets;
the force arm piece is fixed on a displacement track of the displacement plate through the displacement block;
the arm of force pieces are connected with each other through the rotary joint;
the adsorption rod is fixed on the outermost arm piece.
Optionally, the adsorption rod comprises an adsorption connection body, a gas pipe head and an adsorption head;
the adsorption connecting body is fixed on the outermost arm piece;
the first end of the gas tube head is connected with the adsorption connecting body, and the second end of the gas tube head is connected with the gas valve;
the adsorption head is connected with the lower end of the adsorption connection body and is used for adsorbing objects;
the gas pipe head is connected with the adsorption head through a hollow channel inside the adsorption connection body.
Optionally, the adsorption head is a plastic adsorption ball;
the plastic adsorption ball is connected with the lower end of the adsorption connection body;
the plastic adsorption ball is of a hollow structure, and is provided with an air outlet hole connected with a hollow channel inside the adsorption connection body;
the surface of the plastic adsorption ball is provided with an adsorption zone, and the adsorption zone is provided with at least one unidirectional adsorption hole.
Optionally, the wheel module comprises a wheel fixing body, a rotating body and a displacement wheel;
the wheel fixing body is of a lifting structure;
the wheel fixing body is provided with an obstacle avoidance radar;
the side surface of the wheel fixing body is connected with the frame through a second telescopic rod;
the upper surface of the wheel fixing body is connected with a lifting cylinder;
the rotating body is arranged on the bottom surface of the wheel fixing body;
the displacement wheel is arranged below the rotating body.
Optionally, the cross section of the control headstock is an inverted right trapezoid;
the code scanner is arranged on the inclined plane of the control head.
Optionally, at least four transverse conveyor belts are arranged on the frame;
at least four transverse conveyor belts are positioned below the storage bin, and the transverse conveyor belts are used for transversely displacing the storage bin.
Optionally, at least two layers of partition boards are arranged in the storage box;
at least two rows of auxiliary rollers are uniformly arranged on the partition plate.
From the above technical solutions, the embodiments of the present application have the following advantages:
in this application, an unmanned aerial vehicle for express delivery snatchs mainly includes control locomotive, frame, four at least wheel modules, first telescopic link, second telescopic link, snatchs structure, bin, four at least lift cylinders, snatchs fixed module. The specific connection mode is as follows: the frame is divided into a front frame and a rear frame which can be split and stretched, and the front frame and the rear frame are connected through a first telescopic rod. An illuminating lamp and a camera are arranged on the periphery of the frame. The wheel module is connected with the frame through a second telescopic rod. The control headstock is arranged on the frame. The lifting cylinder is arranged on the wheel module. The storage box is fixed in the frame. The storage boxes are divided into a front storage box and a rear storage box which are splittable and are respectively positioned on the front frame and the rear frame. The grabbing fixing module is located on the lifting cylinder. The centre of the grabbing fixing module is provided with a grabbing structure. The frame is divided into a front frame and a rear frame storage box which can be split and stretched, and the two designs enable the frame to split a large space from the middle part through the first telescopic rod, and the frame is used for enabling the grabbing device to be located in the center, so that the grabbing device can vertically lift to grab objects placed on the ground. The storage box is divided into a front storage box and a rear storage box which can be split, the storage box can be opened along with the splitting of the frame, and the grabbing device can horizontally move transversely after grabbing articles to transfer the cargoes into the storage box. The vertical displacement of the grabbing device is realized through the lifting cylinder. The goods are not required to be placed in the storage box manually, the goods are only required to be moved to the ground through the conveying belt, the unmanned vehicle can be opened from the middle through a split mode, the grabbing structure is controlled to grab through the lifting air cylinder, and the labor cost of express transportation is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an unmanned vehicle for express grabbing according to the present application;
FIG. 2 is a schematic view of a gripping structure of the present application;
FIG. 3 is a schematic view of a gripping device according to the present application;
FIG. 4 is a schematic view of the structure of the adsorption rod of the present application;
FIG. 5 is a schematic plan view of the suction rod of the present application;
FIG. 6 is a schematic view of a storage box of the present application;
FIG. 7 is a schematic structural view of a plastic adsorption ball according to the present application;
fig. 8 is another schematic structural view of the unmanned vehicle for express grabbing according to the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In the prior art, unmanned vehicles are widely applied to industries such as agriculture, transportation industry, catering industry and the like which need to transfer articles. Along with the continuous improvement of unmanned technique and artificial intelligence technique, unmanned vehicles for transporting goods become one of the important fields of these two technological preliminary applications, especially on express delivery transportation and takeaway transportation, unmanned vehicles gradually replace traditional manual transport goods through steady speed, accurate route design and obstacle avoidance's function. The unmanned vehicle is an intelligent vehicle which senses road environment through various sensors, automatically plans a driving route and controls the vehicle to reach a preset target, senses the surrounding environment of the vehicle through vehicle-mounted sensors (cameras, obstacle avoidance radars and the like), and controls the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained through sensing, so that the vehicle can safely and reliably run on the road.
