WO2022063116A1 - 一种功能模块可分离式的无人车 - Google Patents

一种功能模块可分离式的无人车 Download PDF

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Publication number
WO2022063116A1
WO2022063116A1 PCT/CN2021/119578 CN2021119578W WO2022063116A1 WO 2022063116 A1 WO2022063116 A1 WO 2022063116A1 CN 2021119578 W CN2021119578 W CN 2021119578W WO 2022063116 A1 WO2022063116 A1 WO 2022063116A1
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WIPO (PCT)
Prior art keywords
chassis
locking
unmanned vehicle
functional module
head
Prior art date
Application number
PCT/CN2021/119578
Other languages
English (en)
French (fr)
Inventor
吴统超
安向京
Original Assignee
长沙行深智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 长沙行深智能科技有限公司 filed Critical 长沙行深智能科技有限公司
Priority to JP2023519215A priority Critical patent/JP7449524B2/ja
Priority to US18/028,521 priority patent/US20240025501A1/en
Priority to EP21871486.3A priority patent/EP4206061A4/en
Publication of WO2022063116A1 publication Critical patent/WO2022063116A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/42—Vehicles adapted to transport, to carry or to comprise special loads or objects convertible from one use to a different one
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00—Securing or covering of load on vehicles
    • B60P7/06—Securing of load
    • B60P7/13—Securing freight containers or forwarding containers on vehicles
    • B60P7/132—Securing freight containers or forwarding containers on vehicles twist-locks for containers or frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/077—Superstructures for load-carrying vehicles characterised by the connection of the superstructure to the vehicle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • the invention relates to an intelligent vehicle, in particular to an unmanned vehicle with a detachable function module.
  • the cargo box is usually fixedly connected to the chassis of the unmanned delivery vehicle.
  • the unmanned delivery vehicle arrives at the destination, if the goods in the cargo box cannot be taken away in time, especially the whole box of goods needs to be delivered to a fixed location. location, the unmanned delivery vehicle can only wait, which reduces the delivery efficiency of the unmanned delivery vehicle.
  • unmanned sweepers unmanned disinfection vehicles, unmanned sprinklers, unmanned sweepers, etc.
  • unmanned sweepers unmanned disinfection vehicles, unmanned sprinklers, unmanned sweepers, etc.
  • they are usually limited to one functional form, and for some functional forms , may only need to be used in a specific period of time, in most time periods, in a waiting state (such as disinfection vehicles or sprinklers, usually only need to operate in a fixed period of time), so that the use efficiency of unmanned vehicles will be reduce.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and to provide an unmanned vehicle with detachable functional modules which is beneficial to improve the use efficiency and use flexibility and reduce the operating cost.
  • the present invention adopts the following technical solutions:
  • An unmanned vehicle with a detachable functional module comprising a functional module, a chassis for supporting the functional module, and a head mounted on the chassis, the chassis or the head being provided with a lock for connecting the functional module tight institutions.
  • the upper part of the chassis is provided with a limit groove
  • the bottom of the functional module is provided with a pair of limit guide bars
  • a pair of the limit guide bars are arranged in the limit groove .
  • the limit guide strip and the limit groove are both inverted right-angled trapezoid structures, and the right-angled sides of a pair of limit guide strips are arranged oppositely.
  • the locking mechanism includes a locking seat installed on the chassis or the front of the vehicle, a locking screw thread penetrated in the locking seat, and a locking nut arranged on the locking screw rod, so
  • the functional module is provided with a lock cavity for the head of the lock screw to rotate and a lock hole connected with the lock cavity, and the head of the lock screw can pass through the lock hole or press the side of the lock hole.
  • the locking hole and the head of the locking screw are both waist circular structures.
  • the locking seat is provided with two first blocks for locating the head of the locking screw, and the two first blocks are oppositely arranged on both sides of the locking screw, One end of one of the first blocks is provided with a second block, and the other end of the other first block is also provided with a second block.
