CN114654975A

CN114654975A - Multi-connecting-rod linkage cabin door opening and closing system and small-sized logistics carrying vehicle

Info

Publication number: CN114654975A
Application number: CN202210170080.XA
Authority: CN
Inventors: 郭鹏程; 肖罡; 李佳文; 廖琴; 张立强
Original assignee: Central South University of Forestry and Technology
Current assignee: Central South University of Forestry and Technology
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-06-24

Abstract

The invention discloses a multi-connecting-rod linkage cabin door opening and closing system and a small-sized logistics carrying vehicle, wherein the multi-connecting-rod linkage cabin door opening and closing system is used on the small-sized logistics carrying vehicle, two cabin doors and a cabin door opening and closing device for synchronously opening and closing the two cabin doors are arranged on the side part of a cabin of the small-sized logistics carrying vehicle, the multi-connecting-rod linkage cabin door opening and closing system is a cabin door opening and closing device, the cabin door opening and closing device comprises a guide piece arranged at the top of the cabin, a push-pull component and a push-pull drive used for driving the push-pull component to slide on the guide piece, two sides of the push-pull component are respectively provided with a supporting rod and a push rod component, one ends of the two push rod components are respectively hinged with the guide piece, the other ends of the two push rod components are respectively connected with different cabin doors, one ends of the two supporting rods are hinged with the push-pull component, and the other ends of the two supporting rods are respectively hinged with the corresponding push rod components. The invention has the advantages of strong adaptability, convenient article loading and unloading, simple structure and convenient manufacture.

Description

Multi-connecting-rod linkage cabin door opening and closing system and small-sized carrier vehicle

Technical Field

The invention relates to the technical field of material transportation, in particular to a multi-connecting-rod linkage cabin door opening and closing system and a small-sized logistics carrying vehicle.

Background

The information interconnection era is entered in the world, and domestic and foreign articles are in the process of constantly circulating, often need transport material and product, if adopt artifical transport, inefficiency, and need consume a large amount of manpowers and financial resources, still take place the incident easily when carrying some great heavier objects, therefore the commodity circulation dolly has become one of article transportation's commonly used carrier, along with the development of commodity circulation, has also proposed higher requirement to the function of commodity circulation dolly.

The logistics trolley needs to load the objects to be transported by utilizing the compartment, and the conventional logistics trolley is usually in the following forms in order to load and unload the objects conveniently: 1) the side surface of the vehicle cabin is provided with a pick-and-place opening for loading and unloading articles, so that the articles are easy to fall and damage in the transportation process, and the transportation is greatly influenced by the weather; the sanitation in the vehicle cabin is difficult to ensure, and the like. 2) The side of the vehicle cabin is provided with the cabin door which needs to be manually opened and closed, and the defects of time occupation, labor waste and the like of opening and closing the cabin door exist. 3) The hatch door is opened and closed by the hatch door opening and closing device, but the hatch door opening and closing device has the defects of complex structure, large volume, high cost and the like. In addition, the logistics trolley is in a narrow space, and has the defects that when the logistics trolley is inconvenient to turn, a cabin door of a cabin is not over against a human body, and articles are inconvenient to load and unload.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the logistics trolley based on the link mechanism double doors, which has the advantages of strong adaptability, convenience in loading and unloading articles, simple structure and convenience in manufacturing.

In order to solve the technical problems, the invention adopts the following technical scheme:

the multi-connecting-rod linkage cabin door opening and closing system is used for a small-sized logistics carrying vehicle, two cabin doors and a cabin door opening and closing device for synchronously opening and closing the two cabin doors are arranged on the side portion of a cabin of the small-sized logistics carrying vehicle, the multi-connecting-rod linkage cabin door opening and closing system is the cabin door opening and closing device, the cabin door opening and closing device comprises a guide piece arranged at the top of the cabin, a push-pull component and a push-pull drive used for driving the push-pull component to slide on the guide piece, supporting rods and push rod components are arranged on two sides of the push-pull component, one end of each of the two push rod components is hinged to the guide piece, the other end of each of the two push rod components is connected with different cabin doors, one end of each of the two supporting rods is hinged to the push-pull component, and the other end of each of the two supporting rods is hinged to the corresponding push rod component.

As a further improvement of the above technical solution:

the push rod assembly comprises two second push rods and a reinforcing rod between the two second push rods, one end of each of the two second push rods is hinged to the push-pull component, the other end of each of the two second push rods is connected with the cabin door, the supporting rods are hinged to the reinforcing rods, the second push rods of different push rod assemblies are connected with different cabin doors, and the second push rods of the same push rod assembly are connected with the same cabin door.

And one end of the push-pull component, which is far away from the push-pull component, is provided with a stay bar connecting part, and the stay bar connecting part is connected with a stay bar.

A small-size commodity circulation car that carries, includes foretell many connecting rods linkage hatch door system that opens and shuts, the guide is fixed at the cabin top.

As a further improvement of the above technical solution:

a first rolling piece is arranged between the bottom of the cabin door and the cabin.

The vehicle cabin rotating system is used for driving the vehicle cabin to rotate, the vehicle cabin is arranged above the lower base, and the vehicle cabin rotating system is arranged between the lower base and the vehicle cabin.

The car cabin rotating system comprises a mounting seat, a rotary upper shell and a third driving mechanism for driving the rotary upper shell to rotate, the mounting seat is arranged on the lower base, the rotary upper shell is rotatably arranged on the mounting seat, and the car cabin is arranged on the rotary upper shell.

The third driving mechanism comprises a third driving gear, a fifth driving piece and a first driven gear ring, the fifth driving piece is used for driving the third driving gear to rotate, the fifth driving piece is fixedly arranged on the rotating upper shell, the first driven gear ring is fixedly arranged on the mounting seat, and the third driving gear is meshed with the first driven gear ring.

The mounting base center is equipped with the projection, first driven ring gear is located outside the projection, rotatory upper shell is rotatable to be located outside the projection.

And a second rolling part is arranged between the rotary upper shell and the mounting seat.

Compared with the prior art, the invention has the beneficial effects that:

the multi-connecting-rod linkage cabin door opening and closing system disclosed by the invention has the advantages that the push-pull driving drives the push-pull component to slide on the guide piece, and when the push-pull component is driven to slide in the direction far away from the cabin door, the push rod component is driven to be outwards propped open by the support rod, the cabin door is driven to be outwards pushed by the push rod component, and the cabin door is opened; on the contrary, when the push-pull component is driven to slide towards the direction close to the cabin door, the support rod is driven to pull back the push rod component inwards, the push rod component is driven to pull back the cabin door inwards, and the cabin door is closed. The automatic loading and unloading device has the advantages of simple shape, easiness in processing, synchronization in opening and closing of the cabin door, high automation degree, convenience in loading and unloading cargos in the cabin, capability of adapting to severe weather, maintenance of sanitation in the cabin and the like.