Especially in the delivery transportation industry, take-out can more examine the speed of transferring take-out than take-out transportation, and the unmanned person in the delivery industry mainly transfers the express from the area A to the area B (site to site) or transfers the goods from the area A to the receiver position (site to receiver site).
In this application, the first situation is mainly handled, and in the prior art, after the goods are transferred to the storage box manually and fully loaded, the storage box fully loaded with the goods is required to be placed on an unmanned vehicle, and the specified area is reached through a design route. But this way greatly increases the labor cost and fails to realize a higher degree of automated express transportation.
Based on this, the application discloses an unmanned car for express delivery snatchs for reduce the cost of labor of express delivery transportation.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to any one of fig. 1 to 8, the present application provides an embodiment of an unmanned vehicle for express grabbing, including:
the vehicle comprises a control vehicle head 1, a vehicle frame 2, at least four wheel modules 3, a first telescopic rod 4, a second telescopic rod 5, a grabbing structure 6, a storage box 7, at least four lifting cylinders 8 and a grabbing fixing module;
the frame 2 is divided into a front frame 2 and a rear frame 2 which can be split and stretched, and the front frame 2 and the rear frame 2 are connected through a first telescopic rod 4;
the periphery of the frame 2 is provided with an illuminating lamp 9 and a camera 10;
the wheel module 3 is connected with the frame 2 through a second telescopic rod 5;
the control headstock 1 is arranged on the frame 2;
the lifting cylinders 8 are respectively arranged on the wheel modules 3;
the storage box 7 is fixed in the frame 2;
the storage box 7 is divided into a front storage box 7 and a rear storage box 7 which can be split, and the front storage box 7 and the rear storage box 7 are respectively positioned on the front frame 2 and the rear frame 2;
the grabbing fixing module is positioned on the lifting cylinder 8;
the centre of the grabbing fixing module is provided with a grabbing structure 6.
In this embodiment, the frame 2 has a front-back splitting function, specifically, the two groups of first telescopic rods 4 are connected and telescopic, and the main controller in the vehicle head 1 is used for controlling the telescopic splitting. The control headstock 1 is installed on the frame 2, and the control headstock 1 is mainly used for controlling the displacement of whole car, the division of frame 2 and storage box 7 to and control the lift, the snatch function of snatch structure 6.
The illuminating lamps 9 and the cameras 10 are arranged on the periphery of the frame 2 and used for providing illumination and road surface condition extraction for the unmanned vehicle in the driving process so as to control the vehicle head 1 to plan the road.
The wheel module 3 is connected with the frame 2 through the second telescopic link 5, and the second telescopic link 5 controls the wheel module 3 to extend to one side, and the purpose is to drive the lifting cylinder 8 and snatch fixed module and extend to both sides for snatch the structure 6 on the fixed module of snatching can not touch the storage box 7 in the lift in-process.
At least four lifting cylinders 8 are respectively arranged on at least four wheel modules 3, and the lifting cylinders 8 are used for controlling the lifting of the grabbing fixed modules and further controlling the lifting of the grabbing structure 6.
The storage box 7 is fixed in the frame 2, and the storage box 7 is divided into a front storage box 7 and a rear storage box 7 which can be split, and the front storage box 7 and the rear storage box 7 are respectively positioned on the front frame 2 and the rear frame 2, namely, the control head 1 can control the split of the storage box 7 by controlling the split of the front frame 2 and the rear frame 2.
In this embodiment, the frame 2 is divided into a front frame 2 and a rear frame 2 which can be split and stretched, and a storage box 7 is arranged on the rear frame 2, and the two designs enable the frame 2 to split a large space from the middle through the first telescopic rod 4, so that the gripping device is located in the center, and the gripping device can grip objects placed on the ground in a vertical lifting motion.
The storage box 7 is divided into a front storage box 7 and a rear storage box 7 which are splittable, the design is such that the storage box 7 can be opened as the frame 2 splits, and the gripping device can be horizontally displaced laterally to transfer the goods into the storage box 7 after gripping the goods. The vertical displacement of the gripping device is achieved by means of a lifting cylinder 8. The goods are not required to be placed into the storage box 7 manually, the goods are only required to be moved to the ground through the conveying belt, the unmanned vehicle can be opened from the middle through a split mode, the grabbing structure 6 is controlled to grab through the lifting air cylinder 8, and the labor cost of express transportation is reduced.
