CN111732031B - Logistics transport vehicle, logistics unmanned aerial vehicle, automatic loading and unloading system and method - Google Patents

Logistics transport vehicle, logistics unmanned aerial vehicle, automatic loading and unloading system and method Download PDF

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Publication number
CN111732031B
CN111732031B CN202010608221.2A CN202010608221A CN111732031B CN 111732031 B CN111732031 B CN 111732031B CN 202010608221 A CN202010608221 A CN 202010608221A CN 111732031 B CN111732031 B CN 111732031B
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China
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unit
pallet
frame
lifting
rod
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CN111732031A (en
Inventor
詹雷
华卫江
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Xi'an Jingdong Tianhong Science And Technology Co ltd
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Xi'an Jingdong Tianhong Science And Technology Co ltd
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Publication of CN111732031A publication Critical patent/CN111732031A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/127—Working platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Abstract

The logistics transport vehicle comprises a frame unit, wherein a pallet lifting unit and a first pallet unit are arranged on the frame unit, wherein the pallet lifting unit drives the first pallet unit to lift relative to the frame unit, so that the first pallet unit of the logistics transport vehicle can be flush with a second pallet unit of the logistics unmanned aerial vehicle, and then a first ball unit arranged on the first pallet unit rotates to transfer goods on the first pallet unit to the second pallet unit of the logistics unmanned aerial vehicle, so that the goods are loaded and unloaded; therefore, the technical problem of low efficiency caused by the adoption of traditional manpower or forklift loading and unloading is solved, and the technical effect of improving the automation degree of loading and unloading is achieved.

Description

Logistics transport vehicle, logistics unmanned aerial vehicle, automatic loading and unloading system and method
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a logistics transport vehicle, a logistics unmanned aerial vehicle, an automatic loading and unloading system and an automatic loading and unloading method.
Background
With the development of unmanned aerial vehicle technology, the application scenario of unmanned aerial vehicles is continuously expanding, for example, logistics unmanned aerial vehicles which use unmanned aerial vehicles to transport goods are gradually applied in the field of logistics.
However, in the aspect of loading and unloading goods by the logistics unmanned aerial vehicle, the conventional manpower or the conventional forklift and other machines are still adopted in the prior art, which results in that the logistics unmanned aerial vehicle is not efficient in loading and unloading goods and is not high in automation degree.
Disclosure of Invention
The embodiment of the application provides a logistics transport vehicle, a logistics unmanned aerial vehicle and an automatic loading and unloading system and method, wherein the logistics transport vehicle comprises a frame unit, a pallet lifting unit and a first pallet unit are arranged on the frame unit, the pallet lifting unit drives the first pallet unit to lift relative to the frame unit, so that the first pallet unit of the logistics transport vehicle can be flush with a second pallet unit of the logistics unmanned aerial vehicle, and then a first ball unit arranged on the first pallet unit rotates to transfer goods on the first pallet unit to the second pallet unit of the logistics unmanned aerial vehicle, so that the loading and unloading of the goods are completed; that is, in this application embodiment, this commodity circulation transport vechicle utilizes the first pallet unit of pallet lifting unit drive to go up and down, thereby utilizes the rotation of first ball unit to drive the goods and remove, and then accomplishes the auto-control handling of goods to solved owing to adopt the technical problem that the efficiency is not high that loading and unloading goods such as traditional manpower or fork truck caused, realized improving the technical effect of the degree of automation of loading and unloading goods.
The embodiment of the application provides a commodity circulation transport vechicle, the commodity circulation transport vechicle includes:
a frame unit (10);
a pallet lifting unit (20), said pallet lifting unit (20) being mounted to said carriage unit (10);
a first pallet unit (40), the first pallet unit (40) being mounted to the pallet lifting unit (20), the first pallet unit (40) being used for loading cargo;
a first ball unit (50), said first ball unit (50) array being disposed on a surface of said first pallet unit (40), said first ball unit (50) being rotatable relative to said first pallet unit (40);
wherein the pallet lifting unit (20) drives the first pallet unit (40) to lift relative to the frame unit (10); the first ball unit (50) rotates to move the goods relative to the first pallet unit (40).
In the embodiment of the disclosure, the frame unit (10) comprises a frame chassis (11), and a guide rail (12) extends upwards from the frame chassis (11);
one end of the pallet lifting unit (20) is fixedly mounted on the frame chassis (11), the other end of the pallet lifting unit (20) is mounted on the guide rail (12) and can slide up and down along the guide rail (12), and the other end of the pallet lifting unit (20) is further provided with the first pallet unit (40).
In an embodiment of the disclosure, the pallet lifting unit (20) comprises:
the lifting cross rod (23) is connected with the guide rail (12) and can slide up and down along the guide rail (12), and the first pallet unit (40) is fixedly arranged on the lifting cross rod (23);
the first end of the first connecting rod (21) is sleeved on the lifting cross rod (23) and can rotate around the axis of the lifting cross rod (23);
the first end of the second connecting rod (22) is rotatably connected with the second end of the first connecting rod (21) through a first rotating shaft (201), and the first rotating shaft (201) is parallel to the axis of the lifting cross rod (23);
a drive mechanism (24), said drive mechanism (24) being mounted to a second end of said second link (22);
a first supporting rod (25), wherein a first end of the first supporting rod (25) is fixed to the frame unit (10), a second end of the first supporting rod (25) is rotatably connected with the second connecting rod (22) through a second rotating shaft (202), the second rotating shaft (202) is arranged between the first end and the second end of the second connecting rod (22), and the second rotating shaft (202) is parallel to the axis of the lifting cross rod (23);
wherein the driving mechanism (24) drives the second end of the second connecting rod (22) to rotate around the second rotating shaft (202) so as to enable the lifting cross rod (23) and the first pallet unit (40) to slide up and down along the guide rail (12).