  • the functional module is a cargo box, an automatic vending container module, a charger combination module, a fire fighting equipment module, a disinfection module, a sprinkler module or a cleaning module.
  • the front end of the chassis is provided with installation grooves on both sides, the installation groove is provided with a laser radar, the wheel base of the front axle wheel set of the chassis is smaller than the wheel base of the rear axle wheel set,
  • the avoidance grooves can form a larger visual field. To improve the accuracy of the sensor and expand the detection range and other effects.
  • a jacking mechanism is also provided on the chassis.
  • the functional module is provided with a running mechanism
  • the chassis is provided with a guide mechanism for guiding the functional module to get on and off the vehicle.
  • the detachable design of the chassis of the unmanned vehicle and the functional modules mounted on it makes the loading and unloading of the functional modules more flexible. For example, it can be loaded and unloaded in the front-rear direction, the left-right direction, and the vertical direction. , which is convenient for docking with a variety of loading and unloading platforms.
  • the chassis of the unmanned vehicle and the functional modules mounted on it are designed to be detachable. When used as an unmanned delivery vehicle, when it reaches the destination, the cargo box mounted on it is separated from the unmanned vehicle. Unmanned vehicles can continue to complete other transportation operations without waiting, which improves the distribution efficiency of unmanned vehicles; when used as other functional modules, such as unmanned disinfection vehicles, only the disinfection cargo box needs to be set on the chassis of the unmanned vehicle. In some usage scenarios, such as campuses, the same unmanned vehicle can be equipped with multiple functional modules, and different functional modules can be equipped in different time periods to complete the work of different projects, which improves the versatility of unmanned vehicles and improves its performance. utilization, reducing operating costs.
  • limit guide strips there are two limit guide strips at the bottom of the functional module.
  • the chassis of the vehicle body is provided with a limit groove matched with the limit guide strips, which limits the relative movement of the functional module on the vehicle body;
  • the position guide strips are symmetrically arranged at the bottom of the function module.
  • the cross section of the limit guide strip is an inverted right-angled trapezoid, and its two right-angled sides are set opposite to each other, so that the inner gears of the two limit guide strips constitute a forklift to prevent cargo when the fork arm is lifted. Box shaking limit.
  • FIG. 1 is a schematic three-dimensional structure diagram of the unmanned vehicle with a detachable function module of the present invention in a separated state.
  • FIG. 2 is a schematic three-dimensional structure diagram of the present invention when the functional modules are detachable and the unmanned vehicle is combined.
  • FIG. 3 is a schematic front view of the structure of the present invention when the functional modules are detachable and the unmanned vehicle is combined.
  • FIG. 4 is a partial enlarged view of FIG. 3 .
  • FIG. 5 is a schematic diagram of an exploded structure of the locking mechanism in the present invention.
  • FIG. 6 is a schematic structural diagram of the bottom of the functional module in the present invention.
  • FIG. 7 is a schematic three-dimensional structure diagram of the chassis and the head of the present invention.
  • FIG. 8 is a schematic structural diagram of passive separation of functional modules according to the present invention.
  • FIG. 9 is a schematic structural diagram of Embodiment 1 of active separation of functional modules according to the present invention.
  • FIG. 10 is a schematic structural diagram of Embodiment 2 of active separation of functional modules according to the present invention.
  • the unmanned vehicle with detachable functional modules in this embodiment includes a functional module 1 for supporting the functional module 1
  • the chassis 2 and the head 3 mounted on the chassis 2 are provided with a locking mechanism 4 for connecting the functional module 1 on the chassis 2 .
  • a locking mechanism 4 can also be provided on the vehicle head 3 , and by locking and unlocking the locking mechanism 4 , the functional module 1 can also be combined and separated from the chassis 2 and the vehicle head 3 .
  • four groups of locking mechanisms 4 are arranged at the four corners of the chassis 2, which can lock the functional modules 1 reliably.
