CN113104133B - Unmanned delivery vehicle - Google Patents
Unmanned delivery vehicle Download PDFInfo
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- CN113104133B CN113104133B CN202110340083.9A CN202110340083A CN113104133B CN 113104133 B CN113104133 B CN 113104133B CN 202110340083 A CN202110340083 A CN 202110340083A CN 113104133 B CN113104133 B CN 113104133B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/06—Trailers
- B62D63/08—Component parts or accessories
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Abstract
The invention provides an unmanned distribution vehicle, which comprises an unmanned vehicle and a container, wherein the container is provided with a plurality of support legs for supporting the container, the bottom end of each support leg is provided with a travelling wheel, the unmanned vehicle can at least partially transversely drive in or out of the lower part of the container from one side of the container, a locking mechanism is arranged between the unmanned vehicle and the container, the locking mechanism can form locking between the unmanned vehicle and the container when the unmanned vehicle drives in the lower part of the container so as to drive the container to move by the unmanned vehicle, and a guide mechanism for guiding the unmanned vehicle to drive in or out of the lower part of the container is arranged between the unmanned vehicle and the container. The invention can realize the intelligent distribution function, can also realize the full utilization of the unmanned vehicle and the container, can reduce the cost of the unmanned vehicle, and is beneficial to the development and application of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an unmanned distribution vehicle.
Background
The link with the most expensive logistics cost and the lowest efficiency is at the front end and the rear end, namely at the two ends closest to the sender and the receiver, and users at the front end and the rear end are dispersed, so that the intelligent distribution vehicle is a good choice for distribution in order to improve efficiency and reduce labor cost. However, the existing intelligent distribution vehicles have the defects of complex structure and high vehicle and use cost, so that the development and application of the intelligent distribution vehicles are limited to a certain extent.
Disclosure of Invention
In view of the above, the present invention is directed to an unmanned distribution vehicle, so as to reduce the cost of an intelligent distribution vehicle, and facilitate the development and application thereof.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an unmanned delivery vehicle comprises an unmanned vehicle and a container, wherein the container is provided with a plurality of support legs for supporting the container, the bottom end of each support leg is provided with a travelling wheel, the unmanned vehicle can at least partially transversely drive in or out of the lower part of the container from one side of the container, a locking mechanism is arranged between the unmanned vehicle and the container, and when the unmanned vehicle drives the lower part of the container; wherein:
the locking mechanism may constitute locking between the unmanned vehicle and the container so that the container may be moved by the unmanned vehicle;
a guide mechanism for guiding the unmanned vehicle to enter or exit the lower part of the container is arranged between the unmanned vehicle and the container.
Furthermore, the guide mechanism comprises two lower guide blocks arranged at the top of the unmanned vehicle in parallel and two upper guide blocks arranged at the bottom of the container in one-to-one correspondence with the lower guide blocks, and the unmanned vehicle is guided to enter or exit by the sliding abutting between the lower guide blocks and the corresponding opposite end surfaces of the upper guide blocks.
Furthermore, the locking mechanism comprises a locking pin arranged on one of the unmanned vehicle and the container, a first locking driving device for driving the locking pin to vertically extend and retract, and a locking hole arranged on the other of the unmanned vehicle and the container and used for the locking pin to extend into.
Furthermore, the locking hole is long-strip-shaped, and the length direction of the locking hole is orthogonal to the guiding direction of the guiding mechanism.
Further, the locking mechanism comprises a locking block which is arranged on one of the unmanned vehicle and the container in a guiding sliding manner, a second locking driving device which drives the locking block to slide, and a locking groove which is arranged on the other of the unmanned vehicle and the container and is used for the insertion of the locking block, wherein the sliding direction of the locking block is arranged along the transverse direction and is orthogonal to the guiding direction of the guiding mechanism.
Furthermore, the locking groove with the locking piece is for being two sets of that the diagonal is arranged, just second locking drive arrangement includes rotary power output unit, connect in drive lever on rotary power output unit's the power take off end, and articulate respectively in the both ends of drive lever and each the connecting rod between the locking piece.