In the embodiment of the present disclosure, a hanging rack (28) is disposed on the lifting cross bar (23), and the first pallet unit (40) is fixedly mounted on the hanging rack (28).
In the disclosed embodiment, the pallet lifting unit (20) further comprises a second support rod (26), and a first end of the second support rod (26) is fixed to the frame unit (10);
actuating mechanism (24) are including driving actuating cylinder, drive actuating cylinder's first end with the second end of second bracing piece (26) is rotated through third pivot (203) and is connected, the second end that drives actuating cylinder rotates through fourth pivot (204) and is connected with switching structure (27), switching structure (27) still with the second end fixed connection of second connecting rod (22).
In the embodiment of the present disclosure, the logistics transport vehicle further includes:
the frame driving unit (30), the frame driving unit (30) is located frame unit (10) bottom, frame driving unit (30) is used for driving frame unit (10) removes.
In the embodiment of the present disclosure, the frame driving unit (30) includes a driving wheel frame (31), a guiding rod (32) and a wheel (33), wherein the driving wheel frame (31) is fixedly installed on the frame unit (10), a first end of the guiding rod (32) is installed on the driving wheel frame (31) in a vertical direction, and the wheel (33) is installed on a second end of the guiding rod (32) in a horizontal direction.
In the embodiment of the disclosure, a first motor (34) is arranged at the connection position of the first end of the guide rod (32) and the driving wheel carrier (31), and the first motor (34) is used for driving the guide rod (32) to rotate relative to the driving wheel carrier (31); and a second motor (35) is arranged at the joint of the second end of the guide rod (32) and the wheel (33), and the second motor (35) is used for driving the wheel (33) to rotate relative to the guide rod (32).
The embodiment of the application still provides a commodity circulation unmanned aerial vehicle, be equipped with the machine in commodity circulation unmanned aerial vehicle's the warehouse and carry the module, wherein, the machine carries the module and includes:
the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle, and the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle;
a second ball unit (70), the second ball unit (70) array being arranged on the surface of the second pallet unit (60), the second ball unit (70) being rotatable relative to the second pallet unit (60).
The embodiment of the application still provides an automatic loading and unloading goods system, automatic loading and unloading goods system includes the commodity circulation transport vechicle and locates commodity circulation unmanned aerial vehicle's airborne module, wherein, the commodity circulation transport vechicle is foretell commodity circulation transport vechicle, airborne module includes:
the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle, and the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle;
a second ball unit (70), the second ball unit (70) array is arranged on the surface of the second pallet unit (60), and the second ball unit (70) can rotate relative to the second pallet unit (60);
wherein the pallet lifting unit (20) of the logistics transport vehicle drives the first pallet unit (40) to lift relative to the frame unit (10) so that the first pallet unit (40) is flush with the second pallet unit (60); the first ball unit (50) and the second ball unit (70) drive the goods to move so that the goods are loaded and unloaded.
An embodiment of the present invention further provides a method for automatically loading and unloading goods, where the method is applied to the above-mentioned system, and the method includes:
controlling the pallet lifting unit (20) to drive the first pallet unit (40) to lift relative to the frame unit (10) so that the first pallet unit (40) is flush with the second pallet unit (60);
the first ball unit (50) and the second ball unit (70) are controlled to rotate so as to drive the goods to move between the first pallet unit (40) and the second pallet unit (60).
In the embodiment of the disclosure, the frame unit (10) comprises a frame chassis (11), and a guide rail (12) extends upwards from the frame chassis (11); one end of the pallet lifting unit (20) is fixedly mounted on the frame chassis (11), the other end of the pallet lifting unit (20) is mounted on the guide rail (12) and can slide up and down along the guide rail (12), and the other end of the pallet lifting unit (20) is also provided with the first pallet unit (40);
in the method for automatically loading and unloading the cargo,
the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend relative to the carriage unit (10) comprises: controlling the pallet lifting unit (20) to drive the first pallet unit (40) to lift along the direction of the guide rail (12).
In an embodiment of the disclosure, the pallet lifting unit (20) comprises:
the lifting cross rod (23) is connected with the guide rail (12) and can slide up and down along the guide rail (12), and the first pallet unit (40) is fixedly arranged on the lifting cross rod (23);
the first end of the first connecting rod (21) is sleeved on the lifting cross rod (23) and can rotate around the axis of the lifting cross rod (23);
the first end of the second connecting rod (22) is rotatably connected with the second end of the first connecting rod (21) through a first rotating shaft (201), and the first rotating shaft (201) is parallel to the axis of the lifting cross rod (23);
a drive mechanism (24), said drive mechanism (24) being mounted to a second end of said second link (22);
a first supporting rod (25), wherein a first end of the first supporting rod (25) is fixed to the frame unit (10), a second end of the first supporting rod (25) is rotatably connected with the second connecting rod (22) through a second rotating shaft (202), the second rotating shaft (202) is arranged between the first end and the second end of the second connecting rod (22), and the second rotating shaft (202) is parallel to the axis of the lifting cross rod (23);
wherein, in the automatic loading and unloading method,
the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend along the direction of the guide rail (12) comprises the following steps: controlling the driving mechanism (24) to drive the second end of the second connecting rod (22) to rotate around the second rotating shaft (202) so as to lift the lifting cross bar (23) and the first pallet unit (40) along the direction of the guide rail (12).