Furthermore, the multi-connecting-rod linkage cabin door opening and closing system disclosed by the invention comprises a push rod assembly and a reinforcing rod, wherein the reinforcing rod is arranged between the two second push rods, one end of each of the two second push rods is hinged with the push-pull component, the other end of each of the two second push rods is respectively connected with the cabin door, the supporting rods are hinged with the reinforcing rods, the second push rods of different push rod assemblies are respectively connected with different cabin doors, and the second push rods of the same push rod assembly are connected with the same cabin door. Has the advantages of large driving force and uniform driving force distribution.

The invention also discloses a small-sized logistics carrying vehicle which comprises the multi-connecting-rod linkage cabin door opening and closing system, so that the small-sized logistics carrying vehicle has the advantages, the guide piece is fixed at the top of the cabin, the connection is stable, the push-pull part can smoothly slide on the guide piece, and the cabin door can be smoothly opened and closed.

Furthermore, the small-sized logistics carrying vehicle disclosed by the invention further comprises a vehicle cabin rotating system, wherein the vehicle cabin rotating system comprises a mounting seat, a rotating upper shell and a third driving mechanism for driving the rotating upper shell to rotate, the mounting seat is arranged on the base, the rotating upper shell is rotatably arranged on the mounting seat, and the vehicle cabin is arranged on the rotating upper shell. Therefore, the car cabin can rotate relative to the mounting seat, the car cabin can be steered for 360 degrees, and even in a narrow space and when the logistics trolley is not steered conveniently, the car cabin can be rotated to an angle just opposite to a human body, so that articles in the car cabin can be loaded and unloaded conveniently.

Drawings

Fig. 1 is a schematic perspective view of the logistics vehicle of the invention.

Fig. 2 is another perspective view of the logistics vehicle of the invention.

Fig. 3 is a schematic perspective view of the steering drive system of the present invention.

Fig. 4 is a cross-sectional view a-a of fig. 3.

Fig. 5 is a schematic perspective view of the steering drive system of the present invention (the upper case is not shown).

Fig. 6 is an enlarged view at a in fig. 5.

Fig. 7 is a perspective view of the outer case and the connecting shaft in the present invention.

Fig. 8 is a schematic top view of the steering drive system of the present invention.

Fig. 9 is a schematic perspective view of the steering apparatus of the present invention.

Fig. 10 is a schematic axial view of the steering apparatus of the present invention.

Fig. 11 is an enlarged view at B in fig. 10.

Fig. 12 is a schematic perspective view of the first driving mechanism according to the present invention.

Fig. 13 is a schematic bottom view of the first drive mechanism of the present invention.

Fig. 14 is a schematic bottom view of the present invention.

Fig. 15 is a schematic perspective view of the adaptive wheel attachment adjustment system of the present invention.

Fig. 16 is an enlarged view at C in fig. 15.

Fig. 17 is a perspective view of the height adjusting device of the present invention.

Fig. 18 is a schematic perspective view of a braking system according to the present invention.

Fig. 19 is an enlarged view at D in fig. 18.

Fig. 20 is a schematic perspective view of the braking system of the present invention (the lower base is not shown).

Fig. 21 is an enlarged view of fig. 20 at E.

Fig. 22 is a perspective view of the vehicle cabin rotation device according to the present invention.

Fig. 23 is a schematic view showing an internal perspective structure of the vehicle compartment rotating device according to the present invention.

Fig. 24 is a front view schematically showing the inside of the vehicle compartment rotating device according to the present invention.

Fig. 25 is a schematic structural view of the vehicle compartment opening and closing device according to the first embodiment of the present invention.

Fig. 26 is a schematic structural view of a vehicle cabin opening/closing device according to a second embodiment of the present invention.

Fig. 27 is an enlarged view at F in fig. 26.

The reference numerals in the figures denote: 1. a vehicle cabin; 11. a cabin door; 12. a hatch opening and closing device; 121. a guide member; 122. a push-pull member; 123. push-pull driving; 124. a strut connecting portion; 125. a stay bar; 126. a push rod assembly; 1261. a second push rod; 1262. a reinforcing bar; 128. a large central wheel; 129. a small center wheel; 13. protecting the top; 130. a planet wheel; 131. a planet carrier; 132. a third drive assembly; 133. a connecting frame; 134. a fourth driving gear; 135. a fourth driven gear; 136. a sixth driving member; 137. a drive mounting base; 138. a connecting rod; 139. an intermediate lever; 2. a cabin rotation system; 21. a mounting seat; 22. rotating the upper shell; 23. a third drive mechanism; 231. a third driving gear; 232. a fifth driving member; 233. a first driven ring gear; 24. a convex column; 25. a second rolling member; 3. a wheel; 31. a wheel shaft; 4. a steering drive system; 41. a lower base; 411. a second guide rail; 412. mounting grooves; 42. an outer housing; 43. a first driving member; 44. a steering device; 441. a drive shaft; 4411. a first drive gear; 4412. a first clutch gear; 4413. a second clutch gear; 442. a first driven shaft; 4421. a first driven gear; 443. a second driven shaft; 4431. a second driven gear; 4432. a third driven gear; 444. a fixed shaft; 4441. an idler gear; 445. a clutch; 4451. an inner clutch barrel; 4452. a clutch outer cylinder; 4453. a first drive mechanism; 4454. a clamping piece; 4455. a guide convex tooth; 4456. a groove; 4457. clamping the convex teeth; 4458. a first guide rail; 4459. a guide block; 4460. a shifting fork; 4461. a first drive assembly; 4462. a card slot; 4463. connecting blocks; 4464. a screw rod; 4465. a second driving member; 4466. a screw rod mounting seat; 45. a transmission device; 451. a drive bevel gear; 452. a driven bevel gear; 453. a coupling; 46. an inner housing; 47. a connecting shaft; 471. a damping spring; 48. a locking device; 481. a locking clip; 482. a third driving member; 49. an upper shell; 5. a wheel attachment adaptive adjustable system; 511. a roller shaft; 512. a roller; 513. an elastic member; 6. a braking system; 61. a brake wheel; 62. a synchronous braking device; 63. a cleat assembly; 631. a transverse plate; 632. a splint; 64. a second drive mechanism; 641. a rotating frame; 642. a second drive assembly; 643. a first push rod; 644. a pressure lever; 645. a connecting rod; 646. a second driving gear; 647. a fourth drive member; 648. a first driven rack; 649. a leaf spring.