Further, in the top of unmanned vehicle is connected through the shock attenuation suspension and is provided with the mounting panel, down the guide block and among the locking mechanical system the locking block reaches second locking drive arrangement or locking groove locates on the mounting panel.
Furthermore, the locking mechanism comprises limiting parts arranged on the unmanned vehicle corresponding to the supporting legs and a driving unit driving the limiting parts to move, clamping grooves for the supporting legs to be at least partially embedded are formed in the limiting parts, and the supporting legs can be embedded and positioned in the corresponding clamping grooves by the driving unit to form locking between the unmanned vehicle and the container.
Furthermore, the supporting legs are two pairs which are respectively arranged close to the front end and the rear end of the container, each pair of the supporting legs is respectively arranged on two sides of the container, and the clamping grooves which are correspondingly arranged with the supporting legs at the front end and the rear end are oppositely or back-to-back arranged; and when each supporting leg is embedded into the corresponding clamping groove, the distance between the front and the rear supporting legs at one side of the container is greater than the distance between the front and the rear clamping grooves at the same side.
Furthermore, the driving unit comprises servo motors which are arranged in one-to-one correspondence with the limiting pieces, and the limiting pieces are connected to the output shafts of the corresponding servo motors.
Compared with the prior art, the invention has the following advantages:
the unmanned distribution vehicle is provided with the container with the supporting legs, the bottom ends of the supporting legs are provided with the traveling wheels, and the unmanned vehicle can move into or out of the lower part of the container and can drive the container to move by being locked between the locking mechanism and the container. Therefore, the intelligent distribution function can be realized by utilizing the cargo carrying function of the container and the unmanned driving function of the unmanned vehicle, meanwhile, the unmanned vehicle and the container can be fully utilized by separating the unmanned vehicle and the container, and the cost of the unmanned distribution vehicle can be reduced by utilizing the characteristics of simple structure of the adopted supporting legs, the walking wheels, the locking mechanism and the like, thereby being beneficial to the development and application of the unmanned distribution vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an overall schematic view of an unmanned distribution vehicle according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned vehicle according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of a lower guide block and a locking pin according to a first embodiment of the present invention;
FIG. 4 is a schematic view of a container according to a first embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a locking plate according to a first embodiment of the present invention;
FIG. 6 is a schematic view of the upper and lower guide blocks according to the first embodiment of the present invention;
fig. 7 is an overall schematic view of an unmanned distribution vehicle according to a second embodiment of the present invention;
fig. 8 is a schematic structural view of an unmanned vehicle according to a second embodiment of the present invention;
fig. 9 is a partial enlarged view of a portion a in fig. 8;
FIG. 10 is a schematic structural view of a suspension according to a second embodiment of the present invention;
fig. 11 is a schematic structural diagram of an upper guide block according to a second embodiment of the present invention;
FIG. 12 is a schematic view of the locking mechanism according to the second embodiment of the present invention in an initial state;
FIG. 13 is a schematic view of a locking mechanism according to a second embodiment of the present invention;
fig. 14 is an overall schematic view of an unmanned distribution vehicle according to a third embodiment of the present invention;
fig. 15 is a schematic structural view of an unmanned vehicle according to a third embodiment of the present invention;
fig. 16 is a schematic structural diagram of a limiting member according to a third embodiment of the invention;
fig. 17 is a schematic view illustrating an operating state of a limiting member according to a third embodiment of the invention;
fig. 18 is a partially enlarged view of a portion B in fig. 14;
description of reference numerals:
1. unmanned vehicles; 2. a wheel; 3. a container; 4. a support leg; 5. a traveling wheel; 6. a lower guide block; 7. an upper guide block; 8. a locking pin; 9. a locking plate; 10. a first lock driving device; 11. a support; 12. a locking block; 13. a rotary power output unit; 14. a drive rod; 15. a connecting rod; 16. mounting a plate; 17. damping suspension; 18. a guide rail; 19. a limiting member; 20. a servo motor;
601. a guide slope; 602. a via hole;
701. mounting a column body; 702. a guide roller; 703. a locking groove;
901. a locking hole;
171. an outer support; 172. a rubber body; 173. an inner core; 174. a bolt pair; 175. a set screw;
191. a first support bar; 192. a second support bar; 193. a third support bar; 194. a clamping groove.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be noted that, if terms indicating orientation or positional relationship such as "upper", "lower", "inner", "back", etc. appear, they are based on the orientation or positional relationship shown in the drawings and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the appearances of the terms first, second, etc. in this specification are not necessarily all referring to the same item, but are instead intended to cover the same item.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
The embodiment relates to an unmanned delivery vehicle which can be used at the front end and the rear end of an express logistics industry and is mainly used for receiving goods sent by a sender and sending the goods to a receiver.
