CN215398995U - Light-weight automatic obstacle-avoiding carrying unmanned vehicle - Google Patents

Abstract

The utility model discloses a light-weight automatic obstacle avoidance carrying unmanned vehicle, which relates to the technical field of unmanned vehicles and comprises the following components: a chassis mounted with wheels; the goods loading assembly is arranged on the underframe; the unloading assembly is arranged on the underframe and is arranged on one side of the loading assembly; the cleaning assembly is arranged on the underframe and used for cleaning residual impurities on the waste pipeline; the sensing assembly is arranged on the underframe; and the control device is electrically connected with the sensing assembly and is used for controlling the wheel to move. Before the waste pipeline is placed on the loading assembly, the cleaning assembly is used for cleaning residual impurities on the waste pipeline, and the purpose of cleaning the residual impurities on the waste pipeline is achieved. After the light-weight automatic obstacle avoidance carrying unmanned vehicle moves to the designated position, the unloading assembly pushes the pipeline out of the loading assembly, so that the waste pipeline can be taken out conveniently and manually.

Description

Light-weight automatic obstacle-avoiding carrying unmanned vehicle

Technical Field

The utility model relates to the technical field of unmanned vehicles, in particular to a light-weight automatic obstacle avoidance carrying unmanned vehicle.

Background

In the related art, an unmanned vehicle for carrying objects is usually used for transporting waste pipelines, the pipelines are relatively slender, and the conventional unmanned transport vehicle has no function of cutting the pipelines, so that the stability is greatly reduced when the unmanned transport vehicle transports overlong pipelines. When the transport vehicle turns, the overlong pipeline can interfere with other objects, so that the normal running of the transport vehicle is seriously hindered, and even the rollover phenomenon of the transport vehicle can occur. In addition, a large amount of impurities are left on the outer surface and the inner surface of the waste pipeline, and the existing unmanned transport vehicle has no function of removing the impurities on the surface of the waste pipeline. When the existing unmanned transport vehicle simultaneously transports a plurality of waste pipelines, the waste pipelines are difficult to take out manually one by one.

In summary, a light-weight unmanned vehicle capable of automatically avoiding obstacles needs to be developed to overcome the above problems.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides a light-weight automatic obstacle avoidance carrying unmanned vehicle which can clean impurities of waste pipelines during loading.

The light-weight automatic obstacle avoidance carrying unmanned vehicle comprises: a chassis mounted with wheels; the goods loading assembly is arranged on the underframe; the unloading assembly is arranged on the underframe and is arranged on one side of the loading assembly; the cleaning assembly is arranged on the underframe and used for cleaning residual impurities on the waste pipeline; the sensing assembly is arranged on the underframe; and the control device is electrically connected with the sensing assembly and is used for controlling the wheel to move.

Further, the clearance subassembly includes first spacing ring, the internal diameter of first spacing ring matches with the external diameter of pipeline, first spacing ring set up in the dead ahead of subassembly of getting in stocks.

Further, the clearance subassembly still includes the second receiver, set up in under the first spacing ring.

Further, still include cutting assembly, cutting assembly includes first hacksaw, first electric putter and first drive arrangement, first electric putter drives first hacksaw reciprocates, first drive arrangement is used for the drive first hacksaw rotates.

Further, the cutting assembly further comprises a first crushing roller set and a first storage box, the first storage box is arranged below the first steel saw, and the first crushing roller set is installed in the first storage box.

Furthermore, the goods loading assembly comprises a second driving device, a bearing mechanism, a second linkage frame and a first electric slide rail, the second driving device is used for driving the bearing mechanism to transversely move along the second linkage frame, the first electric slide rail is fixedly connected with the bottom frame, the bearing mechanism is fixedly connected with the second linkage frame, and the second linkage frame is slidably connected with the first electric slide rail.

Further, the supporting mechanism includes a first supporting mechanism, the first supporting mechanism includes a first limiting rod, a first sliding sleeve block, a second linkage block, a first rack and a supporting part, the supporting part includes a first supporting part, the first sliding sleeve block is connected with the first limiting rod in a sliding manner, the first limiting rod is connected with the second linkage block in a fixed manner, the first rack is connected with the second linkage block in a fixed manner, the first supporting part is connected with the second linkage block in a fixed manner, the second driving device includes a second straight gear, and the second straight gear is meshed with the first rack.

Further, the first bearing part comprises a second limiting rod, a third electric push rod, a first limiting cylinder and a third limiting rod, one end of the second limiting rod is fixedly connected with the second linkage block, the other end of the second limiting rod is fixedly connected with the third limiting rod, the first limiting cylinder is slidably connected with the third limiting rod, one end of the third electric push rod is fixedly connected with the second limiting rod, and the other end of the third electric push rod is fixedly connected with the first limiting cylinder.

Furthermore, the goods discharging assembly comprises a first guide rail block, a second slide block, a first screw rod, a third linkage frame and a first pushing mechanism, the second slide block is connected with the first guide rail block in a sliding mode, the first screw rod is used for driving the first slide block to slide along the first guide rail block, the third linkage frame is fixedly connected with the second slide block, and the first pushing mechanism is installed on the third linkage frame;

first ejecting mechanism includes fifth electric putter, first piece, the electronic slide rail of second, third slider and second piece that holds, the electronic slide rail of second with first piece fixed connection of accepting, the third slider with piece fixed connection is accepted to the second, the third slider with electronic slide rail sliding connection, fifth electric putter one end with first piece fixed connection of accepting, the fifth electric putter other end with third link fixed connection, the drive of fifth electric putter first piece that holds removes in vertical direction.