In the embodiment of the disclosure, the logistics transport vehicle further comprises a frame driving unit (30), the frame driving unit (30) is arranged at the bottom end of the frame unit (10), and the frame driving unit (30) is used for driving the frame unit (10) to move;
in the method for automatically loading and unloading the cargo,
before the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend relative to the frame unit (10), the method further comprises the following steps:
the control frame driving unit (30) is used for driving the logistics transport vehicle to be close to the logistics unmanned aerial vehicle.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, the logistics transport vehicle comprises a frame unit, wherein a pallet lifting unit and a first pallet unit are arranged on the frame unit, the pallet lifting unit drives the first pallet unit to lift relative to the frame unit, so that the first pallet unit of the logistics transport vehicle can be flush with a second pallet unit of a logistics unmanned aerial vehicle, and then a first ball unit arranged on the first pallet unit rotates to transfer goods on the first pallet unit to the second pallet unit of the logistics unmanned aerial vehicle, so that the goods are loaded and unloaded; namely, in this application embodiment, this commodity circulation transport vechicle utilizes the first pallet unit of pallet lifting unit drive to go up and down, thereby utilizes the rotation of first ball unit to drive the goods and remove, and then accomplishes the auto-control handling of goods, has realized improving the technical effect who loads and unloads the degree of automation of goods.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a logistics transportation vehicle in an embodiment of the present application.
Fig. 2 is a schematic structural diagram of the logistics unmanned aerial vehicle in the embodiment of the present application.
Fig. 3 is a schematic structural view illustrating the first pallet unit mounted on the lifting rail according to the embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of the first ball unit in the embodiment of the present application.
Fig. 5 is a schematic structural diagram of the frame unit in the embodiment of the present application.
Fig. 6 is a schematic structural diagram of the driving mechanism driving the second link according to the embodiment of the present application.
Fig. 7 is a schematic structural view of the pallet lifting unit according to the embodiment of the present application.
Fig. 8 is a schematic structural diagram of the second link according to the embodiment of the present application.
Fig. 9 is a schematic view of the rotational connection of the pallet lifting unit according to the embodiment of the present application.
Fig. 10 is a schematic view of the rotational connection of the pallet lifting unit according to the embodiment of the present application.
Fig. 11 is a schematic structural diagram of the frame driving unit in the embodiment of the present application.
Fig. 12 is a flowchart illustrating a method for loading and unloading a cargo in an embodiment of the present application.
Wherein, the reference numbers:
10-a frame unit for a vehicle,
11-frame chassis, 12-guide rail, 13-steel pipe, 14-connecting piece,
20-a pallet lifting unit, which is,
21-a first connecting rod, 22-a second connecting rod, 23-a lifting cross rod, 24-a driving mechanism, 25-a first supporting rod, 26-a second supporting rod, 27-a switching structure, 28-a hanging frame, 29-a mounting plate,
201-a first axis of rotation, 202-a second axis of rotation, 203-a third axis of rotation, 204-a fourth axis of rotation,
221-a double-lug structure, 222-a mounting groove, 223-a mounting through hole,
30-a carriage drive unit for driving the carriage,
31-driving wheel carrier, 32-guide bar, 33-wheel, 34-first motor, 35-second motor, 36-second control unit,
40-the first pallet unit is,
50-the first ball unit of the ball bearing,
60-the second pallet unit,
70-a second ball unit, the ball bearing unit,
a 1-the first direction of the first,
a 2-second direction.
Detailed Description
For better understanding of the above technical solutions, the following will describe in detail exemplary embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.
The embodiment of the application provides an automatic loading and unloading goods system, which comprises a logistics transport vehicle and an airborne module arranged on a logistics unmanned aerial vehicle, wherein the logistics transport vehicle comprises a frame unit 10, a pallet lifting unit 20, a first pallet unit 40 and a first ball unit 50, the pallet lifting unit 20 is arranged on the frame unit 10, the first pallet unit 40 is arranged on the pallet lifting unit 20, the first ball unit 50 is arranged on the surface of the first pallet unit 40 in an array manner, and the first ball unit 50 can rotate relative to the first pallet unit 40; the airborne module comprises a second pallet unit 60 and a second ball unit 70, wherein the second pallet unit 60 is arranged at the bottom of a cargo compartment of the logistics unmanned aerial vehicle, the second ball unit 70 is arranged on the surface of the second pallet unit 60 in an array, and the second ball unit 70 can rotate relative to the second pallet unit 60; wherein the pallet lifting unit 20 drives the first pallet unit 40 to be lifted relative to the frame unit 10 so that the first pallet unit 40 is flush with the second pallet unit 60; the first ball unit 50 and the second ball unit 70 drive the cargo to move, so that the cargo is completely loaded and unloaded.