Optionally, the grabbing and fixing module comprises 2X-axis telescopic rods 13, 4Y-axis telescopic rods 14, 2 storage blocks 15 and a central motor 16;
the front frame 2 and the rear frame 2 are connected by two adjacent lifting cylinders 8 through 2Y-axis telescopic rods 14;
the 2X-axis telescopic rods 13 respectively penetrate through the two storage blocks 15, and two ends of each X-axis telescopic rod 13 are connected with 2 adjacent lifting cylinders 8;
the 2 storage blocks 15 are respectively connected with a central motor 16 through 2Y-axis telescopic rods 14.
In this embodiment, snatch fixed module and include 2X axle telescopic links 13, 4Y axle telescopic links 14, 2 take in piece 15 and center motor 16, 2X axle telescopic links 13, 2Y axle telescopic links 14, 2 take in piece 15 and form a mouthful font structure, and remaining two Y axle telescopic links 14 are docked with center motor 16, connect again on two take in piece 15, but form the whole structure of shrink.
Optionally, the gripping structure 6 comprises a fixed plate 17, a lifting rod 18, a displacement plate 19 and at least two gripping means 20;
the center of the fixed plate 17 is connected with the center motor 16;
at least 4 lifting rods 18 are arranged on the fixed plate 17;
the fixed plate 17 is fixed with the displacement plate 19 through at least 4 lifting rods 18;
the displacement plate 19 is provided with a displacement track;
at least two gripping means 20 are arranged on the displacement rail of the displacement plate 19.
In this embodiment, the grabbing structure 6 is divided into two layers, one layer is a fixing plate 17 fixed by a central motor 16, and the fixing plate 17 and a displacement plate 19 are connected and telescopic by 4 lifting rods 18.
The displacement plate 19 is provided with a plurality of displacement tracks, and the central motor 16 can control the gripping device 20 to displace on the displacement tracks in addition to the up-and-down movement of the lifting rod 18.
Optionally, the gripping means 20 comprise at least two displacement joints 21 and two suction bars 22;
the displacement joint 21 comprises at least 2 moment arm pieces 23;
the arm of force piece 23 is fixed on the displacement orbit of the displacement plate 19 through the displacement block 24;
the arm pieces 23 are connected with each other through a rotary joint 25;
the adsorption rod 22 is fixed on the outermost arm piece 23.
In this embodiment, the gripping device 20 includes a displacement joint 21 that can move horizontally, and an adsorption rod 22 at the end of the displacement joint 21.
The displacement joint 21 mainly comprises a plurality of force arm pieces 23 in head-to-tail joint, the connection of the force arm pieces 23 and the displacement plate 19 mainly comprises a later displacement block 24, the displacement block 24 clamps the force arm pieces 23 in a displacement track of the displacement plate 19, and the central motor 16 controls the displacement block 24 to drive the force arm pieces 23 to move on the displacement plate 19. Secondly, the two force arm sheets 23 are in pressure connection through the rotary joint 25, and the rotary joint 25 is driven by the central motor 16, so that the angle between the two force arm sheets 23 can be controlled by the rotary joint 25, and the adsorption rod 22 is fixed on the outermost force arm sheet 23, so that the adsorption rod 22 can be controlled to perform transverse displacement.
Optionally, the adsorption rod 22 includes an adsorption connection body 26, an air pipe head 27 and an adsorption head 28;
the adsorption connecting body 26 is fixed on the outermost moment arm piece 23;
the first end of the air pipe head 27 is connected with the adsorption connection body 26, and the second end of the air pipe head 27 is connected with the air valve;
the adsorption head 28 is connected with the lower end of the adsorption connection body 26, and the adsorption head 28 is used for adsorbing objects;
the gas cartridge 27 is connected to the adsorption head 28 through a hollow passage inside the adsorption connection body 26.
In this embodiment, the adsorption rod 22 includes an adsorption connection body 26, a tracheal head 27 and an adsorption head 28, the adsorption connection body 26 is fixed on the arm of force piece 23, the middle part of the adsorption connection body 26 is connected with the tracheal head 27, the tracheal head 27 is connected with an air valve, the tail end of the adsorption connection body 26 is of a hollow structure, and the tail end is connected with the adsorption head, so that the air valve can control the adsorption head 28 to perform air suction and inflation in the air inflation and exhaust processes.
