CN217124936U

CN217124936U - Unmanned vehicle

Info

Publication number: CN217124936U
Application number: CN202220161513.0U
Authority: CN
Inventors: 安向京; 吴国恒; 申龙华
Original assignee: Changsha Xingshen Intelligent Technology Co Ltd
Current assignee: Changsha Xingshen Intelligent Technology Co Ltd
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2022-08-05
Anticipated expiration: 2032-01-20

Abstract

The utility model discloses an unmanned vehicle, including front suspension, rear suspension and frame, front suspension with have the interval between the rear suspension for the frame goes up and down, the frame is including locating function cabinet between front suspension and the rear suspension loads the frame and locates the support frame of both sides around the function cabinet loads the frame, front suspension and front side between the support frame and rear suspension and rear side all are equipped with lift driving piece and locking mechanism between the support frame. The utility model discloses because the interval has between front suspension, the back suspension, can not form and interfere, the frame is whole can realize going up and down through the lift driving piece of both sides around, and the function cabinet loading frame can smoothly pass between front suspension and the back suspension, and the lift driving piece and the locking mechanism combined action of both sides around can be with front suspension, back suspension and the reliable connection of frame become whole, guarantee the holistic mechanical strength and the bearing capacity of unmanned car, prevent that the function cabinet loading frame is unexpected under function cabinet action of gravity and fall.

Description

Unmanned vehicle

Technical Field

The utility model relates to an intelligent vehicle technical field especially relates to an unmanned car.

Background

The existing unmanned vehicle is a bearing type vehicle body generally formed by a frame structure, functional cabinets (such as an express cabinet, a financial cabinet, a retail cabinet and the like) are fixed on a vehicle frame, the structure at the bottom of the vehicle frame and the functional cabinets can interfere with each other, so that the functional cabinets cannot directly penetrate through a chassis to descend to the ground or directly lift from the ground to the upper part of the chassis, and if the structure at the bottom of the vehicle frame is directly removed, the stability of the vehicle frame after being stressed is very poor, and the vehicle frame is easy to deform. Most of the functional cabinets carried by the unmanned vehicles are mounted above the vehicle frames in a mode of bolts, lock catches and the like, and the positions of the functional cabinets are high and cannot be adjusted. When loading and unloading function cabinet, need more manpower or with the help of auxiliary assembly such as fork truck, machine of lifting, operate from the left and right sides of unmanned car or rear, it is not convenient enough directly to go up and down on the frame. Meanwhile, the center of gravity of the vehicle body and the center of gravity of the function cabinet are higher, so that the stability of the unmanned vehicle in the running process is not kept favorably. The existing low-floor public transport vehicle reduces the height of a chassis to a certain extent, is convenient for passengers to get on or off the vehicle, but still cannot realize that a function cabinet is directly lifted between the ground and the floor of the vehicle, and is not convenient enough.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome prior art not enough, provide a lift that can realize the function cabinet, make things convenient for the loading and unloading of function cabinet, reduce the focus of function cabinet to prevent the unmanned car that the function cabinet accident was fallen.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the frame comprises a functional cabinet loading frame arranged between the front suspension and the rear suspension and supporting frames arranged on the front side and the rear side of the functional cabinet loading frame, and lifting driving pieces and locking mechanisms are arranged between the front suspension and the supporting frames on the front side and between the rear suspension and the supporting frames on the rear side.

As a further improvement of the above technical solution: the front suspension and the rear suspension respectively comprise a vibration damping assembly and a lifting swing rod crossbeam, the upper end of the vibration damping assembly is hinged to the lifting swing rod crossbeam, connecting arms are further arranged at two ends of the lifting swing rod crossbeam and hinged to the supporting frames, and the lifting driving piece and the locking mechanism are arranged between the lifting swing rod crossbeam and the supporting frames.

As a further improvement of the above technical solution: the lifting driving piece is of a telescopic structure, one end of the lifting driving piece is hinged to the supporting frame, and the other end of the lifting driving piece is hinged to the lifting swing rod beam.