Overall structure, as shown in fig. 1, this unmanned delivery car includes unmanned car 1 and packing cupboard 3, wherein, unmanned car 1 adopts current dolly that possesses unmanned function to can order about the rotation and the direction of control wheel 2 under the high in the clouds control command, packing cupboard 3 refers to current express delivery cabinet structure that can unmanned on duty, then is provided with on packing cupboard 3 in order to support a plurality of landing legs 4 of packing cupboard 3, and also is provided with walking wheel 5 respectively in the bottom of each landing leg 4.
In this embodiment, the unmanned vehicle 1 can completely or partially laterally move into or out of the lower part of the container 3 from one side of the container 3, and meanwhile, a locking mechanism is also arranged between the unmanned vehicle 2 and the container 3, when the unmanned vehicle 1 moves into the lower part of the container 3, the locking mechanism can form locking between the unmanned vehicle 1 and the container 3, so that the container 3 can be driven by the unmanned vehicle 1 to move, and receiving or dispatching work can be carried out.
In this embodiment, as a preferred embodiment, the supporting legs 4 of the container 3 are two pairs near the front and rear ends of the container 3, and each pair of supporting legs 4 is also disposed on two opposite sides of the container 3, so that the unmanned vehicle 1 can move into or out of the lower part of the container 3 from the side of the container 3 through the space between the two supporting legs 4. Further, in order to facilitate the entry or exit of the unmanned vehicle 1, a guide mechanism for guiding the unmanned vehicle 1 to enter or exit below the container 3 is also provided between the unmanned vehicle 1 and the container 3.
At this time, as an exemplary structure, the guide mechanism specifically includes two lower guide blocks 6 arranged side by side provided on the roof of the unmanned vehicle 1, and two upper guide blocks 7 provided on the bottom of the container 3 in one-to-one correspondence with the respective lower guide blocks 6. When the unmanned vehicle 3 is driven in or out, that is, by the sliding contact between the facing end surfaces of each lower guide shoe 6 and the corresponding upper guide shoe 7, the unmanned vehicle 1 is guided.
As shown in fig. 2 to 4, the embodiment is embodied in such a way that the upper guide block 7 at the bottom of the container 3 is located on the outer side, the lower guide block 6 at the top of the unmanned vehicle 1 is located on the inner side, and in order to facilitate the entry of the lower guide block 6 between the two upper guide blocks 7, i.e. to facilitate the guiding of the unmanned vehicle 1 down into the container 3 under the guidance of the guide mechanism, the lower guide block 6 is also provided with a guide slope 601 at its end, and at the same time, the upper guide block 7 is provided with a guide roller 702 at its end.
Of course, it is also possible to adjust the positions of the guide slope 601 and the guide roller 702 such that the guide slope 601 is located on the upper guide block 7 and the guide roller 702 is located on the lower guide block 6. Furthermore, it is also possible to have the lower guide block 6 on the inside, to be arranged on the outside, and the two upper guide blocks 7 on the inside.