Specifically, referring to fig. 1, firstly, a frame unit 10 of the logistics transportation vehicle is formed by overlapping steel pipes and connecting pieces, for example, a pallet lifting unit 20 is installed on the frame unit 10, and a first pallet unit 40 is installed on the pallet lifting unit 20, wherein the pallet lifting unit 20 can drive the first pallet unit 40 to lift relative to the frame unit 10, a surface array of the first pallet unit 40 is provided with first ball units 50, and the first ball units 50 can rotate relative to the first pallet unit 40, so that it can be understood that after goods are placed on the surface of the first pallet unit, the goods can be driven to move relative to the first pallet unit through the rotation of the first ball units;
secondly combine fig. 2, the bottom of commodity circulation unmanned aerial vehicle's warehouse is located to this second pallet unit 60 of airborne module, and the surface array of this second pallet unit 60 has arranged second ball unit 70, and similar with the aforesaid, this second ball unit 70 can rotate second pallet unit 60 relatively, and like this, can understand, after the goods is placed on second pallet unit surface, can drive the relative second pallet unit of this goods and remove through the rotation of second ball unit.
On the basis that the logistics transport vehicle and the airborne module are mutually matched, the automatic loading and unloading process of the goods is completed. For example, during the loading process of the cargo, the cargo is placed on the first pallet unit of the logistics transport vehicle, the pallet lifting unit firstly drives the first pallet unit to ascend until the first pallet unit and the second pallet unit are flush, then, the first ball unit and the second ball unit rotate to drive the cargo to move from the first pallet unit to the second pallet unit, and the cargo can be further arranged on the second pallet unit to complete the loading process of the cargo; for example, in the unloading process of the goods, the goods are placed on the second pallet unit of the logistics unmanned aerial vehicle, on the basis that the first pallet unit and the second pallet unit are flush, the first ball unit and the second ball unit rotate to drive the goods to move to the first pallet unit from the second pallet unit, then the pallet lifting unit drives the first pallet unit to descend, and the unloading process of the goods is completed.
In this embodiment, referring to fig. 3 and 4, the first ball units 50 are, for example, rolling balls, and the first ball units 50 can rotate in any direction of the surface of the first pallet unit 40, so that the goods can be moved relative to the first pallet unit 40 by rotating the plurality of first ball units 50 simultaneously; the second ball unit 70 is similar to the first ball unit 50. In this embodiment, it can be understood that the control unit may control the pallet lifting unit, the first ball unit, and the second ball unit to cooperate with each other, thereby completing the automatic loading and unloading process of the cargo.
In this embodiment, the automatic cargo loading and unloading system includes a logistics transport vehicle and an onboard module arranged on the logistics unmanned aerial vehicle, the logistics transport vehicle includes a frame unit, a pallet lifting unit is arranged on the frame unit, a first pallet unit is arranged on the pallet lifting unit, and a second pallet unit of the onboard module is arranged at the bottom of a cargo compartment of the logistics unmanned aerial vehicle, wherein the pallet lifting unit drives the first pallet unit to lift relative to the frame unit, so that the first pallet unit of the logistics transport vehicle is flush with the second pallet unit of the logistics unmanned aerial vehicle, and then the first ball unit and the second ball unit respectively arranged on the first pallet unit and the second pallet unit rotate, so that cargo moves between the two pallet units to complete loading and unloading of the cargo; that is, in the embodiment of the application, this automatic loading and unloading goods system utilizes two pallet units of pallet lifting unit drive on the one hand to flush, and on this basis, on the other hand utilizes two ball units drive goods to remove between two pallet units, and then can accomplish the auto-loading and unloading of goods, has realized the technological effect who improves loading and unloading goods efficiency and degree of automation.
In one possible embodiment, the frame unit 10 comprises a frame chassis 11, the frame chassis 11 having a guide rail 12 extending upwardly; one end of the pallet lifting unit 20 is fixedly mounted on the frame chassis 11, the other end of the pallet lifting unit 20 is mounted on the guide rail 12 and can slide up and down along the guide rail 12, and the other end of the pallet lifting unit 20 is further mounted with a first pallet unit 40.
That is, with reference to fig. 5, for example, a steel pipe is built in a horizontal direction to form a frame chassis, then the frame chassis is provided with a guide rail in a vertical direction, one end of the pallet lifting unit is fixedly mounted on the frame chassis, and then the other end of the pallet lifting unit is mounted on the guide rail, it can be understood that the pallet lifting unit includes, for example, a driving mechanism, and the driving mechanism can enable the other end of the pallet lifting unit to slide up and down along the guide rail; and the first pallet unit is arranged at the other end of the pallet lifting unit, so that the first pallet unit slides up and down along the guide rail along with the other end of the pallet lifting unit, namely, the guide rail plays roles of supporting and limiting and guiding, the pallet lifting unit drives the first pallet unit to lift relative to the frame unit, and the first pallet unit and the second pallet unit can be leveled.
Further, fig. 5 shows that the guide rails are two, it being understood that the guide rails may also be one or more; the guide rail can be arranged perpendicular to the frame chassis, or the guide rail can be fixedly arranged at other angles with the frame chassis.