As a further improvement of the above technical solution: two the linking arm is about the lift driving piece symmetric arrangement, damping subassembly is equipped with two sets ofly and two sets of damping subassembly is about the lift driving piece symmetric arrangement.

As a further improvement of the above technical solution: the lifting driving piece is one of an electric push rod, a hydraulic oil cylinder and an air cylinder.

As a further improvement of the above technical solution: locking mechanism is including locating last lock axle of lift pendulum rod crossbeam with locate lock seat on the support frame, be equipped with spring bolt, retaining member, locking drive assembly on the lock seat and be used for making the first elasticity that the spring bolt resets, the spring bolt with the retaining member all with the lock seat is articulated, retaining member one end be equipped with spring bolt complex locking portion, the other end with locking drive assembly connects.

As a further improvement of the technical scheme: locking drive assembly includes connecting rod, second elasticity piece that resets and is used for making connecting rod concertina movement's locking driving piece, the connecting rod is worn to locate in the retaining member, connecting rod one end with the locking driving piece is connected, and the other end is equipped with and is used for preventing to follow spacing portion of deviating from in the retaining member, second elasticity piece that resets supports and locates the retaining member with between the locking driving piece.

As a further improvement of the above technical solution: the first elastic reset piece is a torsion spring and is arranged on the hinged shaft of the spring bolt, and the second elastic reset piece is a spiral spring and is sleeved on the periphery of the connecting rod.

As a further improvement of the above technical solution: the two ends of the beam of the lifting swing rod are provided with the lock shafts, and the support frame is provided with two lock seats which are in one-to-one correspondence with the two lock shafts.

As a further improvement of the above technical solution: suspension connecting rods are arranged between the front suspension and the functional cabinet loading frame and between the rear suspension and the functional cabinet loading frame, one end of each suspension connecting rod is hinged with the functional cabinet loading frame, and the other end of each suspension connecting rod is fixedly connected with the front suspension or the rear suspension.

Compared with the prior art, the utility model has the advantages of: the utility model discloses an unmanned vehicle, the front suspension, the interval has between the rear suspension, the function cabinet of frame loads and erects the interval department of locating front suspension and rear suspension, because of this suspension, the rear suspension can not form and interfere, the frame is whole can realize going up and down through the lift driving piece of both sides around, the function cabinet loads and puts up and can smoothly pass between front suspension and the rear suspension, the lift driving piece and the locking mechanism combined action of both sides around, with the front suspension, the rear suspension links into wholly with the frame is reliable, guarantee the holistic mechanical strength of unmanned vehicle and bearing capacity, prevent that the function cabinet loading frame from falling in the accident under the function cabinet action of gravity. When the multifunctional cabinet loading frame is used, the functional cabinet is placed on the functional cabinet loading frame, when the functional cabinet needs to be loaded and unloaded, the locking mechanism is unlocked, and the lifting driving piece drives the functional cabinet loading frame and the functional cabinet to descend to the ground, so that the subsequent operation is facilitated, the manpower is reduced, and auxiliary equipment such as a forklift and a lifter is not needed; before the vehicle went, the lifting drive piece drives the cabinet and loads frame and function cabinet and rises a take the altitude and ground separation, and locking mechanism locks frame and front suspension, rear suspension, and the function cabinet was located between front suspension, the rear suspension this moment, compares in the form that the function cabinet arranged in the frame top, and the focus is lower, is favorable to keeping the stability of unmanned vehicle travel in-process.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the unmanned vehicle.

Fig. 2 is a schematic view of the unmanned vehicle of the present invention.

Fig. 3 is a schematic perspective view of a front suspension according to the present invention.

Fig. 4 is a schematic perspective view of a rear suspension according to the present invention.

Fig. 5 is a schematic perspective view of a frame according to the present invention.

Fig. 6 is a schematic perspective view of the locking mechanism of the present invention.

Fig. 7 is a schematic structural diagram of the inside of the locking mechanism of the present invention.