  • the chassis 2 is provided with operation windows 26 on the sides of the locking mechanisms 4 of each group, which is convenient for operation and locking.
  • the mechanism 4 realizes locking and unlocking.
  • the functional module 1 can be, for example, a cargo box, an automatic vending cabinet module, a charger combination module, a fire fighting equipment module, a disinfection module, a sprinkler module or a cleaning module, etc. That is to say, according to different application situations and application requirements, the corresponding module can be selected.
  • the module is used as function module 1 to realize different functions. For example, if the function module 1 is an automatic vending cabinet module, a vending machine may be installed on the automatic vending cabinet module, so as to realize automatic vending anytime, anywhere or on a cruise.
  • the charger combination module can be selected as the functional module 1, that is, it becomes a mobile charging vehicle for charging other unmanned vehicles or other devices.
  • the upper part of the chassis 2 is provided with a limit groove 21
  • the bottom of the functional module 1 is provided with a pair of limit guide bars 11
  • the pair of limit guide bars 11 are arranged in the limit groove 21 .
  • the limit groove 21 and a pair of limit guide strips 11 are arranged in the front and rear directions (the side where the head 3 is located is the front), and the two cooperate with each other to limit the degree of freedom of the functional module 1 in the left and right directions on the chassis 2, and the loading function
  • the limit guide bars 11 can smoothly slide into the limit groove 21 of the unmanned vehicle; when the limit groove 21 is placed on the ground, it is convenient to use a forklift to carry.
  • the limiting grooves 21 and the pair of limiting guide bars 11 may also be arranged along the left-right direction.
  • the limit guide strips 11 and the limit grooves 21 are both inverted right-angled trapezoid structures, and the right-angled sides of a pair of limit guide strips 11 are arranged opposite to each other, or a pair of limit guides The right-angled sides of the strips 11 are arranged adjacent to each other;
  • the locking mechanism 4 includes a locking seat 41 installed on the chassis 2 , a locking screw 42 passing through the locking seat 41 , and a locking nut 43 arranged on the locking screw 42 .
  • the module 1 is provided with a lock cavity 12 for the head of the lock screw 42 to rotate and a lock hole 13 connected with the lock cavity 12 .
  • the locking hole 13 and the head of the locking screw 42 are both waist-circular structures (that is, similar to the design of the head of a pin), which can form a better guiding effect and provide better stability.
  • the locking seat 41 is a board-mounted structure, and is mounted on the chassis 2 by threaded fasteners.
  • the locking seat 41 is provided with two first blocks 411 for positioning the head of the locking screw 42, two first blocks
  • the blocks 411 are oppositely arranged on both sides of the locking screw 42, one end of the first block 411 is provided with a second block 412, and the other end of the other first block 411 is also provided with a second block 412, or It is said that the two second stoppers 412 are arranged in a staggered manner, and the first stopper 411 and the second stopper 412 are preferably integral structures.
  • the locking mechanism 4 has high reliability and convenient locking and unlocking operations.
  • auxiliary equipment such as a forklift to lift the functional module 1.
  • the fork arm of the forklift extends between the two limit guide bars 11 at the bottom of the functional module 1, and the forklift lifts the functional module 1.
  • the functional module 1 is lifted to the height where the limit guide strip 11 and the limit groove 21 on the chassis 2 can fit, and then the functional module 1 is placed on the chassis 2 from top to bottom.
  • the locking screw 42 The head of the locking screw 42 slides through the locking hole 13 at the bottom of the functional module 1, and the head of the locking screw 42 is combined with the second stopper 412 on the locking seat 41 until the functional module 1 is completely mounted on the chassis 2.
  • the fork arm of the forklift is withdrawn, the operation window 26 on the side of the chassis 2 is opened, the lower end of the locking screw 42 is clamped with a wrench, and the locking screw 42 is driven to rotate 90 degrees, and then the locking screw 42 is pulled down to make the locking
  • the head of the screw 42 falls between the two first stoppers 411.