In one possible embodiment, the pallet lifting unit 20 comprises a lifting cross bar 23, a first connecting rod 21, a second connecting rod 22, a driving mechanism 24 and a first supporting rod 25, wherein the lifting cross bar 23 is connected with the guide rail 12 and can slide up and down along the guide rail 12, and a first pallet unit 40 is fixedly mounted on the lifting cross bar 23; the first end of the first connecting rod 21 is sleeved on the lifting cross rod 23 and can rotate around the axis of the lifting cross rod 23; the first end of the second connecting rod 22 is rotatably connected with the second end of the first connecting rod 21 through a first rotating shaft 201, and the first rotating shaft 201 is parallel to the axis of the lifting cross rod 23; the driving mechanism 24 is installed at the second end of the second connecting rod 22; the first end of the first supporting rod 25 is fixed to the frame unit 10, the second end of the first supporting rod 25 is rotatably connected to the second connecting rod 22 through a second rotating shaft 202, the second rotating shaft 202 is arranged between the first end and the second end of the second connecting rod 22, and the second rotating shaft 202 is parallel to the axis of the lifting cross rod 23; wherein the driving mechanism 24 drives the second end of the second link 22 to rotate about the second pivot 202, so that the lifting crossbar 23 and the first pallet unit 40 slide up and down along the guide rail 12.
That is, referring to fig. 6, the first connecting rod and the second connecting rod are rotatably connected through a first rotating shaft parallel to the axis direction of the lifting cross rod, then, the other end of the first connecting rod is sleeved outside the lifting cross rod and can rotate around the lifting cross rod, the other end of the second connecting rod is provided with a driving mechanism, a first supporting rod is further rotatably connected between the two ends of the second connecting rod through a second rotating shaft, and the other end of the first supporting rod is fixed on the frame chassis; thus, with reference to fig. 6, when the driving mechanism drives the second connecting rod along the first direction a1 (e.g., counterclockwise in the drawing), due to the supporting and rotating action of the first supporting rod, the second connecting rod drives the first connecting rod to rotate and further drives the lifting cross rod to ascend along the guide rail until the second connecting rod and the first connecting rod are in a straight line, i.e., a "dead point" of the connecting rod system is formed, and at this time, the lifting cross rod ascends to the highest position; meanwhile, the first pallet unit is fixedly arranged on the lifting cross rod and ascends along with the lifting cross rod; when the driving mechanism drives the second connecting rod along the second direction a2 (for example, clockwise in the figure), the second connecting rod drives the first connecting rod to rotate and further drives the lifting cross rod to descend along the guide rail due to the supporting and rotating action of the first supporting rod; meanwhile, the first pallet unit is fixedly arranged on the lifting cross rod and descends along with the lifting cross rod; thus, the driving mechanism drives the first pallet unit to ascend and descend, namely drives the first pallet unit to ascend and descend relative to the frame unit through the connecting rod system.
Specifically, referring to fig. 8, the first end of the second link 22 has a double-lug structure 221 for rotatably connecting with the first link, a mounting groove 222 is provided between two ends of the second link, and mounting through holes 223 for passing the second rotating shaft are provided on two sides of the mounting groove 222, and the mounting through holes are rotatably connected with the first support rod.
In one possible embodiment, and with reference to fig. 7, the lifting beam 23 is provided with a hanger 28, the hanger 28 having a mounting plate 29, and the first pallet unit is then fixedly mounted to the mounting plate of the hanger.
In one possible embodiment, the pallet lifting unit 20 further comprises a second support bar 26, a first end of the second support bar 26 being fixed to the frame unit 10; the driving mechanism 24 includes a driving cylinder, a first end of the driving cylinder is rotatably connected to the second end of the second supporting rod 26 through a third rotating shaft 203, a second end of the driving cylinder is rotatably connected to a switching structure 27 through a fourth rotating shaft 204, and the switching structure 27 is further fixedly connected to the second end of the second connecting rod 22.
Specifically, with reference to fig. 1 and 7, a second support rod parallel to the first support rod is further disposed on the frame chassis, the second support rod and the first support rod are disposed in a staggered manner in the axial direction of the lifting cross rod, then, the upper end of the second support rod is rotatably connected to the driving cylinder through a third rotating shaft, the other end of the driving cylinder is rotatably connected to a switching structure through a fourth rotating shaft, and the switching structure is further fixedly connected to a second connecting rod; thus, it can be appreciated that in connection with fig. 9 and 10, for example, when the actuating cylinder is driven to extend or retract, it drives the second end of the second link through the adapter structure, which in turn drives the lifting beam to lift or lower through the linkage system.
In this embodiment, it can be understood that the automatic loading and unloading system further includes a first control unit, for example, the first control unit may be disposed at a lower portion of the first pallet unit, and the first control unit is configured to control the extension and retraction of the driving cylinder, and at the same time, the first control unit may be further configured to control the rotation of the first ball unit and the second ball unit, so as to complete the automatic loading and unloading of the cargo.
In a possible embodiment, the logistics transportation vehicle further comprises a frame driving unit 30, the frame driving unit 30 is disposed at the bottom end of the frame unit 10, and the frame driving unit 30 is used for driving the frame unit 10 to move.