Further, the sensing assembly comprises a first sensor group, the first sensor group is used for acquiring road condition information, the first sensor group is electrically connected with the control device, and the control device is used for controlling the movement of the wheels.

The light-weight automatic obstacle avoidance carrying unmanned vehicle provided by the embodiment of the utility model at least has the following beneficial effects: the cleaning assembly is used for cleaning impurities remained on the waste pipelines before the waste pipelines are placed on the loading assembly, then the loading assembly is used for limiting and fixing the pipelines, and after the light-weight automatic obstacle avoidance carrying unmanned vehicle moves to a specified position, the unloading assembly pushes the pipelines out of the loading assembly, so that the waste pipelines can be taken out manually conveniently. The sensing assembly can provide real-time road condition information for the carrying unmanned vehicle, so that the carrying unmanned vehicle can automatically avoid obstacles in the transportation process.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of another embodiment of the present invention;

FIG. 3 is a schematic view of a cutting assembly according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a loading assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of a first hacksaw according to an embodiment of the present invention;

FIG. 6 is a schematic view of a first receiving member according to an embodiment of the present invention;

FIG. 7 is a schematic view of a discharge assembly according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a first pushing mechanism according to an embodiment of the present invention;

fig. 9 is a schematic diagram of the arrangement of the sensing assembly in the embodiment of the present invention.

Reference numerals:

the undercarriage 1, the cutting assembly 2, the loading assembly 3, the unloading assembly 4, the sensing assembly 5, the control device 6, the motorized wheel 7, the first driving wheel 201, the second driving wheel 202, the first driving rod 203, the third driving wheel 204, the fourth driving wheel 205, the second driving rod 206, the first column gear 207, the first straight gear 208, the third driving rod 209, the first bevel gear 2010, the second bevel gear 2011, the fourth driving rod 2012, the first hacksaw 2013, the first linkage 2014, the first motorized push rod 2015, the third bevel gear 2016, the fourth bevel gear 2017, the fifth driving rod 2018, the first crushing roller set 2019, the first storage box 2020, the second storage box 2021, the first limit ring 2022, the first motor 301, the sixth driving rod 302, the fifth bevel gear 303, the sixth bevel gear 304, the first sleeve 305, the first prism 306, the first linkage block 307, the second motorized push rod 308, the second spur gear 309, the first motorized slide 3010, a first slide block 3011, a second linkage frame 3012, a first receiving mechanism 3013, a second receiving mechanism 3014, a third receiving mechanism 3015, a first limiting rod 301301, a first sliding sleeve block 301302, a second linkage block 301303, a first rack 301304, a first receiving part 301305, a second receiving part 301306, a third receiving part 301307, a fourth receiving part 301308, a fifth receiving part 301309, a second limiting rod 3013051, a third electric push rod 3013052, a first limiting barrel 3013053, a third limiting rod 3013054, a fifth drive wheel 401, a sixth drive wheel 402, a second sleeve rod 403, a second prism rod 404, a third linkage block 405, a fourth electric push rod 406, a seventh bevel gear 407, an eighth bevel gear 408, a first lead screw 409, a second slide block 4010, a first guide block 4011, a third linkage frame 4012, a first push-out mechanism 4013, a second push-out mechanism 4014, a third linkage frame 4015, a fifth push rod 4013, a fifth electric push rod 3884, a second electric push rod 3884, third slider 401304, second receiving block 401305, first sensor group 501, second sensor group 502, third sensor group 503, fourth sensor group 504, and fifth sensor group 505.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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.

In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1 and 2, the light-weight automatic obstacle avoidance carrying unmanned vehicle in the embodiment of the utility model comprises an underframe 1, a loading assembly 3, a unloading assembly 4, a cleaning assembly, a sensing assembly 5 and a control device.

Specifically, the chassis 1 is provided with wheels; the loading assembly 3 is arranged on the underframe 1; the unloading assembly 4 is arranged on the underframe 1, and the unloading assembly 4 is arranged on one side of the loading assembly 3; the cleaning assembly is arranged on the underframe 1 and used for cleaning residual impurities on the waste pipeline; the sensing assembly 5 is arranged on the underframe 1; the control device is electrically connected with the sensing assembly 5 and is used for controlling the movement of the wheels. Before the waste pipelines are placed on the loading assembly 3, the cleaning assembly is used for cleaning residual impurities on the waste pipelines, then the loading assembly 3 is used for limiting and fixing the pipelines, and after the light-weight automatic obstacle avoidance carrying unmanned vehicle moves to a specified position, the unloading assembly 4 pushes the pipelines out of the loading assembly 3, so that the waste pipelines can be taken out manually conveniently. The sensing assembly 5 can provide real-time road condition information for the carrying unmanned vehicle, so that the carrying unmanned vehicle can automatically avoid obstacles in the transportation process.