  • the head of the locking screw 42 is pressed against the side of the locking hole 13 at the bottom of the functional module 1, and finally the locking nut 43 is rotated to lock the The functional module 1 is locked with the chassis 2, and the operation window 26 is closed.
  • the operation process of separating the functional module 1 from the chassis 2 is reversed. First, open the operation window 26 on the side of the chassis 2, loosen the locking nut 43, push the locking screw 42 upward and rotate it 90 degrees, so that the head of the locking screw 42 is locked.
  • the first stopper 411 rises from between the two first stoppers 411 to the top of the two first stoppers 411 and is in close contact with the second stopper 412.
  • the head of the locking screw 42 is separated from the locking hole 13 and the screw is locked.
  • the head of 42 can pass through the lock hole 13 , and then the fork arm of the forklift enters the limiting groove 21 on the chassis 2 of the vehicle body, and lifts up to remove the functional module 1 .
  • the front end of the chassis 2 is provided with installation grooves 22 on both sides, and the laser radar 5 is provided in the installation groove 22.
  • the wheelbase, and the two sides of the chassis 2 are also provided with avoidance grooves 25 between the front axle wheel group 23 and the rear axle wheel group 24, the avoidance groove 25 can form a certain visual space, and its purpose is to increase the field of view of the sensor , to improve the accuracy of the sensor and expand the detection range by optimizing the arrangement to the greatest extent possible.
  • the design of the avoidance groove 25 breaks through the design barriers of all current unmanned vehicles for sensor installation, and becomes a guarantee for the safe driving of unmanned vehicles.