In this embodiment, in combination with what is shown in figure 6 described below, the upper guide block 7 can be fixed to the bottom of the container 3 by means of a screw or bolt arrangement using mounting posts 701 located within itself. Of course, the lower guide block 6 may be fixed to the roof of the unmanned vehicle 1 in the same manner. In addition, as shown in fig. 5 and fig. 6, the locking mechanism of the embodiment specifically includes a locking pin 8 disposed on the unmanned vehicle 1, a first locking driving device 10 for driving the locking pin 8 to extend and contract in the vertical direction, and a locking hole 901 disposed on the container 3 for the locking pin 8 to extend into.
The first locking driving device 10 may be a linear motor or a push-pull type electromagnet, and the like, which may be used as a conventional driving structure capable of driving the locking pin 8 to linearly reciprocate. The first locking driving device 10 may be fixed to the top of the unmanned vehicle 1 via a bracket 11, and is located in the lower guide block 6 on one side, and a through hole 602 is also formed on the lower guide block 6 for the locking hole 8 to pass through.
The locking hole 901 of this embodiment is specifically provided in the locking plate 9 fixed to the bottom of the container 3, and the locking hole 901 is also specifically provided in a long strip shape, and the length direction of the locking hole 901 is orthogonal to the guiding direction of the above guiding mechanism. Of course, it is also possible to arrange the locking pins 8 actuated by the first locking driving means 10 at the bottom of the container 3 and the locking plate 9 at the top of the unmanned vehicle 1, in addition to the above arrangement.
In addition, due to the arrangement of the guide mechanism and the locking mechanism formed by the locking pin 8 and the locking hole 901, the relative motion between the unmanned vehicle 1 and the container 3 is limited, so that in order to avoid damage to the locking mechanism when the plane where the wheels 2 and the road wheels 5 are located is at a certain angle in a bumpy road section or an uphill road section, the road wheels 2 of the embodiment also adopt universal wheels with shock absorption, and the universal wheels with shock absorption can adopt existing commercially available products.
When the unmanned delivery vehicle of the embodiment is in use, the unmanned vehicle 1 is driven under the container 3 under the control command by the guide mechanism, and when the unmanned vehicle 1 is driven in place, the first locking driving device 10 causes the locking pin 8 to extend into the locking hole 901 to lock the unmanned vehicle 1 and the container 3 together. The above drive-in of the unmanned vehicle 1 into place is generally achieved by arranging a corresponding sensor structure, such as an infrared, photoelectric or mechanical sensor, between the unmanned vehicle 1 and the container 3.
Then, the unmanned vehicle 1 can drive the container 3 to move together under the control instruction so as to receive or send the goods, and the driving direction of the unmanned vehicle 1 is mainly the left and right direction shown in fig. 1, namely the direction orthogonal to the guiding direction of the guiding mechanism, so the unmanned vehicle 1 mainly depends on the upper and lower guiding blocks to transmit force to the container 3, and the strength requirement on the locking mechanism can be reduced.
Example two
The present embodiment also relates to an unmanned distribution vehicle having substantially the same structure as the unmanned distribution vehicle of the first embodiment, except that as shown in fig. 7 to 11, the locking mechanism of the present embodiment specifically includes a locking block 12 provided slidably guided on the roof of the unmanned vehicle 1, and a second locking driving means for driving the locking block 12 to slide, and further includes a locking groove 703 provided on the container 3 for insertion of the locking block 12, and the sliding direction of the locking block 12 is arranged in the lateral direction and orthogonal to the guiding direction of the guiding mechanism constituted by the upper and lower guide blocks.
The locking block 12 is guided to slide on the top of the unmanned vehicle 1 through the guide rail 18, and the matching section between the guide rail 18 and the locking block 12 may be in a T-shape or a dovetail-shape, so as to ensure the stable sliding arrangement of the locking block 12.
In addition, as a preferred embodiment, the locking grooves 703 and the locking blocks 12 of the present embodiment are also two sets arranged diagonally, and the second locking driving device also specifically includes a rotary power output unit 13, a driving rod 14 connected to a power output end of the rotary power output unit 13, and connecting rods 15 respectively hinged between both ends of the driving rod 14 and the locking blocks 12.