The reference numerals in the figures denote: 1. a front suspension; 2. a rear suspension; 3. a frame; 31. a functional cabinet loading frame; 32. a support frame; 4. a lifting drive member; 5. a locking mechanism; 51. a lock shaft; 52. a lock seat; 53. a latch bolt; 54. a first elastic reset member; 55. a locking member; 551. a locking portion; 56. locking the driving assembly; 561. a connecting rod; 562. a second elastic reset piece; 563. locking the driving member; 564. a limiting part; 6. a vibration reduction assembly; 7. a lifting swing rod beam; 71. a connecting arm; 8. a suspension link; 100. function cabinet.

Detailed Description

The invention is described in further detail below with reference to the drawings and specific examples.

Fig. 1 to 7 show an embodiment of the unmanned vehicle of the present invention, the unmanned vehicle of this embodiment, including front suspension 1, rear suspension 2 and frame 3, have the interval between front suspension 1 and the rear suspension 2 and go up and down for frame 3, frame 3 is including locating function cabinet loading frame 31 between front suspension 1 and the rear suspension 2 and locating the support frame 32 of function cabinet loading frame 31 front and back both sides, all is equipped with lift driving piece 4 and locking mechanism 5 between the support frame 32 of front side and rear suspension 2 and between the support frame 32 of rear side and the front side. It should be noted that the front suspension 1 and the rear suspension 2 are relative concepts, in this embodiment, the left side is the front suspension 1, and then the right side is the rear suspension 2, and in other embodiments, the right side can also be the front suspension 1, and then the left side is the rear suspension 2.

In the unmanned vehicle, the functional cabinet loading frame 31 of the frame 3 is arranged at the interval between the front suspension 1 and the rear suspension 2, so that the front suspension 1 and the rear suspension 2 cannot form interference; the frame 3 wholly can realize going up and down through the lift driving piece 4 of front and back both sides, function cabinet loading frame 31 can smoothly pass between front suspension 1 and the rear suspension 2, the lift driving piece 4 and the 5 combined action of locking mechanism of front and back both sides are with front suspension 1, the reliable connection of rear suspension 2 and frame 3 is whole, guarantee the holistic mechanical strength of unmanned car and bearing capacity, prevent that function cabinet loading frame 31 from falling by accident under the function of gravity of function cabinet 100 (for example express delivery cabinet, finance cabinet, retail cabinet or send the cupboard etc.). When the multifunctional cabinet loading and unloading device is used, the functional cabinet 100 is placed on the functional cabinet loading frame 31, when the functional cabinet 100 needs to be loaded and unloaded, the locking mechanism 5 is unlocked, and the lifting driving piece 4 drives the functional cabinet loading frame 31 and the functional cabinet 100 to descend to the ground, so that the subsequent operation is facilitated, the manpower is reduced, and auxiliary equipment such as a forklift and a lifter is not needed; before the vehicle went, lift driving piece 4 drove function cabinet and loaded frame 31 and function cabinet 100 and rise a take the altitude and ground separation, and locking mechanism 5 locks frame 3 and front suspension 1, rear suspension 2, and function cabinet 100 was located between front suspension 1, the rear suspension 2 this moment, compares in the form of common function cabinet 100 arrangement in frame 3 top, and the focus is lower, is favorable to keeping the stability of unmanned vehicle travel in-process.

Further, in this embodiment, the front suspension 1 and the rear suspension 2 both include a damping assembly 6 (for example, a common damping vibration absorber is combined with a damping spring and is hinged to a suspension link rod) and a lift swing rod beam 7, the upper end of the damping assembly 6 is hinged to the lift swing rod beam 7, connecting arms 71 are further disposed at two ends of the lift swing rod beam 7, the connecting arms 71 are hinged to the supporting frame 32, and the lift driving member 4 and the locking mechanism 5 are disposed between the lift swing rod beam 7 and the supporting frame 32. The gravity of the frame 3 and the functional cabinet 100 is transmitted to the lifting swing rod beam 7 through the lifting driving piece 4, the connecting arm 71 and the locking mechanism 5, and then transmitted to the wheels through the vibration reduction assembly 6, so that the frame 3 has high bearing capacity, and the vibration of the wheels is prevented from being transmitted to the frame 3 and the functional cabinet 100; the lifting swing rod cross beam 7 is hinged with the vibration damping assembly 6, connecting arms 71 at two ends of the lifting swing rod cross beam are hinged with the supporting frame 32, on one hand, after the locking mechanism 5 is unlocked, the frame 3 can move up and down relative to the front suspension 1 and the rear suspension 2, on the other hand, the connecting strength between the frame 3 and the front suspension 1 and the rear suspension 2 is improved, and the front-rear wheel base only generates small change in the lifting process.