  • the convex bracket Compared with the setting of the convex bracket, it can provide all-round detection for the unmanned vehicle, and at the same time, it can reduce the width of the unmanned vehicle, so that the unmanned vehicle can be suitable for narrow roads, and at the same time, it can avoid the convex bracket and obstacles. collision of things.
  • the separation of the vehicle body and the functional module 1 in this embodiment is realized by loading and unloading in the front-rear direction through a forklift.
  • the functional module 1 can be loaded and unloaded in the vertical upward direction by using a hoist or a manipulator. .
  • a jacking mechanism 6 may also be provided on the chassis 2 to realize the active separation of the functional module 1 , and the jacking mechanism 6 can lift the functional module 1 vertically, which is convenient for the functional module 1 and the unloading platform. docking.
  • the functional module 1 is provided with a running mechanism 7, and the chassis 2 is provided with a guide mechanism 8 for guiding the functional module 1 to get on and off. Active separation of module 1.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种功能模块可分离式的无人车，包括功能模块（1）、用于支撑功能模块（1）的底盘（2）、以及安装于底盘（2）上的车头（3），底盘（2）或车头（3）上设有用于连接功能模块（1）的锁紧机构（4），通过锁紧机构（4）的锁紧和解锁以实现功能模块（1）与底盘（2）或车头（3）的组合、分离。

Description

一种功能模块可分离式的无人车
相关申请的交叉引用
本申请以申请日为“2020-09-27”、申请号为“202011035689.3”、发明创造名称为“一种功能模块可分离式的无人车”的中国专利申请为基础，并主张其优先权，该中国专利申请的全文在此引用至本申请中，以作为本申请的一部分。
【技术领域】
本发明涉及智能车辆，尤其涉及一种功能模块可分离式的无人车。
【背景技术】
现有的无人配送车，通常货箱与无人配送车底盘固定连接，当无人配送车到达目的地时，如货箱内的货物不能及时取走，尤其是整箱货物需要送达固定地点，无人配送车只能等待，降低了无人配送车的配送效率。要想达到高效的送货效率，势必需要投入更多的无人配送车，无形中增加了运营成本，这与应用无人配送车实现降本增效的初衷相悖。
随着无人车行业的快速发展，市场上涌现出无人扫地车、无人消毒车、无人洒水车、无人清扫车等，但通常仅限于一种功能形式，而对于某些功能形式，可能只需要在某个特定的时间段使用，多数时间段而言，处于等待状态(例如消毒车或者洒水车，通常只需要在固定时间段进行作业)，这样无人车的使用效率就会降低。
【发明内容】
本发明要解决的技术问题是克服现有技术的不足，提供一种有利于提高使用效率和使用灵活性，降低运营成本的功能模块可分离式的无人车。