Further, the cleaning assembly comprises a first limiting ring 2022, the inner diameter of the first limiting ring 2022 matches with the outer diameter of the pipeline, and the first limiting ring 2022 is disposed right in front of the loading assembly 3. Before putting the goods subassembly 3 to the pipeline, make the pipeline pass from first spacing ring earlier, because the internal diameter of first spacing ring 2022 matches with the external diameter of pipeline, the pipeline can pass first spacing ring 2022 smoothly, strikes off the impurity of pipeline surface simultaneously, reaches the purpose of the incidental impurity of clearance pipeline surface.

Further, the cleaning assembly further includes a second storage box 2021 disposed under the first limit ring 2022. The second storage box 2021 catches the impurities scraped off from the surface of the pipeline by the first limiting ring 2022, which is beneficial to protecting the field environment.

Further, still include cutting assembly 2, cutting assembly 2 includes first hacksaw 2013, first electric putter 2015 and first drive arrangement, and first electric putter 2015 drives first hacksaw 2013 and reciprocates, and first drive arrangement is used for driving first hacksaw 2013 and rotates. When old and useless pipeline is too long, in order to avoid the pipeline to bump with other article in the transportation, need transport again after cutting into the pipeline segment with the pipeline, be favorable to improving pipeline transportation's convenience and stability.

Further, cutting assembly 2 still includes first broken roller set 2019 and first receiver 2020, and first receiver 2020 sets up below first hacksaw 2013, and first broken roller set 2019 is installed in first receiver 2020. The waste pipeline cut off by the first hacksaw 2013 is crushed into small pipeline blocks by the first crushing roller group 2019, and the small pipeline blocks fall into the first storage box 2020. The occupied space of the small pipeline blocks is favorably reduced.

In one embodiment, referring to fig. 3, the cutting assembly 2 includes a first driving wheel 201, a second driving wheel 202, a first driving rod 203, a third driving wheel 204, a fourth driving wheel 205, a second driving rod 206, a first column gear 207, a first straight gear 208, a third driving rod 209, a first bevel gear 2010, a second bevel gear 2011, a fourth driving rod 2012, a first hacksaw 2013, a first linkage 2014, a first electric push rod 2015, a third bevel gear 2016, a fourth bevel gear 2017, a fifth driving rod 2018, a first crushing roller set 2019, a first storage box 2020, a second storage box 2021 and a first limit ring 2022; the first transmission wheel 201 is in transmission connection with a second transmission wheel 202 through a belt; the first driving wheel 201 is connected with the goods loading assembly 3; the interior of the second driving wheel 202 is fixedly connected with a first driving rod 203; the outer surface of the first transmission rod 203 is fixedly connected with the third bevel gear 2016 and the third transmission wheel 204 in sequence; the outer surface of the first transmission rod 203 is rotationally connected with the underframe 1; the third driving wheel 204 is in driving connection with a fourth driving wheel 205 through a belt; the inside of the fourth driving wheel 205 is fixedly connected with a second driving rod 206; the outer surface of the second transmission rod 206 is fixedly connected with the first column gear 207; the outer surface of the second transmission rod 206 is rotationally connected with the underframe 1; the first spur gear 207 is meshed with the first straight gear 208; the interior of the first straight gear 208 is fixedly connected with a third transmission rod 209; the outer surface of the third transmission rod 209 is fixedly connected with the first bevel gear 2010; the outer surface of the third transmission rod 209 is rotatably connected with the first link 2014; the first bevel gear 2010 is meshed with the second bevel gear 2011; the inner part of the second bevel gear 2011 is fixedly connected with the fourth transmission rod 2012; the fourth transmission rod 2012 is fixedly connected with the first hacksaw 2013; the outer surface of the fourth transmission rod 2012 is rotatably connected with the first link 2014; the first linkage frame 2014 is fixedly connected with a first electric push rod 2015; the first electric push rod 2015 is fixedly connected with the underframe 1; the third bevel gear 2016 is fixedly connected with the fourth bevel gear 2017; the interior of the fourth bevel gear 2017 is fixedly connected with a fifth transmission rod 2018; the fifth drive link 2018 is connected to the first set of crushing rollers 2019; the outer surface of the fifth transmission rod 2018 is rotatably connected with the first storage box 2020; the outer surface of the fifth transmission rod 2018 is rotatably connected with the underframe 1; the first crushing roller set 2019 is fixedly connected with the first storage box 2020; a second storage box 2021 is arranged at the side of the first storage box 2020; the first storage box 2020 is fixedly connected with the chassis 1; the second storage box 2021 is fixedly connected with the first limit ring 2022; the second storage box 2021 is fixedly connected to the chassis 1.