The rotary power output unit 13 is generally driven by a motor, and specifically, a self-locking servo motor is used, and at this time, under the driving of the rotation of the rotary power output unit 13, when the rotary power output unit 13 rotates along one direction (for example, the direction can be set to be a forward rotation direction), the locking block 12 is made to extend outward through the transmission of the driving rod 14 and the connecting rod 15, so as to be inserted into the corresponding locking groove 703, thereby achieving locking. When the rotary power output unit 13 rotates reversely, the locking block 12 can be driven to be drawn out from the corresponding locking groove 703 to release the locking.
As a preferred embodiment, the locking groove 703 of this embodiment is also formed on the upper guide block 7, and thus the two upper guide blocks 7 are located at the inner side, and the two lower guide blocks 6 are located at the outer side. However, as in the first embodiment, the ends of the upper and lower guide blocks are still provided with a guide slope 601 and a guide roller 702, respectively, to facilitate the driving of the unmanned vehicle 1 to the lower part of the container 3.
In addition, due to the arrangement of the locking mechanism and the guiding mechanism of the embodiment, the relative movement between the unmanned vehicle 1 and the container 3 is limited as described in the first embodiment, so that in order to avoid damage to the locking mechanism when the plane of the wheels 2 and the travelling wheels 5 is at a certain angle in a bumpy road section or an uphill road section, the mounting plate 16 is also arranged on the top of the unmanned vehicle 1 through the shock absorption suspension 17 in a connecting manner, and the lower guiding block 6 and the locking block 12 and the second locking driving device in the locking mechanism are also arranged on the mounting plate 16.
At this time, the shock absorbing mount 17 may be made of an existing common rubber mount product, and for example, it may include an outer bracket 171, a rubber body 172 and an inner core 173 that are vulcanized and fixed together, and the inner core 173 is fixed to the mounting plate 16 by a bolt pair 175, and the outer bracket 171 is fixed to the top of the unmanned vehicle 1 by a fixing screw 174.
In this embodiment, in addition to the driving of the two locking blocks 12 arranged at opposite angles by the second locking driving device formed by the rotary power output unit 13, the driving rod 14 and the connecting rod 15, the second locking driving device may also take other structural forms to drive the two locking blocks 12, for example, the second locking driving device may also take a linear power output device respectively corresponding to each locking block 12.
Furthermore, instead of having the locking block 12 and the second locking actuation means arranged on the top of the unmanned vehicle 1, it is of course possible to choose to arrange both on the bottom of the container 3, and to arrange the locking groove 703 on the unmanned vehicle 1. Also, instead of integrating the locking groove 703 in the upper guide block 7 or the lower guide block 6, it is possible to shape the locking groove 703 by providing relevant structures on the bottom of the container 3, or on the top of the unmanned vehicle 1, i.e. the mounting plate 16.
It should be noted that the traveling wheels 5 provided at the bottom of each leg 4 in this embodiment may be common universal wheels, and there is no need to use universal wheels with shock absorption. When the unmanned delivery vehicle is in use, the unmanned vehicle 1 is guided by the guide mechanism to enter the lower part of the container 3 from one side under the control command, and when the unmanned vehicle 1 enters the proper position, the state can be as shown in fig. 12, and each locking block 12 is aligned with the corresponding locking groove 703. Then, the rotary power output unit 13 is rotated so that the lock block 12 is inserted into the lock groove 703 as shown in fig. 13.
Then, the unmanned vehicle 1 can drive the container 3 to move together under the control instruction so as to receive or send the goods. Meanwhile, the unmanned vehicle 1 also depends on a guide mechanism consisting of the upper guide block and the lower guide block and a locking mechanism to transmit force to the container 3, so that the strength requirement on the locking mechanism can be reduced.