Detailed Description

The invention will be described in further detail below with reference to the drawings and specific examples. Unless otherwise specified, the instruments or materials employed in the present invention are commercially available.

Example one

Fig. 1 to 10 show an embodiment of a small-sized multi-wheel logistics vehicle according to the present invention, the small-sized multi-wheel logistics vehicle according to the present embodiment includes a vehicle cabin 1, a vehicle cabin rotation system 2 for rotating the vehicle cabin 1, a cabin door opening and closing device 12 for opening and closing a cabin door 11 of the vehicle cabin 1 (the cabin door opening and closing device 12 in the present embodiment is a planetary wheel linked cabin door opening and closing system), wheels 3, a steering drive system 4 for driving the wheels 3 to travel and steer, a wheel attachment self-adaptive adjustable system 5 for adjusting the suspension height of the wheels 3, and a brake system 6, wherein the vehicle cabin rotation system 2 is disposed between the vehicle cabin 1 and the steering drive system 4.

As shown in fig. 1, fig. 2 and fig. 15, in the logistics vehicle, the cabin rotating system 2 can rotate the cabin 1, and in a narrow space, when the wheels 3 of the logistics vehicle cannot turn, the cabin door 11 of the cabin 1 can be adjusted to be at an angle at which a human body can conveniently load and unload goods; the logistics vehicle can be flexibly steered through the steering driving system 4; the suspension height of the wheels 3 can be adjusted through the wheel attachment self-adaptive adjustable system 5, so that the logistics vehicle is prevented from bumping or even turning over on the uneven road surface; the logistics vehicle can be effectively braked through the brake system 6.

The following explains each part of the logistics vehicle:

in this embodiment, as shown in fig. 3, 4, 5, 7 and 8, the steering driving system 4 includes a lower base 41, a lower housing 42 and a connecting shaft 47, the lower housing 42 is disposed below the lower base 41, the lower base 41 is connected to the lower housing 42 through the connecting shaft 47, the connecting shaft 47 is fixedly connected to the lower housing 42, the connecting shaft 47 is rotatable relative to the lower base 41, and a locking device 48 is disposed on the lower base 41 for limiting the rotation of the connecting shaft 47 when the logistic vehicle does not need to steer. In this embodiment, the lower portion of the connecting shaft 47 is connected to the lower housing 42, and the middle portion of the lower base 41 is provided with a base center hole for the connecting shaft 47 to pass through.

An upper shell 49 is covered above the lower base 41, the lower base 41 and the upper shell 49 form a fixed base, and as shown in fig. 4, 5 and 7, a damping spring 471 is arranged between the connecting shaft 47 and the upper shell 49 to adapt to the vibration in the moving process of the logistics vehicle and reduce the vibration transmitted to the fixed base. In this embodiment, a boss 491 protruding downward is disposed in the middle of the upper case 49, an inner cavity is disposed in the boss 491, a mounting hole communicated with the inner cavity is disposed at the bottom of the boss 491, the connecting shaft 47 penetrates through the lower base 41 and the mounting hole to reach the inner cavity of the boss 491, a mounting plate is disposed at the top of the connecting shaft 47, and the damping spring 471 is mounted on the mounting plate. A counter bore is formed in the middle of the lower base 41, a central shaft of a central hole of the base is coaxial with the central shaft of the counter bore, the central hole of the base penetrates through the upper surface and the lower surface of the lower base 41, the counter bore does not penetrate through the lower surface of the lower base 41, the inner wall of the counter bore is matched with the outer wall of the boss 491, the position of the upper shell 49 is further positioned, and the upper shell 49 is prevented from being transversely unstable. In other embodiments, the upper shell 49 does not have the boss 491, and the top of the connecting shaft 47 is provided with a cylindrical table, which is provided with a hole with an upward opening for placing the damping spring 471, so as to achieve the same or similar technical effects.

In this embodiment, the damping spring 471 is always in a compressed state, and when the logistics vehicle travels and the plurality of wheels 3 move downward suddenly as a whole, the compression force of the damping spring 471 changes in real time to urge the wheels 3 below the connecting shaft 47 to be attached to the ground, so that the suspension prevention purpose is achieved. As shown in fig. 8, a first driving member 43, a steering device 44 and a transmission device 45 are disposed in the lower housing 42, and the transmission device 45 penetrates through the lower housing 42 and is connected to the wheel 3.

Specifically, two wheels 3 are provided, and the two wheels 3 are provided below the lower base 41 and are oppositely disposed on both sides of the lower case 42. The first driving member 43 drives the steering device 44 to operate, the steering device 44 steers the wheels 3 through the transmission device 45, at this time, the lower shell 42 is rotatably connected with the lower base 41 through the connecting shaft 47 to drive the logistics vehicle to steer, and when the locking device 48 locks the connecting shaft 47, the connecting shaft 47 is relatively static with the lower base 41, so that the logistics vehicle cannot steer and only can walk linearly.

As shown in fig. 6, the locking device 48 includes a locking clip 481 and a third driving member 482 for driving the locking clip 481 to clamp or unclamp the connecting shaft 47, the third driving member 482 being provided on the lower base 41. The third driving piece 482 drives the locking clamp 481 to clamp the connecting shaft 47, the connecting shaft 47 is static relative to the lower base 41, the wheel 3 cannot turn and only can walk linearly, the third driving piece 482 drives the locking clamp 481 to loosen the connecting shaft 47, and the connecting shaft 47 can rotate relative to the lower base 41 to realize the turning of the wheel 3. Preferably, the locking clamp 481 is a spring clamp, the third driving member 482 comprises a linear motor and a sliding table, the locking clamp 481 is located on the sliding table and can slide relative to the sliding table, the sliding table is arranged along the radial direction of the connecting shaft 47, and the linear motor can drive the locking clamp 481 to move relative to the sliding table to enable the locking clamp 481 to approach or separate from the connecting shaft 47 on the one hand, and drive the locking clamp 481 to clamp or loosen the connecting shaft 47 on the other hand. In this embodiment, the locking device 48 is located in the counterbore.

In this embodiment, as shown in fig. 7, the connecting shaft 47 is detachably and fixedly connected to the outer housing 42 through a connecting member, so that the connecting shaft 47 can be conveniently detached and replaced.