Firstly, the head of the waste pipe is inserted into the first limit ring 2022 and moves to the position below the first hacksaw 2013, then the loading assembly 3 drives the first driving wheel 201 to drive the second driving wheel 202 to rotate, the second driving wheel 202 drives the first driving rod 203 to drive the third driving wheel 204 to rotate, the third driving wheel 204 drives the fourth driving wheel 205 to drive the second driving rod 206 to rotate, the second driving rod 206 drives the first column gear 207 to drive the first straight gear 208 to rotate, the first straight gear 208 drives the third driving rod 209 to drive the first bevel gear 2010 to rotate, the first bevel gear 2010 drives the second bevel gear 2011 to drive the fourth driving rod 2012 to rotate, the fourth driving rod 2012 drives the first hacksaw 2013 to rotate, then the first electric push rod 2015 drives the first linking frame 2014 to move downwards, the first linking frame 2014 drives the associated assembly to move downwards, the first straight gear 208 is always engaged with the first column gear 207 in the process of moving downwards, the first steel saw 2013 is moved downwards to cut off the head of the waste pipeline, then the first electric push rod 2015 drives the first linkage frame 2014 to move upwards and return to the original position, the first steel saw 2013 moves upwards and return to the original position, the head of the waste pipeline falls into the position above the first crushing roller group 2019, then the first transmission rod 203 drives the third bevel gear 2016 to drive the fourth bevel gear 2017 to rotate, the fourth bevel gear 7 drives the fifth transmission rod 2018 to drive the first crushing roller group 2019 to operate, the first crushing roller group 2019 crushes the head of the waste pipeline into small pipeline blocks, the small pipeline blocks fall into the first storage box 2020, then the waste pipeline is taken out and overturned by eighty degrees, then the uneven tail of the waste pipeline is inserted into the first limiting ring 2022 to move to the position below the first steel saw 2013, the operation is repeated to crush the uneven tail of the waste pipeline into small blocks in the first storage box 2020, and then the pipeline is pushed to move towards the upper cargo assembly 3, make the pipeline head insert in the subassembly 3 of getting in stocks, then repeat and complain the operation and cut the pipeline, then promote the pipeline and continue to move, make the pipeline subsection that downcuts push completely in the subassembly 3 of getting in stocks, then repeat above-mentioned operation and carry out the equal parts cutting to old and useless pipeline, cooperate the subassembly 3 function of getting in stocks simultaneously, make the old and useless pipeline of equal parts cutting be fixed in the subassembly 3 of getting in stocks in proper order, during this process pipeline was through first spacing ring 2022, first spacing ring 2022 is scraped the impurity of pipeline surface, impurity falls to in the second receiver 2021, realized when using that automatic head and the afterbody with the old and useless pipeline inequality excision and broken the collection, then carry out the equal parts cutting with old and useless pipeline automatically, still realized that automatic impurity with old and useless pipeline surface is scraped off.

The loading assembly 3 comprises a second driving device, a receiving mechanism, a second linkage frame 3012 and a first electric slide rail 3010, the second driving device is used for driving the receiving mechanism to move transversely along the second linkage frame 3012, the first electric slide rail 3010 is fixedly connected with the base frame 1, the receiving mechanism is fixedly connected with the second linkage frame 3012, and the second linkage frame 3012 is connected with the first electric slide rail 3010 in a sliding manner. When the device works, the second driving device drives the bearing mechanism to move transversely along the second linkage frame 3012, so that the bearing mechanism can change the position of the bearing mechanism on the plane of the bottom frame 1 to make room for other processes; the first electric slide rail 3010 can change the position of the second linkage frame 3012 in the vertical direction, and then drive the position of the carrying mechanism in the vertical direction.

In one embodiment, referring to fig. 4, the second driving device includes a first motor 301, a sixth transmission rod 302, a fifth bevel gear 303, a sixth bevel gear 304, a first sleeve rod 305, a first prismatic rod 306, a first linkage block 307, a second electric push rod 308, a second spur gear 309, and a first slider 3011; the receiving mechanism includes a first receiving mechanism 3013, a second receiving mechanism 3014, and a third receiving mechanism 3015. The output end of the first motor 301 is fixedly connected with the sixth transmission rod 302; the first motor 301 is fixedly connected with the underframe 1; the outer surface of the sixth transmission rod 302 is fixedly connected with a fifth bevel gear 303; the outer surface of the sixth transmission rod 302 is rotatably connected with the underframe 1; the outer surface of the sixth transmission rod 302 is fixedly connected with the first transmission wheel 201; the outer surface of the sixth transmission rod 302 is connected with the unloading assembly 4; the fifth bevel gear 303 is meshed with the sixth bevel gear 304; the interior of the sixth bevel gear 304 is fixedly connected with the first sleeve rod 305; the first sleeve 305 is internally connected with a first prismatic bar 306; the outer surface of the first loop bar 305 is rotatably connected with the chassis 1; the outer surface of the first prism bar 306 is rotatably connected with the first linkage block 307; the outer surface of the first prism rod 306 is fixedly connected with a second straight gear 309; the first linkage block 307 is fixedly connected with the second electric push rod 308; the second electric push rod 308 is fixedly connected with the underframe 1; a group of first electric slide rails 3010 are arranged on both sides of the second spur gear 309; the two groups of first electric slide rails 3010 are respectively connected with the two groups of first slide blocks 3011 in a sliding manner; the two groups of first electric slide rails 3010 are fixedly connected with the underframe 1; the two groups of first sliding blocks 3011 are fixedly connected with the two groups of second linkage frames 3012 respectively; two groups of second linkage frames 3012 are fixedly connected with the first bearing mechanism 3013 at the same time; two groups of second linkage frames 3012 are fixedly connected with the second bearing mechanism 3014 at the same time; the two groups of second linkage frames 3012 are fixedly connected to the third supporting mechanism 3015.