Optionally, the adsorption head 28 is a plastic adsorption ball;
the plastic adsorption ball is connected with the lower end of the adsorption connection body 26;
the plastic adsorption ball is of a hollow structure, and is provided with an air outlet hole connected with a hollow channel inside the adsorption connection body 26;
the surface of the plastic adsorption ball is provided with an adsorption zone, and the adsorption zone is provided with at least one unidirectional adsorption hole.
In this embodiment, the adsorption head 28 is a plastic adsorption ball, the plastic adsorption ball in this embodiment is a hollow structure, and a small hole is provided at a position connected with the end of the adsorption connection body 26, so that gas can be conveniently extracted and filled into the plastic adsorption ball, an adsorption area is provided on the surface of the plastic adsorption ball, at least one unidirectional adsorption hole is provided on the adsorption area, and only external gas can be allowed to enter in one direction in the unidirectional adsorption hole.
This design can be so that adsorb connecting body 26 at the in-process of pushing down, adsorb the ball and touch the goods, will receive the extrusion, the airtight region that the bar code formed on through the goods, unidirectional absorption hole can be through the camera 10 location of frame 2 below and to this partial region, the plastic absorption ball can be through unidirectional absorption hole absorptive in, by the plastic absorption ball of air of taking out can firmly laminate around the goods, the plastic absorption ball can firmly glue on the goods surface through coarse skid-proof outward skin, can control the dynamics of snatching through the control pneumatic valve, prevent that the goods from dropping.
Optionally, the wheel module 3 includes a wheel fixing body 29, a rotating body 30, and a displacement wheel 31;
the wheel fixing body 29 is a liftable structure;
the wheel fixing body 29 is provided with an obstacle avoidance radar 32;
the side surface of the wheel fixing body 29 is connected with the frame 2 through a second telescopic rod 5;
the upper surface of the wheel fixing body 29 is connected with the lifting cylinder 8;
the rotating body 30 is provided on the bottom surface of the wheel securing body 29;
the displacement wheel 31 is disposed below the rotating body 30.
In this embodiment, since it is necessary to place the vehicle above the cargo, it is necessary to provide the chassis of the vehicle with a certain height, the wheel fixing body 29 of the wheel module 3 is provided in a liftable structure, and the rotating body 30 is provided on the bottom surface of the wheel fixing body 29, so that the displacement wheel 31 is controlled to steer. Further, the wheel securing body 29 is provided with an obstacle avoidance radar 32 to reduce occurrence of rolling of the cargo.
Optionally, the cross section of the control headstock 1 is an inverted right trapezoid;
the code scanner 33 is arranged on the inclined plane of the control head 1.
In this embodiment, the cross section of the control locomotive 1 is an inverted right trapezoid, and the code scanner 33 is installed on the inclined plane of the control locomotive 1, and the code scanner 33 in an inclined direction can scan out the goods information in front of the unmanned aerial vehicle better, and determine the specific position of the goods on the ground to improve the grabbing accuracy.
Optionally, at least four transverse conveyor belts 34 are arranged on the frame 2;
at least four transverse conveyors 34 are located below the storage box 7, the transverse conveyors 34 being used for displacing the storage box 7 transversely.
In this embodiment, a transverse conveyor 34 is provided on the frame 2 for displacing the storage box 7 transversely out of the vehicle and into another position.
Optionally, at least two layers of partition boards are arranged in the storage box 7;
at least two rows of auxiliary rollers 35 are uniformly arranged on the partition plate.
In this embodiment, in order to facilitate goods to be placed in each layer of the storage box 7, at least two rows of auxiliary rollers 35 are additionally arranged, when the goods are placed on a certain layer, the goods can be placed through the auxiliary rollers 35 and the force arm piece 23, so that the acting force of the force arm piece 23 is reduced, and the service life of the force arm piece 23 is prolonged.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely used to illustrate the relative positional relationships between the components or portions, and do not particularly limit the specific mounting orientations of the components or portions.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, the structures, proportions, sizes, etc. shown in the drawings herein are shown and described in detail for purposes of illustration only, and are not intended to limit the scope of the invention, which is defined in the claims, unless otherwise indicated, and which are otherwise used by those skilled in the art to which the invention pertains.