As shown in fig. 9 and 10, the steering apparatus 44 includes a driving shaft 441, a first driven shaft 442, a second driven shaft 443, and a fixed shaft 444, the driving shaft 441 is sequentially provided with a first driving gear 4411, a first clutch gear 4412, and a second clutch gear 4413, the first clutch gear 4412 and the second clutch gear 4413 are rotatable with respect to the driving shaft 441 (i.e., the first clutch gear 4412 and the second clutch gear 4413 are not driving gears and do not rotate with the driving shaft 441), a clutch 445 is provided between the first clutch gear 4412 and the second clutch gear 4413 (the clutch 445 rotates with the rotation of the driving shaft 441), the clutch 445 is used for driving the first clutch gear 4412 or the second clutch gear 4413 to rotate synchronously with the driving shaft 441, the first driven shaft 442 is provided with a first driven gear 4421, the second driven shaft 443 is provided with a second gear 4431 and a third driven gear 4432, the fixed shaft 444 is provided with an idle gear 4441, the first driving gear 4411 is engaged with the first driven gear 4421, the second driven gear 4431 and the first clutch gear 4412 are engaged with the idle gear 4441 (i.e., the direction of rotation of the second driven gear 4431 is changed by the idle gear 4441 so that the direction of rotation of the second driven gear 4431 is identical to that of the first clutch gear 4412), the third driven gear 4432 is engaged with the second clutch gear 4413, and the first driven shaft 442 and the second driven shaft 443 are connected to the two wheels 3 through the transmission 45. Specifically, the driving shaft 441, the first driven shaft 442, the second driven shaft 443, and the fixed shaft 444 are arranged in parallel, and the first driving member 43 is a rotary motor.

The first driving member 43 drives the driving shaft 441 to rotate, the driving shaft 441 drives the first driving gear 4411 to rotate forward (for convenience of understanding, it is assumed here that the rotation direction of the driving shaft 441 is a forward rotation direction and the direction opposite to the rotation direction of the driving shaft 441 is a reverse rotation direction, hereinafter, the rotation direction of each gear is referred to as reference), the first driven gear 4421 engaged with the first driving gear 4411 rotates backward, the first driven gear 4421 drives the first driven shaft 442 to rotate backward, and since the first driving gear 4411 rotates forward all the time, the first driven gear 4421 and the first driven shaft 442 rotate backward all the time. The rotation direction of the second driven shaft 443 is divided into the following two cases: 1) when the clutch 445 is engaged with the first clutch gear 4412 and disengaged from the second clutch gear 4413. The first clutch gear 4412 rotates positively with the driving shaft 441, the second clutch gear 4413 does not rotate positively, the first clutch gear 4412 drives the second driven gear 4431 to rotate positively through the idle gear 4441, the second driven gear 4431 drives the second driven shaft 443 to rotate positively, at this time, the first driven shaft 442 and the second driven shaft 443 rotate reversely, and the rotation directions of the two wheels 3 are opposite through the transmission device 45. 2) When the clutch 445 is engaged with the second clutch gear 4413 and disengaged from the first clutch gear 4412. The second clutch gear 4413 rotates forward along with the driving shaft 441, the first clutch gear 4412 does not rotate, the third driven gear 4432 meshed with the second clutch gear 4413 rotates reversely, the third driven gear 4432 drives the second driven shaft 443 to rotate reversely, the first driven shaft 442 and the second driven shaft 443 rotate in the same direction at the moment, and the two wheels 3 rotate in the same direction through the transmission device 45.

Let the transmission ratio of the first driving gear 4411 and the first driven gear 4421 be i₁The transmission ratio of the first clutch gear 4412 to the second driven gear 4431 is i₂The transmission ratio of the second clutch gear 4413 to the third driven gear 4432 is i₃. When i is₁＝i₂＝i₃In time, 1) the first driven shaft 442 and the second driven shaft 443 rotate in opposite directions, and the wheels 3 move linearly; 2) the first driven shaft 442 and the second driven shaft 443 rotate in the same direction, so that the wheels 3 can be steered in situ, the turning radius is small, the adaptability is strong, and the wheels can pass through a narrow transportation road. By adjusting i₂、i₃And i₁Otherwise, a normal steering function can be realized. The logistics vehicle can realize steering at any angle (360 degrees) in situ.

In the present embodiment, as shown in fig. 8 and 9, an inner housing 46 is provided in the outer housing 42, the driving shaft 441, the first driven shaft 442, the second driven shaft 443, and the fixed shaft 444 are provided on the inner housing 46, the first driving member 43 is provided outside the inner housing 46, the first driving member 43 is provided on a bottom plate of the outer housing 42, and an output shaft of the first driving member 43 passes through the inner housing 46 and is connected to the driving shaft 441.

In the present embodiment, as shown in fig. 10, the clutch 445 includes a clutch inner cylinder 4451 disposed on the driving shaft 441, a clutch outer cylinder 4452 (the clutch inner cylinder 4451 rotates along with the driving shaft 441) slidably disposed on the clutch inner cylinder 4451, and a first driving mechanism 4453, wherein a locking member 4454 is disposed between each of the first clutch gear 4412 and the second clutch gear 4413 and the driving shaft 441, the locking member 4454 can rotate relative to the driving shaft 441 (i.e., the locking member 4454 does not rotate along with the driving shaft 441), the clutch inner cylinder 4451 is disposed between the two locking members 4454, and the first driving mechanism 4453 is used for driving the clutch outer cylinder 4452 to be locked with one of the locking members 4454. Specifically, the first driving mechanism 4453 is provided on the bottom plate of the outer case 42.

In this embodiment, as shown in fig. 11, the outer side of the clutch inner cylinder 4451 is provided with a guide convex tooth 4455, the inner side of the clutch outer cylinder 4452 is provided with a groove 4456 corresponding to the guide convex tooth 4455, one end of each of the two clamping members 4454 opposite to each other is provided with a clamping convex tooth 4457 matching with the groove 4456, and the first driving mechanism 4453 is used for driving the groove 4456 on the clutch outer cylinder 4452 to be clamped with the clamping convex tooth 4457 on one of the clamping members 4454. Of course, in other embodiments, the outer side of the clutch inner cylinder 4451 may be provided with a guide groove 4456, and the inner side of the clutch outer cylinder 4452 may be provided with a convex tooth which is matched with the guide groove 4456.