When the cutting component 2 cuts the head and the tail of the waste pipeline, the first motor 301 drives the sixth transmission rod 302 to drive the fifth bevel gear 303 to rotate, the sixth transmission rod 302 drives the cutting component 2 and the unloading component 4 to operate, the fifth bevel gear 303 drives the sixth bevel gear 304 to drive the first sleeve rod 305 to rotate, the first sleeve rod 305 drives the first ridge rod 306 to drive the second spur gear 309 to rotate, then the second electric push rod 308 drives the first linkage block 307 to drive the first ridge rod 306 to reciprocate, the first ridge rod 306 drives the second spur gear 309 to reciprocate, at the moment, the second spur gear 309 moves towards the first receiving mechanism 3013, the second spur gear 309 drives the first receiving mechanism 3013 to operate, the sixth transmission rod 302 is driven by the first motor 301 to reciprocate, the motion tracks of partial components of the first receiving mechanism 3013 are changed, and the cutting component 2 operates in cooperation with the cutting component 2, so that the cutting component 2 pushes five pipeline segments into the first receiving mechanism 3013, the first supporting mechanism 3013 limits and fixes five small segments of the pipeline, then the components of the first supporting mechanism 3013 move back to the original position, then the second spur gear 309 moves back to the original position, the first electric slide 3010 drives the first slide 3011 to drive the second linkage 3012 to move upwards for a certain distance, the second linkage 3012 drives the second supporting mechanism 3014 to move upwards to the initial height of the first supporting mechanism 3013, the operations are repeated to fix the five small segments of the pipeline in the second supporting mechanism 3014, then the second linkage 3012 drives the third supporting mechanism 3015 to move upwards to the initial height of the first supporting mechanism 3013, the operations are repeated to fix the five small segments of the pipeline in the third supporting mechanism 3015, then the second linkage 3012 drives the first supporting mechanism 3013, the second supporting mechanism 3014 and the third supporting mechanism 3015 to move back to the original position, then the four groups of electric wheels 7 drive the device to move to the designated position, then, the first supporting mechanism 3013, the second supporting mechanism 3014, and the third supporting mechanism 3015 respectively drive three waste pipelines to move to the side far away from the control device 6, so that when in use, the waste pipelines are automatically limited, three rows of waste pipelines are equidistantly arranged, and five waste pipelines are equidistantly arranged in each row.

Further, the first receiving mechanism 3013 includes a first limiting rod 301301, a first sliding sleeve block, a second coupling block 301303, a first rack 301304 and a receiving component, the receiving component includes a first receiving component 301305, the first sliding sleeve block is slidably connected to the first limiting rod 301301, the first limiting rod 301301 is fixedly connected to the second coupling block 301303, the first rack 301304 is fixedly connected to the second coupling block 301303, the first receiving component 301305 is fixedly connected to the second coupling block 301303, the second driving device includes a second spur gear 309, and the second spur gear 309 is engaged with the first rack 301304.

In one embodiment, referring to fig. 5, the first receiving mechanism 3013 includes a first stopper 301301, a first sliding block 301302, a second sliding block 301303, a first rack 301304, a first receiving member 301305, a second receiving member 301306, a third receiving member 301307, a fourth receiving member 301308, and a fifth receiving member 301309; the outer surface of the first limiting rod 301301 is in sliding connection with the first sliding sleeve block 301302; the first limiting rods 301301 are fixedly connected with the two groups of second linkage frames 3012; the first sliding sleeve block 301302 is fixedly connected with the second linkage block 301303; the second linkage block 301303 is fixedly connected with the first rack 301304; the second linkage block 301303 is fixedly connected to the first receiving part 301305, the second receiving part 301306, the third receiving part 301307, the fourth receiving part 301308 and the fifth receiving part 301309 in sequence.

When the cutting assembly 2 cuts the head and the tail of the waste pipeline, the second spur gear 309 is engaged with the first rack 301304, then the second spur gear 309 drives the first rack 301304 to drive the second linkage block 301303 to move, the second linkage block 301303 drives the first sliding sleeve 301302 to slide on the first limiting rod 301301, the second linkage block 301303 drives the components associated therewith to move, so that the first receiving part 301305 is aligned with the first limiting ring 2022, then the cutting assembly 2 pushes the pipeline segment into the first receiving part 301305, the first receiving part 301305 limits and fixes the pipeline segment, then the second receiving part 301306 is aligned with the first limiting ring 2022, then the cutting assembly 2 pushes the pipeline segment into the second receiving part 301306, the second receiving part 301306 limits and fixes the pipeline segment, and then the three pipelines are fixed into the third receiving part 301307, the fourth receiving part 301308 and the fifth receiving part 301309 in sequence, make five pipeline minor segments equidistance arrange, then second spur gear 309 drives first rack 301304 and moves back the normal position, then four group's motor-driven wheel 7 drive arrangement motion to the assigned position, then second spur gear 309 drives first rack 301304 and moves to keeping away from controlling means 6 one side, makes five pipeline minor segments move to keeping away from controlling means 6 one side, has realized automatic arranging five pipeline minor segments equidistance during the use, fixes it simultaneously.