Specifically, for example, referring to fig. 11, the frame driving unit 30 includes a driving wheel frame 31, a guiding rod 32 and a wheel 33, wherein the driving wheel frame 31 is fixedly installed on the frame unit 10, a first end of the guiding rod 32 is installed on the driving wheel frame 31 in a vertical direction, and the wheel 33 is installed on a second end of the guiding rod 32 in a horizontal direction; thus, the direction of the wheel 33 can be adjusted by the rotation of the guide bar 32 relative to the drive wheel frame 31.
More specifically, a first motor 34 is arranged at the joint of the first end of the guide rod and the driving wheel carrier, and the first motor 34 is used for driving the guide rod to rotate relative to the driving wheel carrier; a second motor 35 is arranged at the joint of the second end of the guide rod and the wheel, and the second motor 35 is used for driving the wheel to rotate relative to the guide rod; that is, the direction of the wheel is controlled by the first motor, and the rotational speed of the wheel is controlled by the second motor.
It can be appreciated that the first and second motors described above may be controlled directly by the first control unit; alternatively, a second control unit 36 may be provided on the guide bar, and then the second control unit controls the first motor and the second motor to operate; the second control unit and the first control unit may also be communicatively coupled.
In the embodiment, when goods need to be loaded and unloaded, the wheels need to be controlled to move firstly, so that the logistics transport vehicle is close to the logistics unmanned aerial vehicle; then controlling the driving cylinder to stretch and retract so that the first pallet unit and the second pallet unit are flush; and finally, controlling the first ball unit and the second ball unit to rotate so as to drive the goods to move between the two pallet units and finish the loading and unloading of the goods.
The structure of the automatic loading and unloading system is described above, and based on the structure, the application also discloses an automatic loading and unloading method which is applied to the automatic loading and unloading system.
Referring to fig. 12, the method of loading and unloading a load includes:
s102, controlling the pallet lifting unit to drive the first pallet unit to lift relative to the frame unit so as to enable the first pallet unit to be flush with the second pallet unit;
s103, controlling the first ball unit and the second ball unit to rotate so as to drive the goods to move between the first pallet unit and the second pallet unit.
In one possible embodiment, the frame unit comprises a frame chassis with a guide rail extending upwards; one end of the pallet lifting unit is fixedly arranged on the frame chassis, the other end of the pallet lifting unit is arranged on the parallel guide rail and can slide up and down along the guide rail, and the other end of the pallet lifting unit is also provided with the first pallet unit;
in step S102, the step of controlling the pallet lifting unit to drive the first pallet unit to lift relative to the frame unit includes:
and S112, controlling the pallet lifting unit to drive the first pallet unit to lift along the direction of the parallel guide rail.
In one possible embodiment, the pallet lift unit comprises:
the lifting cross rod is connected with the guide rail and can slide up and down along the guide rail, and the first pallet unit is fixedly arranged on the lifting cross rod;
the first end of the first connecting rod is sleeved outside the lifting cross rod and can rotate around the axis of the lifting cross rod;
the first end of the second connecting rod is rotatably connected with the second end of the first connecting rod through a first rotating shaft, and the first rotating shaft is parallel to the axis of the lifting cross rod;
the driving mechanism is arranged at the second end of the second connecting rod;
a first end of the first support rod is fixed to the frame unit, a second end of the first support rod is rotatably connected with the second connecting rod through a second rotating shaft, the second rotating shaft is arranged between the first end and the second end of the second connecting rod, and the second rotating shaft is parallel to the axis of the lifting cross rod;
wherein, step S112 includes:
and S122, controlling the driving mechanism to drive the second end of the second connecting rod to rotate around the second rotating shaft, so that the lifting cross rod and the first pallet unit are lifted along the direction of the parallel guide rail.
In one possible embodiment, the logistics transport vehicle further comprises a frame driving unit, the frame driving unit is arranged at the bottom end of the frame unit, and the frame driving unit is used for driving the frame unit to move;
in the method for automatically loading and unloading the cargo,
before the step S102, the method further includes:
s101, controlling a frame driving unit to drive the logistics transport vehicle to be close to the logistics unmanned aerial vehicle.
The application also discloses commodity circulation transport vechicle, commodity circulation transport vechicle includes:
a frame unit;
the pallet lifting unit is arranged on the frame unit;
the first pallet unit is arranged on the pallet lifting unit;
a first ball unit, wherein the first ball unit array is arranged on the surface of the first pallet unit, and the first ball unit can rotate relative to the first pallet unit;
the pallet lifting unit drives the first pallet unit to lift relative to the frame unit; the first ball unit is used for driving the goods to move relative to the first pallet unit.
In one possible embodiment, the frame unit comprises a frame chassis extending vertically upwards with parallel guide rails;
one end of the pallet lifting unit is fixedly mounted on the frame chassis, the other end of the pallet lifting unit is mounted on the parallel guide rail and can slide up and down along the parallel guide rail, and the first pallet unit is further mounted at the other end of the pallet lifting unit.