When the first driving mechanism 4453 drives the clutch outer 4452 to slide in the direction of the first clutch gear 4412 (the first driving mechanism 4453 drives the clutch outer 4452 to slide on the guide convex teeth 4455), so that the groove 4456 on the inner side of the clutch outer 4452 is engaged with the engaging convex teeth 4457 on the engaging member 4454, the clutch 445 is engaged with the first clutch gear 4412 and separated from the second clutch gear 4413, and the first clutch gear 4412 is driven to rotate forward along with the driving shaft 441, while the second clutch gear 4413 is not driven to rotate. When the first driving mechanism 4453 drives the clutch outer cylinder 4452 to slide toward the second clutch gear 4413 and engage with the engaging convex teeth 4457 of the engaging member 4454, the clutch 445 engages with the second clutch gear 4413 and is separated from the first clutch gear 4412, so as to drive the second clutch gear 4413 to rotate forward along with the driving shaft 441, while the first clutch gear 4412 does not rotate.

In the present embodiment, as shown in fig. 12 and 13, the first driving mechanism 4453 includes a first guide rail 4458, a guide block 4459, a shift fork 4460 and a first driving assembly 4461, the first guide rail 4458 is disposed on the bottom plate of the outer housing 42 and is arranged in parallel with the driving shaft 441, the first driving assembly 4461 is configured to drive the guide block 4459 to slide on the first guide rail 4458, and the shift fork 4460 is disposed on the guide block 4459 and is engaged with the clutch outer cylinder 4452.

In this embodiment, as shown in fig. 11, a locking slot 4462 is provided on the outer side of the clutch outer cylinder 4452, and the shift fork 4460 is locked in the locking slot 4462.

In this embodiment, as shown in fig. 12 and 13, the first guide rails 4458 are provided in two and arranged in parallel, the guide blocks 4459 are provided in two and slidably provided on the corresponding first guide rails 4458, the two guide blocks 4459 are connected by a connecting block 4463, and the shift fork 4460 is provided on the connecting block 4463.

In this embodiment, as shown in fig. 12 and 13, the first driving assembly 4461 includes a screw 4464, a second driving member 4465 for driving the screw 4464 to rotate, and a screw mounting seat 4466, the screw 4464 is disposed on the connecting block 4463 and is in threaded connection with the connecting block 4463, one end of the screw 4464 is connected with the second driving member 4465, the other end is connected with the screw mounting seat 4466, and the screw mounting seat 4466 is fixed on the bottom plate of the outer housing 42. The second driver 4465 is a rotary motor.

In this embodiment, the transmission 45 includes a driving bevel gear 451 and a driven bevel gear 452, the first driven shaft 442 is connected to the driving bevel gear 451, the driving bevel gear 451 is engaged with the driven bevel gear 452, and the driven bevel gear 452 is connected to the wheel shaft 31 of the wheel 3; similarly, the second driven shaft 443 is connected to a drive bevel gear 451, the drive bevel gear 451 is engaged with a driven bevel gear 452, and the driven bevel gear 452 is connected to the wheel shaft 31 of the wheel 3.

In this embodiment, as shown in fig. 8, the transmission 45 further includes two couplings 453, one end of the coupling 453 is connected to the driven bevel gear 452, and the other end thereof passes through the inner housing 46 to be connected to the wheel shaft 31. Specifically, the coupling 453 is an elastic pin gear coupling, which has good performance of compensating axial, radial and angular axis offset, good vibration damping performance, a simple structure, stable and reliable operation, no noise, no need of lubrication, convenient maintenance, simple assembly and disassembly, good manufacturability and low cost.

By means of the transmission 45, the rotation of the first driven shaft 442 and the second driven shaft 443 is converted into rotation of the wheel 3, i.e. when the first driven shaft 442 and the second driven shaft 443 are steered in the same direction, the steering of the wheel 3 is reversed, and when the first driven shaft 442 and the second driven shaft 443 are steered in the opposite direction, the steering of the wheel 3 is the same.

As shown in fig. 14, 15, 16 and 17, the bottom of the lower base 41 is provided with a second guide rail 411, the wheel attachment self-adaptive adjustable system 5 is located between the wheel 3 and the second guide rail 411, and includes a roller set and an elastic member 513, the roller set includes two rollers 512, the upper end and the lower end of the roller 512 are respectively clamped in the second guide rail 411 and the wheel 3 and are slidable relative to the second guide rail 411 and the wheel 3, and the two rollers 512 are connected through the elastic member 513.

In this embodiment, a roller shaft 511 penetrates through a central hole of the roller 512 in each roller group, and the adjacent ends of different roller shafts 511 in the roller groups are connected through an elastic member 513 respectively. In other embodiments, the same or similar technical effects can be achieved by mounting sleeves on the side walls of the roller 512 to be rotatable relative to the roller 512, the central axes of the sleeves being parallel to the central axis of the roller 512, and the elastic member 513 being connected to the sleeves of the roller 512 in each roller group.

Preferably, the two roller shafts 511 in each roller group are i-shaped roller shafts arranged in parallel, the roller 512 is an i-shaped roller, the i-shaped roller can rotate around the i-shaped roller shafts, and two adjacent ends of the two roller shafts 511 are respectively connected through springs.

Specifically, as shown in fig. 17, one ends of the two roller shafts 511 are connected by a spring, the other ends of the two roller shafts 511 are also connected by a spring, the second rail 411 is an annular rail provided at the bottom of the lower base 41, and the elastic member 513 is a spring. The two rollers 512 are in clearance fit with the second guide rail 411 to provide a guiding function for the movement of the rollers 512, and when the wheels 3 run on a straight road, the two rollers 512 idle; because the connecting shaft 47 is connected with the lower base 41 with a clearance and can be inclined with a small amplitude, when the wheels 3 run on a bumpy road surface and the heights of the two wheels 3 are different, the following two adjusting conditions can occur, and it should be noted that the spring connecting the two roller shafts 511 is in an original state as a tensile state: 1) when the wheel 3 enters the lower part from the higher part, the wheel 3 will fall downwards, the component force of the acting force of the wheel 3 on the roller 512 in the spring direction is reduced, that is, the tensile force of the two rollers 512 on the spring is reduced, and the spring in the tensile state contracts relative to the initial tensile state, so that the two rollers 512 are close to each other. 2) When the wheel 3 enters the high position from the low position, the wheel 3 will rise, the component force of the acting force of the wheel 3 on the roller 512 in the spring direction is increased, that is, the tensile force of the two rollers 512 on the spring is increased, and the spring is further stretched relative to the initial stretching state, so that the two rollers 512 are far away from each other. The suspension height of the wheels 3 and the ground is adjusted under the two adjusting conditions, so that the wheels 3 can be always kept in contact with the ground, suspension of the wheels is avoided, unevenness of the ground can be automatically adapted, adjusting delay does not exist, and the stability of operation of the logistics vehicle is improved.