为解决上述技术问题，本发明采用以下技术方案：
一种功能模块可分离式的无人车，包括功能模块、用于支撑功能模块的底盘、以及安装于底盘上的车头，所述底盘或所述车头上设有用于连接所述功能模块的锁紧机构。
作为上述技术方案的进一步改进：所述底盘的上部设有限位凹槽，所述功能模块的底部设有一对限位导向条，一对所述限位导向条布置于所述限位凹槽中。
作为上述技术方案的进一步改进：所述限位导向条和所述限位凹槽均为倒直角梯形结构，且一对限位导向条的直角边相对布置。
作为上述技术方案的进一步改进：所述锁紧机构包括安装于底盘或车头上的锁紧座、穿设于锁紧座中的锁紧螺杆、以及设于锁紧螺杆上的锁紧螺母，所述功能模块上设有供锁紧螺杆头部旋转的锁腔以及与锁腔相连的锁孔，所述锁紧螺杆头部可穿过所述锁孔或压紧 锁孔的侧边。
作为上述技术方案的进一步改进：所述锁孔和所述锁紧螺杆头部均为腰圆形结构。
作为上述技术方案的进一步改进：所述锁紧座上设有两个用于定位锁紧螺杆头部的第一挡块，两个所述第一挡块相对布置于锁紧螺杆的两侧，其中一个第一挡块的一端设有第二挡块，另一个第一挡块的另一端也设有第二挡块。
作为上述技术方案的进一步改进：所述功能模块为货箱、自动售货柜模块、充电器组合模块、消防用品模块、消毒模块、洒水模块或清扫模块。
作为上述技术方案的进一步改进：所述底盘前端于两侧设有安装凹槽，所述安装凹槽内设有激光雷达，底盘的前轴轮组的轮距小于后轴轮组的轮距，且底盘两侧于前轴轮组与后轴轮组之间还设有避让凹槽，该避让凹槽能够形成较大视野空间，其目的是为了增大传感器的视野，以最大可能通过优化布置来改善传感器的精度和扩大探测范围等效果。
作为上述技术方案的进一步改进：所述底盘上还设有顶升机构。
作为上述技术方案的进一步改进：所述功能模块上设有行走机构，所述底盘上设有用于引导功能模块上下车的导向机构。
与现有技术相比，本发明的优点在于：
1、无人车底盘和搭载在其上的功能模块可分离式的设计，使得无人车的运输功能与功能模块的使用功能分离，为后续功能模块自动上下车，真正的实现无人化操作奠定基础。
2、无人车底盘和搭载在其上的功能模块可分离式的设计，使得功能模块的装卸方式更加灵活，例如能够沿前后方向装卸，也能够沿左右方向装卸，还能够沿竖直方向装卸，方便与多种装卸平台对接。
3、无人车底盘和搭载在其上的功能模块可分离式的设计，作为无人配送车使用时，当到达目的位置时，搭载在其上的货箱与无人车分离后，此时无人车能够继续完成其他运输作业，无需等待，提高了无人车的配送效率；作为其他功能模块使用时，如无人消毒车，只需要将消毒货箱设置在无人车底盘上，对于某些使用场景，如校园，同一辆无人车可以配置多个功能模块，分时段的搭载不同的功能模块，完成不同项目的作业，这样就提高了无人车的通用性，也提高了其使用率，降低了运营成本。
4、功能模块的底部设有两个限位导向条，对应地，车体底盘上设有与限位导向条配合的限位凹槽，限制了功能模块在车体上的相对移动；同时限位导向条对称设置在功能模块的底部，限位导向条的横截面为倒直角梯形，且其两直角边相对设置，使得两个限位导向条的内档构成叉车叉臂抬起时防止货箱晃动的限位。
5、无人车前端左右两侧设有安装凹槽并安装探测车体前后方向及左右方向的激光雷 达，底盘的前轮组的轮距小于后轮组轮距，并设置避让凹槽，相比于设置外凸式的支架，能够为无人车提供全方位探测，同时还能够缩小无人车的宽度，使得无人车能够适用于狭窄的道路，同时还能避免外凸支架与障碍物的碰撞。
【附图说明】
图1是本发明功能模块可分离式的无人车分离状态时的立体结构示意图。
图2是本发明功能模块可分离式的无人车组合状态时的立体结构示意图。
图3是本发明功能模块可分离式的无人车组合状态时的主视结构示意图。
图4是图3的局部放大图。
图5是本发明中的锁紧机构的分解结构示意图。
图6是本发明中的功能模块底部的结构示意图。
图7是本发明中的底盘和车头的立体结构示意图。
图8是本发明功能模块被动分离的结构示意图。
图9是本发明功能模块主动分离实施例一的结构示意图。
图10是本发明功能模块主动分离实施例二的结构示意图。
图中各标号表示：1、功能模块；11、限位导向条；12、锁腔；13、锁孔；2、底盘；21、限位凹槽；22、安装凹槽；23、前轴轮组；24、后轴轮组；25、避让凹槽；26、操作窗；3、车头；4、锁紧机构；41、锁紧座；411、第一挡块；412、第二挡块；42、锁紧螺杆；43、锁紧螺母；5、激光雷达；6、顶升机构；7、行走机构；8、导向机构。