In one possible embodiment, the pallet lift unit comprises:
the lifting cross rod is connected with the parallel guide rails and can slide up and down along the parallel guide rails, and the first pallet unit is fixedly arranged on the lifting cross rod;
the first end of the first connecting rod is sleeved outside the lifting cross rod and can rotate around the axis of the lifting cross rod;
the first end of the second connecting rod is rotatably connected with the second end of the first connecting rod through a first rotating shaft, and the first rotating shaft is parallel to the axis of the lifting cross rod;
the driving mechanism is arranged at the second end of the second connecting rod;
a first end of the first support rod is fixed to the frame unit, a second end of the first support rod is rotatably connected with the second connecting rod through a second rotating shaft, the second rotating shaft is arranged between the first end and the second end of the second connecting rod, and the second rotating shaft is parallel to the axis of the lifting cross rod;
the driving mechanism drives the second end of the second connecting rod to rotate around the second rotating shaft, so that the lifting cross rod and the first pallet unit slide up and down along the parallel guide rails.
In one possible embodiment, the pallet lifting unit further comprises a second support bar, a first end of which is fixed to the frame unit;
actuating mechanism is including driving actuating cylinder, drive actuating cylinder's first end with the second end of second bracing piece is rotated through the third pivot and is connected, the second end that drives actuating cylinder rotates through the fourth pivot and is connected with right angle switching structure, right angle switching structure still with the second end fixed connection of second connecting rod.
In one possible embodiment, the logistics transport vehicle further comprises a frame driving unit, the frame driving unit is arranged at the bottom end of the frame unit, and the frame driving unit is used for driving the frame unit to move; the frame driving unit comprises a driving wheel frame, a guide rod and a wheel, wherein the driving wheel frame is fixedly arranged on the frame unit, the first end of the guide rod is arranged on the driving wheel frame in a rotating manner along the vertical direction, and the wheel is arranged on the second end of the guide rod in a rotating manner along the horizontal direction; a first motor is arranged at the joint of the first end of the guide rod and the driving wheel carrier and is used for driving the guide rod to rotate relative to the driving wheel carrier; and a second motor is arranged at the joint of the second end of the guide rod and the wheel and is used for driving the wheel to rotate relative to the guide rod.
The application also discloses commodity circulation unmanned aerial vehicle, be equipped with the machine in commodity circulation unmanned aerial vehicle's the warehouse and carry the module, wherein, the machine carries the module and includes:
the second pallet unit is arranged at the bottom of a cargo cabin of the logistics unmanned aerial vehicle;
a second ball unit, the second ball unit array is arranged on the surface of the second pallet unit, and the second ball unit can rotate relative to the second pallet unit.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize that certain variations, modifications, alterations, additions and sub-combinations thereof are encompassed within the scope of the invention.

Claims (11)

1. A logistics transportation vehicle, characterized in that, logistics transportation vehicle includes:
a frame unit (10);
a pallet lifting unit (20), said pallet lifting unit (20) being mounted to said carriage unit (10);
a first pallet unit (40), the first pallet unit (40) being mounted to the pallet lifting unit (20), the first pallet unit (40) being used for loading cargo;
a first ball unit (50), said first ball unit (50) array being disposed on a surface of said first pallet unit (40), said first ball unit (50) being rotatable relative to said first pallet unit (40);
wherein the pallet lifting unit (20) drives the first pallet unit (40) to lift relative to the frame unit (10); the first ball unit (50) rotates to move the goods relative to the first pallet unit (40);
the frame unit (10) comprises a frame chassis (11), and a guide rail (12) extends upwards from the frame chassis (11);
one end of the pallet lifting unit (20) is fixedly mounted on the frame chassis (11), the other end of the pallet lifting unit (20) is mounted on the guide rail (12) and can slide up and down along the guide rail (12), and the other end of the pallet lifting unit (20) is also provided with the first pallet unit (40);
the pallet lifting unit (20) comprises:
the lifting cross rod (23) is connected with the guide rail (12) and can slide up and down along the guide rail (12), and the first pallet unit (40) is fixedly arranged on the lifting cross rod (23);
the first end of the first connecting rod (21) is sleeved on the lifting cross rod (23) and can rotate around the axis of the lifting cross rod (23);
the first end of the second connecting rod (22) is rotatably connected with the second end of the first connecting rod (21) through a first rotating shaft (201), and the first rotating shaft (201) is parallel to the axis of the lifting cross rod (23);
a drive mechanism (24), said drive mechanism (24) being mounted to a second end of said second link (22);
a first supporting rod (25), wherein a first end of the first supporting rod (25) is fixed to the frame unit (10), a second end of the first supporting rod (25) is rotatably connected with the second connecting rod (22) through a second rotating shaft (202), the second rotating shaft (202) is arranged between the first end and the second end of the second connecting rod (22), and the second rotating shaft (202) is parallel to the axis of the lifting cross rod (23);
wherein the driving mechanism (24) drives the second end of the second connecting rod (22) to rotate around the second rotating shaft (202) so as to enable the lifting cross rod (23) and the first pallet unit (40) to slide up and down along the guide rail (12).
2. The logistics transport vehicle of claim 1, wherein the lifting cross bar (23) is provided with a hanging rack (28), and the first pallet unit (40) is fixedly arranged on the hanging rack (28).
3. Logistics carriage of claim 1, characterized in that the pallet lifting unit (20) further comprises a second support bar (26), the first end of the second support bar (26) being fixed to the carriage unit (10);
actuating mechanism (24) are including driving actuating cylinder, drive actuating cylinder's first end with the second end of second bracing piece (26) is rotated through third pivot (203) and is connected, the second end that drives actuating cylinder rotates through fourth pivot (204) and is connected with switching structure (27), switching structure (27) still with the second end fixed connection of second connecting rod (22).