In this embodiment, as shown in fig. 15 and 16, the bottom of the lower base 41 is provided with a mounting groove 412, and the second guide rail 411 is disposed in the mounting groove 412, so that the structure is compact and beautiful.

In this embodiment, as shown in fig. 18, the braking system 6 includes a plurality of brake wheels 61 and a synchronous braking device 62 for simultaneously braking the brake wheels 61, the synchronous braking device 62 is disposed on the lower base 41, and the brake wheels 61 are disposed below the lower base 41. The synchronous braking device 62 can synchronously brake a plurality of brake wheels 61, thereby improving the braking stability.

Due to the characteristics of the universal wheel, the brake pads are difficult to be used on two sides of the universal wheel like a common brake device, and the brake functions are respectively realized. In this embodiment, as shown in fig. 19, the synchronous brake device 62 includes a plurality of sets of clamping assemblies 63 and a second driving mechanism 64 for driving the plurality of sets of clamping assemblies 63 to simultaneously clamp or unclamp the corresponding brake wheel 61, and the second driving mechanism 64 is disposed on the lower base 41. The second driving mechanism 64 clamps the brake wheel 61 through the driving clamping plate assembly 63 and brakes the brake wheel 61 to realize braking, the second driving mechanism 64 releases the brake wheel 61 through the driving clamping plate assembly 63 to release braking on the brake wheel 61, and the logistics vehicle can freely walk.

In this embodiment, as shown in fig. 18, 19, 20 and 21, the second driving mechanism 64 includes a rotating frame 641, a second driving assembly 642 for driving the rotating frame 641 to rotate, and a plurality of sets of first transmission assemblies, the plurality of sets of first transmission assemblies are disposed on the rotating frame 641 and are arranged at intervals, each set of first transmission assemblies includes a first push rod 643 and a press rod 644, one end of the first push rod 643 is hinged to the rotating frame 641, the other end of the first push rod 643 is hinged to the press rod 644, and the other end of the press rod 644 is fixedly connected to the corresponding clamp assembly 63.

Specifically, the number of the first transmission assemblies, the brake wheel 61 and the clamping plate assembly 63 is equal, and the first push rods 643 penetrate through the lower base 41 and are connected with the clamping plate assembly 63. The second driving mechanism 64 drives the rotating frame 641 to rotate, so as to drive each first push rod 643 to swing downwards, so as to push each pressure rod 644 downwards, the pressure rods 644 are fixedly connected with the clamping plate assemblies 63, so as to push each clamping plate assembly 63 to clamp the corresponding brake wheel 61 downwards, and thus synchronous braking on each brake wheel 61 is realized, otherwise, the second driving mechanism 64 drives the rotating frame 641 to rotate reversely, so as to drive each first push rod 643 to swing upwards, so as to drive each pressure rod 644 to swing upwards, and the pressure rods 644 are fixedly connected with the clamping plate assemblies 63, so as to drive each clamping plate assembly 63 to loosen the corresponding brake wheel 61 upwards, and thus braking on each brake wheel 61 is synchronously released.

In this embodiment, as shown in fig. 21, a horizontally disposed connecting rod 645 is disposed on the rotating frame 641, and one end of the first push rod 643 is hinged to the connecting rod 645 and swings up and down around the connecting rod 645 (in this embodiment, the connecting rod 645 is a part of the rotating frame 641, and in other embodiments, the connecting rod 645 may be a part of the first transmission assembly and jointly drive the brake of the clamping plate assembly 63).

In this embodiment, as shown in fig. 21, the clamping plate assembly 63 includes a transverse plate 631 and two clamping plates 632, the two clamping plates 632 are obliquely disposed at two ends of the transverse plate 631, the pressing rod 644 is disposed on the transverse plate 631, and the braking wheel 61 is disposed between the two transverse plates 631. Specifically, the clamping plate 632 is fixedly connected with the outer side of the transverse plate 631 through a plate spring 649. When the pressure rod 644 faces downwards, the clamping plate component 63 faces downwards, the two clamping plates 632 are tightly pressed on the brake wheel 61 under the acting force of the plate spring 649, the brake wheel 61 is braked by using friction force, the structure is simple, and the braking effect is good.

In this embodiment, the brake wheel 61 is a universal wheel. Specifically, the four brake wheels 61 are provided, the four brake wheels 61 are evenly spaced in the outer circumferential direction under the lower base 41, and the synchronous brake device 62 simultaneously brakes the four brake wheels 61. The wheels 3 are uniformly arranged in the inner direction of the area enclosed by the four brake wheels 61. The universal wheel is used as the supporting wheel, and two wheels 3 are used as the driving wheel, so that the logistics vehicle is more flexible and convenient.

In this embodiment, as shown in fig. 18, 19 and 20, the second driving assembly 642 includes a second driving gear 646, a fourth driving member 647 for driving the second driving gear 646 to rotate, and a first driven rack 648, the fourth driving member 647 is disposed on the lower base 41, the first driven rack 648 is disposed on the rotating frame 641, and the second driving gear 646 is engaged with the first driven rack 648. Specifically, the fourth driver 647 is a rotating electric machine. The fourth driving member 647 drives the second driving gear 646 to rotate, so as to drive the first driven rack 648 to rotate, and the rotating frame 641 rotates because the first driven rack 648 is disposed on the rotating frame 641.

In this embodiment, as shown in fig. 22, 23 and 24, the vehicle cabin rotation system 2 includes a mounting base 21, a rotating upper shell 22 and a third driving mechanism 23 for driving the rotating upper shell 22 to rotate, the mounting base 21 is disposed on a lower base 41, the rotating upper shell 22 is rotatably disposed on the mounting base 21, and the vehicle cabin 1 is disposed on the rotating upper shell 22. The third driving mechanism 23 drives the rotary upper shell 22 to rotate relative to the mounting seat 21, and the car cabin 1 is arranged on the rotary upper shell 22, so that the car cabin 1 can rotate relative to the mounting seat 21, 360-degree steering of the car cabin 1 is realized, and even in a narrow space and when the logistics car is inconvenient to steer, the car cabin 1 can be rotated to an angle right opposite to a human body, so that articles in the car cabin can be conveniently loaded and unloaded.

In this embodiment, as shown in fig. 23 and 24, the third driving mechanism 23 includes a third driving gear 231, a fifth driving member 232 for driving the third driving gear 231 to rotate, and a first driven gear ring 233, the fifth driving member 232 is fixedly disposed on the upper rotating casing 22, the first driven gear ring 233 is fixedly disposed on the mounting seat 21, and the third driving gear 231 is engaged with the first driven gear ring 233. The fifth driving member 232 drives the third driving gear 231 to rotate, and since the first driven gear ring 233 engaged with the third driving gear 231 is fixedly disposed on the mounting seat 21, the third driving gear 231 rotates relative to the mounting seat 21 to drive the rotating upper shell 22 to rotate relative to the mounting seat 21, thereby achieving 360-degree steering of the cabin 1.