Claims (10)
1. A unmanned vehicle for express delivery snatchs, its characterized in that includes:
the device comprises a control head, a frame, at least four wheel modules, a first telescopic rod, a second telescopic rod, a grabbing structure, a storage box, at least four lifting cylinders and a grabbing fixing module;
the frame is divided into a front frame and a rear frame which can be split and stretched, and the front frame is connected with the rear frame through the first telescopic rod;
an illuminating lamp and a camera are arranged on the periphery of the frame;
the wheel module is connected with the frame through the second telescopic rod;
the control headstock is mounted on the frame;
the lifting cylinder is arranged on the wheel module;
the storage box is fixed in the frame;
the storage box is divided into a splittable front storage box and a splittable rear storage box, and the front storage box and the rear storage box are respectively positioned on the front frame and the rear frame;
the grabbing fixing module is positioned on the lifting cylinder;
the grabbing structure is arranged in the center of the grabbing fixing module.
2. The drone vehicle of claim 1, wherein the grab fixed module includes 2X-axis telescoping rods, 4Y-axis telescoping rods, 2 receiving blocks, and a central motor;
the front frame and the rear frame are connected with two adjacent lifting cylinders by the 2Y-axis telescopic rods;
the 2X-axis telescopic rods penetrate through the two storage blocks respectively, and two ends of each X-axis telescopic rod are connected with 2 adjacent lifting cylinders;
the 2 storage blocks are connected with the central motor through 2Y-axis telescopic rods respectively.
3. The unmanned vehicle of claim 2, wherein the gripping structure comprises a fixed plate, a lifting rod, a displacement plate, and at least two gripping devices;
the center of the fixed plate is connected with the center motor;
at least 4 lifting rods are arranged on the fixed plate;
the fixed plate is fixed with the displacement plate through at least 4 lifting rods;
the displacement plate is provided with a displacement rail;
at least two grabbing devices are arranged on the displacement track of the displacement plate.
4. A drone vehicle according to claim 3, wherein the gripping means comprises at least two displacement joints and two suction bars;
the displacement joint comprises at least 2 moment arm sheets;
the force arm piece is fixed on the displacement track of the displacement plate through a displacement block;
the arm plates are connected with each other through a rotary joint;
the adsorption rod is fixed on the outermost moment arm piece.
5. The unmanned vehicle of claim 4, wherein the adsorption rod comprises an adsorption connection body, a gas tube head, and an adsorption head;
the adsorption connecting body is fixed on the outermost moment arm piece;
the first end of the air pipe head is connected with the adsorption connecting body, and the second end of the air pipe head is connected with the air valve;
the adsorption head is connected with the lower end of the adsorption connection body and is used for adsorbing objects;
the air pipe head is connected with the adsorption head through a hollow channel inside the adsorption connection body.
6. The unmanned vehicle of claim 5, wherein the adsorption head is a plastic adsorption ball;
the plastic adsorption ball is connected with the lower end of the adsorption connection body;
the plastic adsorption ball is of a hollow structure, and is provided with an air outlet hole connected with a hollow channel in the adsorption connection body;
the plastic adsorption ball surface is provided with the adsorption zone, be provided with at least one unidirectional adsorption hole on the adsorption zone.
7. The unmanned vehicle of any of claims 1 to 6, wherein the wheel module comprises a wheel securing body, a rotating body, and a displacement wheel;
the wheel fixing body is of a lifting structure;
the wheel fixing body is provided with an obstacle avoidance radar;
the side surface of the wheel fixing body is connected with the frame through the second telescopic rod;
the upper surface of the wheel fixing body is connected with the lifting cylinder;
the rotating body is arranged on the bottom surface of the wheel fixing body;
the displacement wheel is arranged below the rotating body.
8. The unmanned vehicle of claim 7, wherein the cross section of the control head is an inverted right trapezoid;
the code scanner is arranged on the inclined plane of the control head.
9. The unmanned vehicle of any of claims 1 to 6, wherein at least four transverse conveyor belts are provided on the frame;
at least four transverse conveyor belts are positioned below the storage box and are used for transversely displacing the storage box.
10. The unmanned vehicle of any of claims 1 to 6, wherein at least two layers of baffles are provided in the storage tank;
at least two rows of auxiliary rollers are uniformly arranged on the partition plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311370760.7A CN117485225A (en) | 2023-10-20 | 2023-10-20 | Unmanned vehicle for express grabbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311370760.7A CN117485225A (en) | 2023-10-20 | 2023-10-20 | Unmanned vehicle for express grabbing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117485225A true CN117485225A (en) | 2024-02-02 |
Family
ID=89675434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311370760.7A Pending CN117485225A (en) | 2023-10-20 | 2023-10-20 | Unmanned vehicle for express grabbing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117485225A (en) |
-
2023
- 2023-10-20 CN CN202311370760.7A patent/CN117485225A/en active Pending
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