【具体实施方式】
以下结合说明书附图和具体实施例对本发明作进一步详细说明。
图1至图7示出了本发明功能模块可分离式的无人车的一种实施例，本实施例的功能模块可分离式的无人车，包括功能模块1、用于支撑功能模块1的底盘2、以及安装于底盘2上的车头3，底盘2上设有用于连接功能模块1的锁紧机构4。当然在其他实施例中，也可在车头3上设置锁紧机构4，通过锁紧机构4的锁紧、解锁，同样可实现功能模块1与底盘2、车头3的组合、分离。优选的，锁紧机构4共设置四组并分设于底盘2的四角处，能够将功能模块1可靠地锁紧，底盘2于各组锁紧机构4的侧面设置操作窗26，便于操作锁紧机构4实现锁紧和解锁。
功能模块1例如可以是货箱、自动售货柜模块、充电器组合模块、消防用品模块、消毒模块、洒水模块或清扫模块等，也就是说根据具体应用场合和应用需求的不同，可以选择对应的模块作为功能模块1，以实现不同的功能。例如，功能模块1为自动售货柜模块，则可以在自动售货柜模块上安装有自动贩卖机，以实现随时随地的或巡航式的自动售货。 又例如，可以选择充电器组合模块作为功能模块1，即成为一个流动的充电车，用来为其他无人车或其他设备进行充电作业。
进一步地，本实施例中，底盘2的上部设有限位凹槽21，功能模块1的底部设有一对限位导向条11，一对限位导向条11布置于限位凹槽21中。其中，限位凹槽21、一对限位导向条11前后方向布置(车头3所在的一侧为前方)，两者相互配合，限制功能模块1在底盘2上左右方向的自由度，装载功能模块1时，因为有一对限位导向条11，限位导向条11可以顺利的滑入无人车的限位凹槽21中；限位凹槽21放在地面时，便于使用叉车搬运。
在其他实施例中，限位凹槽21、一对限位导向条11也可沿左右方向布置。
作为优选的技术方案，本实施例中，限位导向条11和限位凹槽21均为倒直角梯形结构，且一对限位导向条11的直角边相对布置，或者说一对限位导向条11的直角边相邻布置；或者说直角边位于一对限位导向条11的内侧。
本实施例中，锁紧机构4包括安装于底盘2上的锁紧座41、穿设于锁紧座41中的锁紧螺杆42、以及设于锁紧螺杆42上的锁紧螺母43，功能模块1上设有供锁紧螺杆42头部旋转的锁腔12以及与锁腔12相连的锁孔13，锁紧螺杆42头部可穿过锁孔13或压紧锁孔13的侧边。作为优选的技术方案，锁孔13和锁紧螺杆42头部均为腰圆形结构(即类似于大头针头部的设计)，这种设计能够形成较佳的导向效果，并能够提供较好的稳定性。锁紧座41为板装结构，通过螺纹紧固件安装于底盘2上，锁紧座41上设有两个用于定位锁紧螺杆42头部的第一挡块411，两个第一挡块411相对布置于锁紧螺杆42的两侧，其中一个第一挡块411的一端设有第二挡块412，另一个第一挡块411的另一端也设有第二挡块412，或者说两个第二挡块412交错布置，第一挡块411和第二挡块412优选一体式结构。该锁紧机构4可靠性高，锁紧、解锁操作方便。
需要将功能模块1与底盘2组合时，利用辅助设备，如叉车将功能模块1抬起，具体的，叉车的叉臂伸进功能模块1底部的两个限位导向条11之间，叉车将功能模块1抬起到限位导向条11与底盘2上的限位凹槽21能够贴合的高度，然后将功能模块1自上而下放置底盘2上，在此过程中，锁紧螺杆42的头部滑动穿入功能模块1底部的锁孔13，此时锁紧螺杆42的头部与锁紧座41上的第二挡块412组合成一体，直到功能模块1完全搭载在底盘2上，之后叉车叉臂退出，打开车身底盘2侧边的操作窗26，用扳手卡紧锁紧螺杆42下端，带动锁紧螺杆42转动90度，然后再向下拉动锁紧螺杆42，使得锁紧螺杆42的头部落入两第一挡块411之间，此时，锁紧螺杆42的头部压合功能模块1底部的锁孔13的侧边上，最后旋转锁紧螺母43，从而将功能模块1与底盘2锁紧，关闭操作窗26。
功能模块1与底盘2分离的操作过程相反，首先打开车身底盘2侧边的操作窗26，松 开锁紧螺母43，将锁紧螺杆42向上推动并转动90度，使得锁紧螺杆42的头部从两第一挡块411之间上升至两第一挡块411上并与第二挡块412紧贴限位，此时，锁紧螺杆42的头部与锁孔13分离且锁紧螺杆42的头部可从锁孔13中穿出，然后叉车的叉臂进入车体底盘2上的限位凹槽21内，向上抬起搬离功能模块1。