Further, in the present embodiment, the lifting driving member 4 is of a telescopic structure (in fig. 3, an extended state, and in fig. 4, a retracted state), and one end of the lifting driving member 4 is hinged to the supporting frame 32, and the other end is hinged to the lifting swing rod cross beam 7. After the locking mechanism 5 is unlocked, the lifting driving piece 4 stretches, the frame 3 moves up and down under the constraint of the connecting arm 71 to realize lifting, and the structure is simple and reliable.

In a preferred embodiment, the two connecting arms 71 are symmetrically arranged with respect to the lift drive 4, the damping assemblies 6 are provided in two sets and the two damping assemblies 6 are symmetrically arranged with respect to the lift drive 4. And by adopting a symmetrical structure, the two ends of the lifting swing rod beam 7 can be balanced in stress, so that the front suspension 1 and the rear suspension 2 can be balanced in stress, and the stability of the unmanned vehicle in the running process is improved.

The lifting driving member 4 may be, for example, one of an electric push rod, a hydraulic cylinder and an air cylinder, and the lifting movement of the frame 3 may be achieved by telescoping. Preferably, the lifting driving part 4 adopts an electric push rod, so that the whole vehicle can be conveniently controlled by a circuit.

Further, in this embodiment, the locking mechanism 5 includes a locking shaft 51 disposed on the lifting swing rod beam 7 and a locking seat 52 disposed on the support frame 32, a locking tongue 53, a locking member 55, a locking driving assembly 56 and a first elastic resetting member 54 for resetting the locking tongue 53 are disposed on the locking seat 52, the locking tongue 53 and the locking member 55 are both hinged to the locking seat 52, one end of the locking member 55 is provided with a locking portion 551 engaged with the locking tongue 53, and the other end of the locking member is connected to the locking driving assembly 56. When the frame 3 needs to ascend, the lifting driving part 4 extends to drive the lifting swing rod cross beam 7 to move, the lock shaft 51 on the lifting swing rod cross beam 7 synchronously moves, see fig. 7, after the frame 3 ascends in place, the lock shaft 51 overcomes the elastic force of the first elastic resetting piece 54 to push the lock tongue 53 to rotate clockwise, meanwhile, the first elastic resetting piece 54 is compressed, after the lock shaft 51 crosses the lock tongue 53, the first elastic resetting piece 54 is released, the lock tongue 53 resets in a counterclockwise rotation mode under the action of the first elastic resetting piece 54 until being tightly abutted against the locking part 551, at the moment, the lock shaft 51 cannot push the lock tongue 53 to rotate counterclockwise and cannot be separated from the lock tongue 53, namely, locking is realized, the structure is simple and reliable, and the movement is flexible and smooth.

Furthermore, in this embodiment, the locking driving assembly 56 includes a connecting rod 561, a second elastic restoring member 562 and a locking driving member 563 for making the connecting rod 561 perform a telescopic motion, the connecting rod 561 penetrates through the locking member 55, one end of the connecting rod 561 is connected to the locking driving member 563, the other end of the connecting rod 561 is provided with a limiting portion 564 for preventing the locking member 55 from disengaging from the locking member, and the second elastic restoring member 562 is abutted between the locking member 55 and the locking driving member 563. When the frame 3 needs to descend, see fig. 7, the locking driving member 563 drives the connecting rod 561 to rise, the elastic force of the second elastic resetting piece 562 is overcome by the connecting rod 561, and the locking member 55 is driven to rotate clockwise through the limiting portion 564, meanwhile, the second elastic resetting piece 562 is compressed, the locking portion 551 is separated from the lock tongue 53, at this moment, the lifting driving member 4 retracts, the lock shaft 51 can push the lock tongue 53 to rotate counterclockwise and separate from the lock tongue 53, also realize unlocking, then the second elastic resetting piece 562 is released, the locking member 55 is pushed, the connecting rod 561 resets, the structure is simple, reliability is high, the degree of automation is high, the movement is flexible, and smoothness is achieved. The locking driving member 563 is preferably electromagnetic, so that the whole vehicle can be controlled by a circuit conveniently, and the connecting rod 561 can be driven to move upwards by controlling on-off of current during working. Of course, in other embodiments, a pneumatic cylinder, a hydraulic cylinder, etc. may be used to drive the movement of the link 561.