4. The logistics transport vehicle of any one of claims 1 to 3, further comprising:
the frame driving unit (30), the frame driving unit (30) is located frame unit (10) bottom, frame driving unit (30) is used for driving frame unit (10) removes.
5. The logistics transportation vehicle of claim 4, wherein the frame driving unit (30) comprises a driving wheel frame (31), a guiding rod (32) and a wheel (33), wherein the driving wheel frame (31) is fixedly installed on the frame unit (10), a first end of the guiding rod (32) is installed on the driving wheel frame (31) in a vertical direction, and the wheel (33) is installed on a second end of the guiding rod (32) in a horizontal direction.
6. The logistics transport vehicle of claim 5, wherein a first motor (34) is arranged at the joint of the first end of the guide rod (32) and the driving wheel carrier (31), and the first motor (34) is used for driving the guide rod (32) to rotate relative to the driving wheel carrier (31); and a second motor (35) is arranged at the joint of the second end of the guide rod (32) and the wheel (33), and the second motor (35) is used for driving the wheel (33) to rotate relative to the guide rod (32).
7. A automatic loading and unloading system, characterized in that, the automatic loading and unloading system includes a logistics transport vehicle and an onboard module provided on a logistics unmanned aerial vehicle, wherein the logistics transport vehicle is the logistics transport vehicle of any one of claims 1 to 6, the onboard module includes:
the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle, and the second pallet unit (60) is arranged at the bottom of the warehouse of the logistics unmanned aerial vehicle;
a second ball unit (70), the second ball unit (70) array is arranged on the surface of the second pallet unit (60), and the second ball unit (70) can rotate relative to the second pallet unit (60);
wherein the pallet lifting unit (20) of the logistics transport vehicle drives the first pallet unit (40) to lift relative to the frame unit (10) so that the first pallet unit (40) is flush with the second pallet unit (60); the first ball unit (50) and the second ball unit (70) drive the goods to move so that the goods are loaded and unloaded.
8. A method of loading and unloading a cargo, wherein the method is applied to the system of claim 7, and the method comprises:
controlling the pallet lifting unit (20) to drive the first pallet unit (40) to lift relative to the frame unit (10) so that the first pallet unit (40) is flush with the second pallet unit (60);
the first ball unit (50) and the second ball unit (70) are controlled to rotate so as to drive the goods to move between the first pallet unit (40) and the second pallet unit (60).
9. A method as claimed in claim 8, wherein said frame unit (10) comprises a frame chassis (11), said frame chassis (11) having upwardly extending guide rails (12); one end of the pallet lifting unit (20) is fixedly mounted on the frame chassis (11), the other end of the pallet lifting unit (20) is mounted on the guide rail (12) and can slide up and down along the guide rail (12), and the other end of the pallet lifting unit (20) is also provided with the first pallet unit (40);
in the method for automatically loading and unloading the cargo,
the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend relative to the carriage unit (10) comprises: controlling the pallet lifting unit (20) to drive the first pallet unit (40) to lift along the direction of the guide rail (12).
10. A method as claimed in claim 9, characterised in that said pallet lift unit (20) comprises:
the lifting cross rod (23) is connected with the guide rail (12) and can slide up and down along the guide rail (12), and the first pallet unit (40) is fixedly arranged on the lifting cross rod (23);
the first end of the first connecting rod (21) is sleeved on the lifting cross rod (23) and can rotate around the axis of the lifting cross rod (23);
the first end of the second connecting rod (22) is rotatably connected with the second end of the first connecting rod (21) through a first rotating shaft (201), and the first rotating shaft (201) is parallel to the axis of the lifting cross rod (23);
a drive mechanism (24), said drive mechanism (24) being mounted to a second end of said second link (22);
a first supporting rod (25), wherein a first end of the first supporting rod (25) is fixed to the frame unit (10), a second end of the first supporting rod (25) is rotatably connected with the second connecting rod (22) through a second rotating shaft (202), the second rotating shaft (202) is arranged between the first end and the second end of the second connecting rod (22), and the second rotating shaft (202) is parallel to the axis of the lifting cross rod (23);
wherein, in the automatic loading and unloading method,
the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend along the direction of the guide rail (12) comprises the following steps: controlling the driving mechanism (24) to drive the second end of the second connecting rod (22) to rotate around the second rotating shaft (202) so as to lift the lifting cross bar (23) and the first pallet unit (40) along the direction of the guide rail (12).
11. The method of any one of claims 8 to 10, wherein the logistics transportation vehicle further comprises a frame driving unit (30), the frame driving unit (30) is arranged at the bottom end of the frame unit (10), and the frame driving unit (30) is used for driving the frame unit (10) to move;
in the method for automatically loading and unloading the cargo,
before the step of controlling the pallet lifting unit (20) to drive the first pallet unit (40) to ascend and descend relative to the frame unit (10), the method further comprises the following steps:
the control frame driving unit (30) is used for driving the logistics transport vehicle to be close to the logistics unmanned aerial vehicle.
CN202010608221.2A 2020-06-29 2020-06-29 Logistics transport vehicle, logistics unmanned aerial vehicle, automatic loading and unloading system and method Active CN111732031B (en)

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CN114228801A (en) * 2021-11-12 2022-03-25 深圳供电局有限公司 Running trolley

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