进一步地，本实施例中，底盘2前端于两侧设有安装凹槽22，安装凹槽22内设有激光雷达5，底盘2的前轴轮组23的轮距小于后轴轮组24的轮距，且底盘2两侧于前轴轮组23与后轴轮组24之间还设有避让凹槽25，该避让凹槽25能够形成一定视野空间，其目的是为了增大传感器的视野，以最大可能通过优化布置来改善传感器的精度和扩大探测范围等效果。该避让凹槽25的设计突破了目前所有无人车对于传感器安装的设计屏障，成为无人车安全行驶的保证。相比于设置外凸式的支架，能够为无人车提供全方位探测，同时还能够缩小无人车的宽度，使得无人车能够适用于狭窄的道路，同时还能避免外凸支架与障碍物的碰撞。
参见图8，本实施例的车身与功能模块1的分离通过叉车实现前后方向的装卸货，在其他实施例中，作为可替代方案，可以利用起吊或者机械手等在竖直向上方向装卸功能模块1。
参见图9，在其他实施例中，底盘2上还可设置顶升机构6，实现功能模块1的主动分离，顶升机构6能够举升功能模块1竖直升降，便于功能模块1与卸货平台对接。
参见图10，作为可替代的技术方案，在其他实施例中，功能模块1上设有行走机构7，底盘2上设有用于引导功能模块1上下车的导向机构8，同样可以实现车身与功能模块1的主动分离。
虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明。任何熟悉本领域的技术人员，在不脱离本发明技术方案范围的情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均应落在本发明技术方案保护的范围内。

Claims (10)

  1. 一种功能模块可分离式的无人车，其特征在于：包括功能模块(1)、用于支撑功能模块(1)的底盘(2)、以及安装于底盘(2)上的车头(3)，所述底盘(2)或所述车头(3)上设有用于连接所述功能模块(1)的锁紧机构(4)，通过所述锁紧机构(4)的锁紧和解锁以实现所述功能模块(1)与底盘(2)或车头(3)的组合、分离。
  2. 根据权利要求1所述的功能模块可分离式的无人车，其特征在于：所述底盘(2)的上部设有限位凹槽(21)，所述功能模块(1)的底部设有一对限位导向条(11)，一对所述限位导向条(11)布置于所述限位凹槽(21)中。
  3. 根据权利要求2所述的功能模块可分离式的无人车，其特征在于：所述限位导向条(11)和所述限位凹槽(21)均为倒直角梯形结构，且一对限位导向条(11)的直角边相对布置。
  4. 根据权利要求1所述的功能模块可分离式的无人车，其特征在于：所述锁紧机构(4)包括安装于底盘(2)或车头(3)上的锁紧座(41)、穿设于锁紧座(41)中的锁紧螺杆(42)、以及设于锁紧螺杆(42)上的锁紧螺母(43)，所述功能模块(1)上设有供锁紧螺杆(42)头部旋转的锁腔(12)以及与锁腔(12)相连的锁孔(13)，所述锁紧螺杆(42)头部可穿过所述锁孔(13)或压紧锁孔(13)的侧边。
  5. 根据权利要求4所述的功能模块可分离式的无人车，其特征在于：所述锁孔(13)和所述锁紧螺杆(42)头部均为腰圆形结构。
  6. 根据权利要求4所述的功能模块可分离式的无人车，其特征在于：所述锁紧座(41)上设有两个用于定位锁紧螺杆(42)头部的第一挡块(411)，两个所述第一挡块(411)相对布置于锁紧螺杆(42)的两侧，其中一个第一挡块(411)的一端设有第二挡块(412)，另一个第一挡块(411)的另一端也设有第二挡块(412)。
  7. 根据权利要求1所述的功能模块可分离式的无人车，其特征在于：所述功能模块(1)为货箱、自动售货柜模块、充电器组合模块、消防用品模块、消毒模块、洒水模块或清扫模块。
  8. 根据权利要求1至7中任一项所述的功能模块可分离式的无人车，其特征在于：所述底盘(2)前端于两侧设有安装凹槽(22)，所述安装凹槽(22)内设有激光雷达(5)，底盘(2)的前轴轮组(23)的轮距小于后轴轮组(24)的轮距，且底盘(2)两侧于前轴轮组(23)与后轴轮组(24)之间还设有避让凹槽(25)，所述避让凹槽(25)用以增大传感器视野。
  9. 根据权利要求1至7中任一项所述的功能模块可分离式的无人车，其特征在于：所述底盘(2)上还设有顶升机构(6)。
  10. 根据权利要求1至7中任一项所述的功能模块可分离式的无人车，其特征在于：所述功能模块(1)上设有行走机构(7)，所述底盘(2)上设有用于引导功能模块(1)上下车的导向机构(8)。
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