Preferably, the first elastic restoring member 54 is a torsion spring and is disposed on the hinge shaft of the latch 53, and the second elastic restoring member 562 is a coil spring and is disposed on the periphery of the connecting rod 561 in a sleeving manner, so that the structure is simple, the cost is low, and the reliability is good.

As a preferred embodiment, two ends of the lifting swing rod beam 7 are both provided with lock shafts 51, and the support frame 32 is provided with two lock seats 52 and is arranged in one-to-one correspondence with the two lock shafts 51, so that the locking forces at the two ends of the lifting swing rod beam 7 can be kept balanced, further, the front suspension 1 and the rear suspension 2 are kept balanced in stress, and the stability of the unmanned vehicle in the driving process is improved.

Further, in the present embodiment, suspension links 8 are disposed between the front suspension 1 and the functional cabinet loading frame 31 and between the rear suspension 2 and the functional cabinet loading frame 31, one end of each suspension link 8 is hinged to the functional cabinet loading frame 31, and the other end of each suspension link 8 is fixedly connected to the front suspension 1 or the rear suspension 2. The suspension connecting rod 8 is arranged, so that the connection strength between the functional cabinet loading frame 31 and the front suspension 1 and between the functional cabinet loading frame and the rear suspension 2 is improved, the integral bearing capacity of the unmanned vehicle and the deformation resistance of the frame 3 are improved, and the integral lifting motion of the frame 3 cannot be interfered.

The utility model discloses unmanned vehicle's application method as follows:

1) unlocking the locking mechanism 5: the locking driving member 563 drives the connecting rod 561 to ascend, the connecting rod 561 overcomes the elastic force of the second elastic resetting member 562, and drives the locking member 55 to rotate clockwise through the limiting portion 564, and meanwhile, the second elastic resetting member 562 is compressed, and the locking portion 551 is separated from the bolt 53;

2) the frame 3 descends: the lifting driving part 4 retracts, the lifting swing rod cross beam 7 rotates around the hinge axis of the connecting arm 71 and the support frame 32 under the constraint of the connecting arm 71, the frame 3 descends, the lock shaft 51 pushes the lock tongue 53 to rotate anticlockwise to be separated from the lock tongue 53 under the drive of the lifting swing rod cross beam 7, namely, unlocking is realized, the second elastic resetting part 562 is released after unlocking, the locking part 55 is pushed to rotate anticlockwise, the connecting rod 561 descends to realize resetting, and the lifting driving part 4 stops after the functional cabinet loading frame 31 descends to the ground;

3) mounting the functional cabinet 100 on the functional cabinet loading frame 31, or dismounting the functional cabinet 100 from the functional cabinet loading frame 31;