Further, the first bearing component 301305 includes a second limiting rod 3013051, a third electric push rod 3013052, a first limiting cylinder 3013053 and a third limiting rod 3013054, one end of the second limiting rod 3013051 is fixedly connected to the second linkage block 301303, the other end of the second limiting rod 3013051 is fixedly connected to the third limiting rod 3013054, the first limiting cylinder 3013053 is slidably connected to the third limiting rod 3013054, one end of the third electric push rod 3013052 is fixedly connected to the second limiting rod 3013051, and the other end of the third electric push rod 3013052 is fixedly connected to the first limiting cylinder 3013053.

In one embodiment, referring to fig. 6, the first receiving component 301305 includes a second limiting rod 3013051, a third electric push rod 3013052, a first limiting cylinder 3013053 and a third limiting rod 3013054; the second limiting rod 3013051 is fixedly connected with the two groups of third electric push rods 3013052; the second limiting rod 3013051 is fixedly connected with the third limiting rod 3013054; the second limiting rod 3013051 is fixedly connected with the second linkage block 301303; the two groups of third electric push rods 3013052 are fixedly connected with the first limiting cylinder 3013053; the inside of the first limiting cylinder 3013053 is connected with the third limiting rod 3013054 in a sliding way.

When the cutting assembly 2 cuts off the head and the tail of the waste pipeline, the second linkage block 301303 drives the first bearing part 301305 to align with the first limiting ring 2022, then the cutting assembly 2 pushes the pipeline segment to move towards the second limiting rod 3013051, the first limiting cylinder 3013053 is attached to the inner wall of the pipeline segment during the movement process, so that the first limiting cylinder 3013053 scrapes and collects impurities on the inner wall of the pipeline segment, the second limiting rod 3013051 has a certain inclination, that is, the diameter of the second limiting rod 3013051 close to one side of the third electric push rod 3013052 is relatively small, so that the head of the pipeline segment is sleeved into one side of the second limiting rod 3013051 far away from the third electric push rod 3013052, the second limiting rod 3013051 fixes the waste pipeline, then the two groups of third electric push rods 3013052 drive the first limiting cylinder 3013053 to move towards the third limiting rod 3013054, that the first limiting cylinder 3013053 slides on the outer surface of the third limiting rod 3013054, so that the third limiting rod 3013054 removes the impurities inside the first limiting cylinder 3013053, realized when using that the automation is fixed the pipeline segment, realized simultaneously that the automatic impurity of getting rid of the pipeline segment is inside.

The goods discharging assembly 4 comprises a first guide rail block 4011, a second slide block 4010, a first screw rod 409, a third linkage frame 4012 and a first pushing-out mechanism 4013, the second slide block 4010 is in sliding connection with the first guide rail block 4011, the first screw rod 409 is used for driving the first slide block 3011 to slide along the first guide rail block 4011, the third linkage frame 4012 is fixedly connected with the second slide block 4010, and the first pushing-out mechanism 4013 is installed on the third linkage frame 4012. During operation, first lead screw 409 promotes first slider 3011 and slides along first guide rail piece 4011, and first slider 3011 drives the motion of third link 4012, makes first ejecting mechanism 4013 move to pipeline segment bottom, then interests ejecting mechanism 4013 fixes the pipeline segment, and third link 4012 continues the motion afterwards to push away pipeline segment head from shipment subassembly 3, break away from shipment subassembly 3 with old and useless pipeline segment head, thereby make things convenient for the manual work to take out old and useless pipeline segment.

In one embodiment, referring to fig. 7, the delivery assembly 4 includes a fifth driving wheel 401, a sixth driving wheel 402, a second sleeve 403, a second prism bar 404, a third linkage block 405, a fourth electric push rod 406, a seventh bevel gear 407, an eighth bevel gear 408, a first lead screw 409, a second slide block 4010, a first guide block 4011, a third linkage frame 4012, a first push-out mechanism 4013, a second push-out mechanism 4014, and a third push-out mechanism 4015; the fifth transmission wheel 401 is in transmission connection with a sixth transmission wheel 402 through a belt; the interior of the fifth driving wheel 401 is fixedly connected with the sixth driving rod 302; the interior of the sixth driving wheel 402 is fixedly connected with a second sleeve rod 403; the second bar 403 is internally connected with a second prism bar 404; the outer surface of the second loop bar 403 is rotatably connected with the underframe 1; the outer surface of the second prism bar 404 is rotatably connected with a third link block 405; the outer surface of the second prismatic rod 404 is fixedly connected with a seventh bevel gear 407; the third linkage block 405 is fixedly connected with the fourth electric push rod 406; the fourth electric push rod 406 is fixedly connected with the underframe 1; an eighth bevel gear 408 is arranged below the seventh bevel gear 407; the inside of the eighth bevel gear 408 is fixedly connected with a first screw rod 409; the outer surface of the first screw rod 409 is in sliding connection with the second slide block 4010; the outer surface of the first screw rod 409 is rotationally connected with a first guide rail block 4011; the second slide block 4010 is connected with the first guide rail block 4011 in a sliding manner; the second slide block 4010 is fixedly connected with a third linkage frame 4012; the first guide rail block 4011 is fixedly connected with the underframe 1; the third linkage 4012 is fixedly connected to the first, second, and third pushing mechanisms 4013, 4014, and 4015 in sequence.