In this embodiment, the center of the mounting base 21 is provided with a convex column 24 protruding upward, the first driven gear ring 233 is disposed outside the outer circumferential wall of the convex column 24, the upper portion of the upper rotating casing 22 is rotatably sleeved outside the convex column 24 to cover the third driving mechanism 23, and the lower portion is in rolling fit with the mounting base 21. Specifically, boss 24 is flush with the top surface of mounting seat 21, and rotating upper shell 22 rotates around boss 24.

In this embodiment, as shown in fig. 23, a second rolling member 25 is disposed between the upper rotating shell 22 and the mounting seat 21, so that sliding friction between the upper rotating shell 22 and the mounting seat 21 is converted into rolling friction, and friction is reduced, so that the upper rotating shell 22 rotates more smoothly. Preferably, the second rolling members 25 are balls, and the balls are uniformly arranged along the circumferential direction of the mounting seat 21.

In this embodiment, as shown in fig. 25, two doors 11 and a door opening and closing device 12 for synchronously opening and closing the two doors 11 are disposed on the vehicle cabin 1 (in this embodiment, the door opening and closing device 12 is a planetary wheel linked door opening and closing system), the door opening and closing device 12 includes a guide 121 disposed on the top of the vehicle cabin 1, a push-pull member 122, a push-pull driving 123 for driving the push-pull member 122 to slide on the guide 121, and a strut connecting portion 124, a strut 125 and a push-rod assembly 126 are disposed on both sides of the guide 121, one end of each push-rod assembly 126 is hinged to the push-pull member 122, the other end of each push-rod assembly 126 is connected to the corresponding door 11, one end of each strut 125 is hinged to the strut connecting portion 124, the other end of each strut 125 is hinged to the corresponding push-rod assembly 126, and the strut connecting portion 124 is disposed on the push-pull member 122. Specifically, the push-pull drive 123 is a linear motor.

In this embodiment, as shown in fig. 25, the vehicle cabin 1 is a cylindrical cabin, and the guide member 121 is located between the two cabin doors 11, so that any direction of the vehicle cabin 1 is a forward direction and can be used as a front end of the vehicle.

The door opening and closing process is as follows: the guide member 121 is fixedly arranged at the top of the car cabin 1, the push-pull driving member 123 drives the push-pull member 122 to slide on the guide member 121, and when the push-pull member 122 is driven to slide in a direction away from the car door 11, the stay bar 125 is driven to outwards expand the push rod assembly 126, and the push rod assembly 126 is driven to outwards push the car door 11 to open the car door 11; conversely, when the push-pull member 122 is driven to slide in a direction approaching the door 11, the strut 125 is driven to pull back the push rod assembly 126, and the push rod assembly 126 is driven to pull back the door 11, so as to close the door 11. The automatic loading and unloading device has the advantages of simple shape, easiness in processing, synchronization in opening and closing of the cabin door 11, high automation degree, convenience in loading and unloading goods in the cabin 1, capability of adapting to severe weather, maintenance of sanitation in the cabin 1 and the like.

In this embodiment, as shown in fig. 25, a first rolling member (not shown) is provided between the bottom of the cabin door 11 and the cabin 1. Preferably, the first rolling members are balls, and the sliding connection between the cabin door 11 and the cabin 1 is changed into rolling connection, so that the friction force is reduced, and the opening and closing of the cabin door 11 are smoother.

In this embodiment, as shown in fig. 25, the push rod assembly 126 includes two second push rods 1261 and a reinforcement rod 1262 between the two second push rods 1261, one end of each of the two second push rods 1261 is hinged to the guide member 121, the other end of each of the two second push rods 1261 is connected to the door 11, and the stay 125 is hinged to the reinforcement rod 1262. Specifically, two second pushrods 1261 are connected to different positions of the door 11, respectively. Has the advantages of large driving force and uniform driving force distribution.

The vehicle cabin 1 is arranged on the vehicle cabin rotating system 2, the cabin door 11 of the vehicle cabin 1 can be rotated to the position of a person taking objects through the vehicle cabin rotating system 2 in the 360-degree direction in an omnibearing rotating motion, and then the cabin door 11 is opened to take the objects, so that the cabin door 11 can be opened in any angle direction.

In this embodiment, as shown in fig. 1 and 2, a protective roof 13 is provided on the top of the vehicle cabin 1, and the cabin door opening and closing device 12 is located inside the protective roof 13. The protection effect on the cabin door opening and closing device 12 is good, the damage to the cabin door opening and closing device 12 is avoided, the normal opening and closing of the cabin door 11 is ensured, and the service life of the cabin door opening and closing device 12 is prolonged.

Example two

As shown in fig. 26 and 27, the logistics vehicle of the present embodiment is substantially the same as the first embodiment, except that: the door opening/closing device 12 (in this embodiment, the door opening/closing device 12 is a multi-link linked door opening/closing system) is different.

The hatch opening and closing device 12 of the embodiment includes a large central wheel 128, a small central wheel 129, a planetary wheel 130, a planetary carrier 131, a third driving assembly 132 and a connecting frame 133, which are arranged on the top of the vehicle cabin 1, wherein the large central wheel 128 is rotatably arranged on the top of the vehicle cabin 1 and is fixedly connected with one of the hatches 11, the small central wheel 129 is fixedly connected with the other hatche 11 through the connecting frame 133, the planetary wheel 130 is arranged between the large central wheel 128 and the small central wheel 129 and is meshed with the large central wheel 128 and the small central wheel 129, one end of the planetary carrier 131 is rotatably connected with the planetary wheel 130, the other end of the planetary carrier 131 is rotatably connected with the small central wheel 129, and the third driving assembly 132 is used for driving the planetary carrier 131 to rotate around the axis of the small central wheel 129.