4) the frame 3 rises, and the locking mechanism 5 locks: the lifting driving element 4 extends, the lifting swing rod cross beam 7 rotates around the hinged axis of the connecting arm 71 and the support frame 32 under the constraint of the connecting arm 71, the frame 3 rises, meanwhile, the lifting swing rod cross beam 7 moves, the lock shaft 51 on the lifting swing rod cross beam 7 synchronously acts, the lock shaft 51 overcomes the elastic force of the first elastic reset piece 54 to push the bolt 53 to rotate clockwise, meanwhile, the first elastic reset piece 54 is compressed, after the lock shaft 51 crosses the bolt 53, the first elastic reset piece 54 releases, the bolt 53 rotates anticlockwise under the action of the first elastic reset piece 54 to reset, and is tightly abutted against the locking part 551, after the frame 3 rises to the right position, the lifting driving element 4 stops, at the moment, the lock shaft 51 cannot push the bolt 53 to rotate anticlockwise, cannot be separated from the bolt 53, and locking is also realized.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The technical solution of the present invention can be used by anyone skilled in the art to make many possible variations and modifications, or to modify equivalent embodiments, without departing from the scope of the technical solution of the present invention, using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention should fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides an unmanned vehicle, includes front suspension (1), rear suspension (2) and frame (3), its characterized in that: the front suspension (1) and the rear suspension (2) are spaced to lift the frame (3), the frame (3) comprises a functional cabinet loading frame (31) arranged between the front suspension (1) and the rear suspension (2) and supporting frames (32) arranged on the front side and the rear side of the functional cabinet loading frame (31), and a lifting driving piece (4) and a locking mechanism (5) are arranged between the front suspension (1) and the supporting frame (32) on the front side and between the rear suspension (2) and the supporting frame (32) on the rear side.

2. The unmanned vehicle of claim 1, wherein: front suspension (1) with rear suspension (2) all include damping subassembly (6) and lift pendulum rod crossbeam (7), damping subassembly (6) upper end with lift pendulum rod crossbeam (7) are articulated, lift pendulum rod crossbeam (7) both ends still are equipped with linking arm (71), linking arm (71) with support frame (32) are articulated, lift driving piece (4) with locking mechanism (5) are all located lift pendulum rod crossbeam (7) with between support frame (32).

3. The unmanned vehicle of claim 2, wherein: the lifting driving piece (4) is of a telescopic structure, one end of the lifting driving piece (4) is hinged to the supporting frame (32), and the other end of the lifting driving piece is hinged to the lifting swing rod cross beam (7).

4. The unmanned vehicle of claim 3, wherein: two linking arm (71) about lift driving piece (4) symmetrical arrangement, damping subassembly (6) are equipped with two sets ofly and two sets of damping subassembly (6) about lift driving piece (4) symmetrical arrangement.

5. The unmanned vehicle of claim 3, wherein: the lifting driving piece (4) is one of an electric push rod, a hydraulic oil cylinder and an air cylinder.

6. The unmanned vehicle of claim 2, wherein: locking mechanism (5) are including locating lock axle (51) on lift pendulum rod crossbeam (7) with locate lock seat (52) on support frame (32), be equipped with spring bolt (53), retaining member (55), locking drive assembly (56) on lock seat (52) and be used for making the first elasticity that spring bolt (53) reset piece (54), spring bolt (53) with retaining member (55) all with lock seat (52) are articulated, retaining member (55) one end be equipped with spring bolt (53) complex locking portion (551), the other end with locking drive assembly (56) are connected.

7. The unmanned vehicle of claim 6, wherein: locking drive assembly (56) include connecting rod (561), second elasticity piece (562) and be used for making connecting rod (561) concertina movement's locking driving piece (563), connecting rod (561) wear to locate in retaining member (55), connecting rod (561) one end with locking driving piece (563) are connected, and the other end is equipped with and is used for preventing to follow spacing portion (564) that deviate from in retaining member (55), second elasticity piece (562) that resets support locate retaining member (55) with between the locking driving piece (563).

8. The unmanned vehicle of claim 7, wherein: the first elastic reset piece (54) is a torsion spring and is arranged on a hinged shaft of the bolt (53), and the second elastic reset piece (562) is a spiral spring and is sleeved on the periphery of the connecting rod (561).

9. The unmanned vehicle of claim 7, wherein: the two ends of the lifting swing rod beam (7) are provided with the lock shafts (51), and the support frame (32) is provided with two lock seats (52) which are in one-to-one correspondence with the two lock shafts (51).

10. The unmanned vehicle of any one of claims 1-9, wherein: suspension connecting rods (8) are arranged between the front suspension (1) and the functional cabinet loading frame (31) and between the rear suspension (2) and the functional cabinet loading frame (31), one end of each suspension connecting rod (8) is hinged with the functional cabinet loading frame (31), and the other end of each suspension connecting rod is fixedly connected with the front suspension (1) or the rear suspension (2).