When the four groups of electric wheels 7 drive the device to move to the designated position, the first supporting mechanism 3013, the second supporting mechanism 3014 and the third supporting mechanism 3015 respectively drive the three waste pipes to move to the side far from the control device 6, then the loading assembly 3 drives the fifth driving wheel 401 to drive the sixth driving wheel 402 to rotate, the sixth driving wheel 402 drives the second sleeve 403 to drive the second prism bar 404 to rotate, the second prism bar 404 drives the seventh bevel gear 407 to rotate, then the fourth electric push rod 406 drives the third link block 405 to drive the second prism bar 404 to move downwards, the second prism bar 404 drives the seventh bevel gear 407 to mesh with the eighth bevel gear 408, then the seventh bevel gear 407 drives the eighth bevel gear 401408 to drive the first screw rod 409 to rotate, the first screw rod 409 drives the second slide block 4010 to slide on the first guide rail block 4011 far from the eighth bevel gear 408, the second slide block 4010 drives the third link frame 4012 to move, the third linkage frame 4012 drives the first pushing mechanism 4013, the second pushing mechanism 4014 and the third pushing mechanism 4015 to move to the bottoms of the three rows of pipeline small sections respectively, then the first pushing mechanism 4013, the second pushing mechanism 4014 and the third pushing mechanism 4015 fix the bottoms of the three rows of pipeline small sections respectively, and then the third linkage frame 4012 continues to move, so that the first pushing mechanism 4013, the second pushing mechanism 4014 and the third pushing mechanism 4015 push the heads of the three rows of pipeline small sections away from the loading assembly 3 respectively, and when the device is used, a plurality of groups of waste pipeline head separating devices are automatically and simultaneously separated, and therefore the device is beneficial to taking out waste pipelines manually.

The first pushing-out mechanism 4013 includes a fifth electric push rod 401301, a first receiving block 401302, a second electric slide rail 401303, a third slide block 401304 and a second receiving block 401305, the second electric slide rail 401303 is fixedly connected with the first receiving block 401302, the third slide block 401304 is fixedly connected with the second receiving block 401305, the third slide block 401304 is slidably connected with the electric slide rail, one end of the fifth electric push rod 401301 is fixedly connected with the first receiving block 401302, the other end of the fifth electric push rod 401301 is fixedly connected with the third linkage 4012, and the fifth electric push rod 401301 drives the first receiving block 401302 to move in the vertical direction. Fifth electric putter 401301 drives first accepting piece 401302 and moves in vertical direction, drives the second and accepts piece 401305 and moves in vertical direction for first accepting piece 401302 and second accept piece 401305 can laminate with pipeline segment bottom, and then make things convenient for down goods subassembly 4 to release the pipeline segment and go up goods subassembly 3, reach the purpose that makes things convenient for the manual work to take out the pipeline segment.

In one embodiment, referring to fig. 8, the first pushing mechanism 4013 includes a fifth electric push rod 401301, a first receiving block 401302, a second electric slide rail 401303, a third slide block 401304, and a second receiving block 401305; the fifth electric push rod 401301 is fixedly connected with the first bearing block 401302; the fifth electric push rod 401301 is fixedly connected with the third linkage frame 4012; the first bearing block 401302 is fixedly connected with the second electric slide rail 401303; the second electric slide rail 401303 is in sliding connection with the third slide block 401304; the third slider 401304 is fixedly connected to the second receiving block 401305.

When four groups of electric wheels 7 drive the device to move to the designated position, the first receiving mechanism 3013 drives five waste pipes to move to the side far away from the control device 6, then the third linkage frame 4012 drives the first pushing mechanism 4013 to move to the bottom of the waste pipes, at this time, three grooves of the first receiving block 401302 are aligned with three waste pipes respectively, then the second electric slide rail 401303 drives the third slide block 401304 to drive the second receiving block 401305 to move to the side far away from the control device 6, so that two grooves of the second receiving block 401305 are aligned with the other two waste pipes respectively, then the fifth electric push rod 401301 drives the first receiving block 401302 to move upwards to contact with the three waste pipes, the fifth electric push rod 401301 drives the components associated with the fifth electric push rod to move upwards, so that the second receiving block 401305 is contacted with the other two waste pipes, then the third linkage frame 4012 drives the first pushing mechanism 4013 to continue to move, make first piece 401302 and the second piece 401305 of accepting break away from device with five old and useless pipelines, realized automatic when using five old and useless pipeline head break away from device simultaneously to do benefit to the manual work and take out old and useless pipeline.

It should be noted that the first receiving block 401302 and the second receiving block 401305 are both made of soft rubber. A large friction force is generated when the first receiving block 401302 or the second receiving block 401305 contacts the waste pipe, so that the waste pipe is pushed to move.

The sensing assembly 5 comprises a first sensor set 501, the first sensor set 501 is used for acquiring road condition information, the first sensor set 501 is electrically connected with a control device, and the control device is used for controlling the movement of wheels. The first sensor group 501 is used for acquiring road obstacle information, so that the control device can control the movement of the wheels conveniently, and an automatic obstacle avoidance function is realized.