The door opening and closing process is as follows: the third driving assembly 132 drives the planet carrier 131 to rotate around the small central wheel 129, so as to drive the planet wheel 130 to revolve (i.e. rotate around the axis of the small central wheel 129), because the planet wheel 130 is arranged between and meshed with the large central wheel 128 and the small central wheel 129, the planet wheel 130 revolves and rotates simultaneously, so as to drive the large central wheel 128 and the small central wheel 129 to rotate, the large central wheel 128 drives the hatch 11 to move, the small central wheel 129 drives the other hatch 11 to move through the connecting frame 133, when the transmission ratio of the large central wheel 128 and the small central wheel 129 is-1, the two hatches 11 move outwards simultaneously, and the hatch 11 is opened. Conversely, the third driving assembly 132 drives the planet carrier 131 to rotate reversely around the small central wheel 129, the two doors 11 move inwards at the same time, and the doors 11 are closed. The planetary gear train is used to synchronously open and close the two cabin doors 11, and has the advantages of compact structure, small volume, small mass, large bearing capacity, large transmission power range and transmission range, small operation noise, high efficiency, long service life and the like.

In this embodiment, the third driving assembly 132 includes a fourth driving gear 134, a fourth driven gear 135 and a sixth driving element 136 for driving the fourth driving gear 134 to rotate, the fourth driving gear 134 is engaged with the fourth driven gear 135, and the fourth driven gear 135 is connected to the planet carrier 131.

The sixth driving member 136 drives the fourth driving gear 134 to rotate, and drives the fourth driven gear 135 engaged with the fourth driving gear 134 to rotate, so as to drive the planet carrier 131 to rotate around the small central wheel 129. Specifically, the fourth driven gear 135 is coaxial with both the large center wheel 128 and the small center wheel 129, and the sixth driving member 136 is a rotating electric machine.

In this embodiment, the cabin door opening and closing device 12 further includes a driving mounting seat 137 disposed at the top of the cabin 1, the sixth driving element 136 is disposed on the driving mounting seat 137, and the planet carrier 131 is rotatably connected with the driving mounting seat 137. Providing a mounting basis for the sixth drive member 136 without affecting the movement of the other gears.

In this embodiment, the connecting frame 133 includes at least two connecting rods 138 and an intermediate rod 139, one end of each connecting rod 138 is connected to the intermediate rod 139 and is fixed to the small center wheel 129, and the other end is fixed to different positions of the cabin door 11. The transmission load is dispersed to each connecting rod 138, and the bearing capacity is larger.

In this embodiment, a first rolling member (not shown) is disposed between the bottom of the cabin door 11 and the cabin 1. Preferably, the first rolling member is a ball, and the sliding connection between the cabin door 11 and the cabin 1 is changed into rolling connection, so that the friction force is reduced, and the opening and closing of the cabin door 11 are smoother.

In this embodiment, a protective roof 13 is provided on the top of the vehicle cabin 1, and the cabin door opening and closing device 12 is located in the protective roof 13. The protection effect on the cabin door opening and closing device 12 is good, the damage to the cabin door opening and closing device 12 is avoided, the normal opening and closing of the cabin door 11 is ensured, and the service life of the cabin door opening and closing device 12 is prolonged.

It should be noted that although the present invention has been described with reference to preferred embodiments, the present invention is not limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention shall fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. The utility model provides a many connecting rods linkage hatch door system of opening and shutting, many connecting rods linkage hatch door system of opening and shutting is used for small-size shipment commodity circulation car on, be equipped with two hatch doors (11) and be used for hatch door switching device (12) of two hatch doors of synchronous switching (11) on cabin (1) lateral part of small-size shipment commodity circulation car, many connecting rods linkage hatch door system of opening and shutting is hatch door switching device (12), its characterized in that: the cabin door opening and closing device (12) comprises a guide piece (121) arranged at the top of the cabin (1), a push-pull component (122) and a push-pull drive (123) used for driving the push-pull component (122) to slide on the guide piece (121), wherein both sides of the push-pull component (121) are respectively provided with a support rod (125) and a push rod component (126), one end of each push rod component (126) is hinged to the guide piece (121), the other end of each push rod component (126) is respectively connected with different cabin doors (11), one end of each support rod (125) is hinged to the push-pull component (122), and the other end of each support rod (125) is hinged to the corresponding push rod component (126).

2. The multi-link linked door opening and closing system according to claim 1, wherein: the push rod assembly (126) comprises two second push rods (1261) and a reinforcing rod (1262) between the two second push rods (1261), one end of each of the two second push rods (1261) is hinged to the push-pull component (122), the other end of each of the two second push rods is connected with the cabin door (11), the stay rod (125) is hinged to the reinforcing rod (1262), the second push rods (1261) of different push rod assemblies (126) are connected with different cabin doors (11), and the second push rods (1261) of the same push rod assembly (126) are connected with the same cabin door (11).

3. The multi-link linked door opening and closing system according to claim 1 or 2, wherein: and a stay bar connecting part (124) is arranged at one end of the push-pull component (122) far away from the push-pull component (121), and the stay bar connecting part (124) is connected with a stay bar (125).

4. The utility model provides a small-size commodity circulation car of carrying which characterized in that: comprising a multi-link linked door opening and closing system according to any of claims 1 to 3, said guide (121) being fixed on top of the cabin (1).

5. The compact logistics transport vehicle of claim 4, wherein: a first rolling piece is arranged between the bottom of the cabin door (11) and the cabin (1).

6. The compact logistics carrying vehicle of claim 4, wherein: the vehicle cabin rotating system comprises a lower base (41) and a vehicle cabin rotating system (2) used for driving the vehicle cabin (1) to rotate, wherein the vehicle cabin (1) is arranged above the lower base (41), and the vehicle cabin rotating system (2) is arranged between the lower base (41) and the vehicle cabin (1).

7. The compact logistics vehicular of claim 6, wherein: the car cabin rotating system (2) comprises a mounting seat (21), a rotating upper shell (22) and a third driving mechanism (23) used for driving the rotating upper shell (22) to rotate, the mounting seat (21) is arranged on a lower base (41), the rotating upper shell (22) is rotatably arranged on the mounting seat (21), and the car cabin (1) is arranged on the rotating upper shell (22).

8. The compact logistics transport vehicle of claim 7, wherein: the third driving mechanism (23) comprises a third driving gear (231), a fifth driving piece (232) and a first driven gear ring (233), the fifth driving piece (232) is used for driving the third driving gear (231) to rotate, the fifth driving piece (232) is fixedly arranged on the rotating upper shell (22), the first driven gear ring (233) is fixedly arranged on the mounting seat (21), and the third driving gear (231) is meshed with the first driven gear ring (233).

9. The compact logistics carrying vehicle of claim 7, wherein: the center of the mounting seat (21) is provided with a convex column (24), the first driven gear ring (233) is arranged outside the convex column (24), and the rotary upper shell (22) is rotatably arranged outside the convex column (24).

10. The compact logistics transport vehicle of claim 7, wherein: and a second rolling piece (25) is arranged between the rotary upper shell (22) and the mounting seat (21).