EXAMPLE III
The present embodiment also relates to an unmanned distribution vehicle having the unmanned vehicle 1 and the container 3 in the unmanned distribution vehicle of the first embodiment, however, the above-mentioned guiding mechanism is not provided between the unmanned vehicle 1 and the container 3 in the present embodiment, and as shown in fig. 14 to 16, the locking mechanism of the present embodiment specifically includes the stoppers 19 provided on the unmanned vehicle 1 corresponding to the respective legs 4, and the driving unit for driving the respective stoppers 19 to move.
In the present embodiment, the retaining member 19 is formed with a slot 194 for at least partially inserting the leg 4, and as an exemplary structure, the retaining member 19 is also specifically formed by a first rod 191, a second rod 192 and a third rod 193 which are fixedly connected, and the slot 194 is formed by surrounding the second rod 192 and the third rod 193.
In addition, the driving unit of the present embodiment also includes servo motors 20 corresponding to the limiting members 19, and each limiting member 19 is connected to the output shaft of the corresponding servo motor 20. In this way, the driving unit constituted by the servo motor 20 drives, through the rotation of the limiting member 19, each supporting leg 4 can be inserted into the corresponding slot 194 as shown in fig. 18, and can be positioned in the slot 194 by the self-locking of the servo motor 20, so as to lock the unmanned vehicle 1 and the container 3.
Of course, the driving unit of the present embodiment may also adopt other structures besides being configured for rotation and driven by the servo motor 20, and for example, it may adopt the existing linear power output structure capable of locking the linear output displacement, and only one power output structure may be provided, and the synchronous driving of the limiting members 19 is realized through the related transmission structure. Alternatively, a linear power output structure may be provided corresponding to each stopper 19. It should be noted that, in this embodiment, it is preferable to arrange the limiting member 19 in a rotating manner to facilitate the insertion of the supporting leg 4 into the slot 194.
In addition, in this embodiment, it should be noted that a certain gap should be generally reserved between the locking slot 194 and the corresponding leg 4 to facilitate tolerance absorption and insertion of the leg 4. In general, in this case, in a specific arrangement, when the position-limiting member 19 is in the unfolded state shown in fig. 17, that is, each leg 4 is inserted into the corresponding slot 194, the distance between the front and rear legs 4 on one side of the container 3 is greater than the distance between the front and rear slots 174 on the same side, and the difference between the two distances may be 3mm, for example.
Thus, by setting the gap, the present embodiment can also make the container 3 and the unmanned vehicle 1 have a certain movement margin without limiting the relative movement therebetween as in the above embodiments, and therefore, the present embodiment does not need to provide a related shock absorption structure.
The walking wheels 5 arranged at the bottoms of the supporting legs 4 of the embodiment also adopt common universal wheels without adopting the universal wheels with shock absorption. When the unmanned delivery vehicle of the embodiment is in use, the unmanned vehicle 1 is driven into the lower part of the container 3 from the front end or the rear end side of the container 3 under the control instruction. When the unmanned vehicle 1 drives in place, each servo motor 20 drives the corresponding limiting member 19 to rotate and unfold, so that each supporting leg 4 enters the corresponding slot 194 as shown in fig. 18.
Then, the unmanned vehicle 1 can drive the container 3 to move together under the control instruction so as to receive or send a mail, and the unmanned vehicle 1 transmits force to the container 3 by means of the limiting parts 19, so that the container 3 is driven.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An unmanned delivery vehicle, includes unmanned car (1) and packing cupboard (3), its characterized in that:
the container (3) is provided with a plurality of supporting legs (4) for supporting the container (3), the bottom end of each supporting leg (4) is provided with a travelling wheel (5), the unmanned vehicle (1) can transversely enter or exit the lower part of the container (3) at least partially from one side of the container (3), and a locking mechanism is arranged between the unmanned vehicle (1) and the container (3);
when the unmanned vehicle (1) drives into the lower part of the container (3), the locking mechanism can form locking between the unmanned vehicle (1) and the container (3) so that the container (3) can be driven by the unmanned vehicle (1) to move, and a guide mechanism for guiding the unmanned vehicle (1) to drive into or out of the lower part of the container (3) is arranged between the unmanned vehicle (1) and the container (3);
the locking mechanism comprises a locking block (12) which is arranged on one of the unmanned vehicle (1) and the container (3) in a guiding and sliding manner, a second locking driving device for driving the locking block (12) to slide, and a locking groove (703) which is arranged on the other of the unmanned vehicle (1) and the container (3) and is used for inserting the locking block (12), and the sliding direction of the locking block (12) is arranged along the transverse direction and is orthogonal to the guiding direction of the guiding mechanism;
or, the locking mechanism comprises limiting pieces (19) which are arranged on the unmanned vehicle (1) corresponding to the supporting legs (4) and a driving unit which drives the limiting pieces (19) to move, clamping grooves (194) which are used for at least partially embedding the supporting legs (4) are formed in the limiting pieces (19), and the supporting legs (4) can be embedded and positioned in the corresponding clamping grooves (194) by the driving of the driving unit, so that the locking between the unmanned vehicle (1) and the container (3) is formed.