In one embodiment, referring to fig. 9, the sensor assembly 5 includes a first sensor group 501, a second sensor group 502, a third sensor group 503, a fourth sensor group 504, and a fifth sensor group 505; the first sensor group 501 is fixedly connected with the second sensor group 502; the first sensor group 501 is fixedly connected with the chassis 1; the second sensor group 502 is fixedly connected with the third sensor group 503; the second sensor group 502 is fixedly connected with the fourth sensor group 504; the second sensor group 502 is fixedly connected with the chassis 1; the third sensor group 503 is fixedly connected with the chassis 1; a fifth sensor group 505 is arranged above the side edge of the fourth sensor group 504; the fourth sensor group 504 is fixedly connected with the chassis 1; the fifth sensor group 505 is fixedly connected to the chassis 1.

After the three waste pipes are fixed by the loading assembly 3, the four groups of electric wheels 7 drive the device to move to the designated position, in the process, the first sensor group 501 and the fourth sensor group 504 sense the road conditions on the two sides of the device and feed back to the control device 6, the second sensor group 502 and the fifth sensor group 505 sense the road conditions in front of the device and feed back to the control device 6, the third sensor group 503 senses the road conditions at the bottom of the device and feed back to the control device 6, and the control device 6 adjusts the four groups of electric wheels 7 according to the feedback, so that obstacles are avoided in the movement process of the device.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Automatic year unmanned car of keeping away barrier of lightweight, its characterized in that includes:

a chassis mounted with wheels;

the goods loading assembly is arranged on the underframe;

the unloading assembly is arranged on the underframe and is arranged on one side of the loading assembly;

the cleaning assembly is arranged on the underframe and used for cleaning residual impurities on the waste pipeline;

the sensing assembly is arranged on the underframe; and

and the control device is electrically connected with the sensing assembly and is used for controlling the wheel to move.

2. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 1, wherein the cleaning assembly comprises a first limiting ring, an inner diameter of the first limiting ring is matched with an outer diameter of a pipeline, and the first limiting ring is arranged right in front of the loading assembly.

3. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 2, wherein the cleaning assembly further comprises a second storage box disposed right below the first limiting ring.

4. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 1, further comprising a cutting assembly, wherein the cutting assembly comprises a first hacksaw, a first electric push rod and a first driving device, the first electric push rod drives the first hacksaw to move up and down, and the first driving device is used for driving the first hacksaw to rotate.

5. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 4, wherein the cutting assembly further comprises a first crushing roller set and a first storage box, the first storage box is arranged below the first steel saw, and the first crushing roller set is mounted in the first storage box.

6. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 1, wherein the loading assembly comprises a second driving device, a receiving mechanism, a second linkage frame and a first electric slide rail, the second driving device is used for driving the receiving mechanism to move transversely along the second linkage frame, the first electric slide rail is fixedly connected with the underframe, the receiving mechanism is fixedly connected with the second linkage frame, and the second linkage frame is slidably connected with the first electric slide rail.

7. The light-weight unmanned vehicle with an automatic obstacle avoidance function and a carrying function as claimed in claim 6, wherein the carrying mechanism comprises a first carrying mechanism, the first carrying mechanism comprises a first limiting rod, a first sliding sleeve block, a second coupling block, a first rack and a carrying part, the carrying part comprises a first carrying part, the first sliding sleeve block is slidably connected with the first limiting rod, the first limiting rod is fixedly connected with the second coupling block, the first rack is fixedly connected with the second coupling block, the first carrying part is fixedly connected with the second coupling block, the second driving device comprises a second spur gear, and the second spur gear is meshed with the first rack.

8. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 7, wherein the first receiving component comprises a second limiting rod, a third electric push rod, a first limiting cylinder and a third limiting rod, one end of the second limiting rod is fixedly connected with the second linkage block, the other end of the second limiting rod is fixedly connected with the third limiting rod, the first limiting cylinder is slidably connected with the third limiting rod, one end of the third electric push rod is fixedly connected with the second limiting rod, and the other end of the third electric push rod is fixedly connected with the first limiting cylinder.

9. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 1, wherein the unloading assembly comprises a first guide rail block, a second slide block, a first screw rod, a third linkage frame and a first pushing mechanism, the second slide block is slidably connected with the first guide rail block, the first screw rod is used for driving the second slide block to slide along the first guide rail block, the third linkage frame is fixedly connected with the second slide block, and the first pushing mechanism is mounted on the third linkage frame;

first ejecting mechanism includes fifth electric putter, first piece, the electronic slide rail of second, third slider and second piece that holds, the electronic slide rail of second with first piece fixed connection of accepting, the third slider with piece fixed connection is accepted to the second, the third slider with electronic slide rail sliding connection, fifth electric putter one end with first piece fixed connection of accepting, the fifth electric putter other end with third link fixed connection, the drive of fifth electric putter first piece that holds removes in vertical direction.

10. The light-weight automatic obstacle avoidance carrying unmanned vehicle as claimed in claim 1, wherein the sensing assembly comprises a first sensor group, the first sensor group is electrically connected with the control device, and the control device is used for controlling the wheel to move.

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