2. The unmanned dispensing vehicle of claim 1, wherein: the guide mechanism comprises two lower guide blocks (6) arranged at the top of the unmanned vehicle (1) in parallel and two upper guide blocks (7) arranged at the bottom of the container (3) in a one-to-one correspondence manner with the lower guide blocks (6), and the lower guide blocks (6) are in sliding butt joint with the corresponding opposite end surfaces of the upper guide blocks (7) to form the guide for the driving-in or driving-out of the unmanned vehicle (1).
3. The unmanned dispensing vehicle of claim 1, wherein: the locking grooves (703) and the locking blocks (12) are arranged in two groups in a diagonal manner.
4. The unmanned dispensing vehicle of claim 3, wherein: the second locking driving device comprises a rotary power output unit (13), a driving rod (14) connected to the power output end of the rotary power output unit (13), and connecting rods (15) respectively hinged between two ends of the driving rod (14) and the locking blocks (12).
5. The unmanned dispensing vehicle of claim 2, wherein: the top of the unmanned vehicle (1) is provided with a mounting plate (16) through a damping suspension (17) in a connecting manner, and the lower guide block (6) and the locking mechanism are provided with a locking block (12) and a second locking driving device or a locking groove (703) which is arranged on the mounting plate (16).
6. The unmanned dispensing vehicle of claim 1, wherein: the supporting legs (4) are two pairs which are respectively arranged near the front end and the rear end of the container (3), each pair of the supporting legs (4) is respectively arranged at two sides of the container (3), and the clamping grooves (194) which are arranged corresponding to the supporting legs (4) at the front end and the rear end are arranged oppositely or back to back.
7. The unmanned dispensing vehicle of claim 6, wherein: when the supporting legs (4) are embedded into the corresponding clamping grooves (194), the distance between the front and the rear supporting legs (4) at one side of the container (3) is greater than the distance between the front and the rear clamping grooves (194) at the same side.
8. The unmanned dispensing vehicle of claim 1, 6 or 7, wherein: the driving unit comprises servo motors (20) which are arranged in one-to-one correspondence with the limiting pieces (19), and the limiting pieces (19) are connected to output shafts of the corresponding servo motors (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110340083.9A CN113104133B (en) | 2021-03-30 | 2021-03-30 | Unmanned delivery vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110340083.9A CN113104133B (en) | 2021-03-30 | 2021-03-30 | Unmanned delivery vehicle |
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| CN113104133A CN113104133A (en) | 2021-07-13 |
| CN113104133B true CN113104133B (en) | 2022-04-19 |
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| CN202110340083.9A Active CN113104133B (en) | 2021-03-30 | 2021-03-30 | Unmanned delivery vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114715238B (en) * | 2022-03-18 | 2023-10-13 | 江苏农牧科技职业学院 | Vaccine storage and transportation cart for large-scale pig farm |
| CN115123055A (en) * | 2022-07-21 | 2022-09-30 | 拉扎斯网络科技（上海）有限公司 | Unmanned delivery device and unmanned delivery system |
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