CN112850552A

CN112850552A - Carrying device and cargo carrying method

Info

Publication number: CN112850552A
Application number: CN202011644053.9A
Authority: CN
Inventors: 白寒
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-05-28
Anticipated expiration: 2040-12-31
Also published as: CN112850552B

Abstract

The embodiment of the application discloses a carrying device and a cargo carrying method, relates to the technical field of automatic guided transportation, and aims to improve carrying efficiency. The carrying device comprises: the carrying arm is arranged in the vehicle body; the carrying arm comprises an arm body, and a lifting mechanism is arranged on the arm body; the carrying arm can extend out of the vehicle body along the horizontal direction to lift goods through the lifting mechanism and return the goods into the vehicle body; and in the process that the lifting mechanism is lifted from the low position to the high position, the top of the lifting mechanism moves towards the direction that the carrying arm returns to the vehicle body in the horizontal direction. This application is applicable to the occasion to article transport such as tray, goods or goods shelves.

Description

Carrying device and cargo carrying method

Technical Field

The application relates to the technical field of automatic guided transportation, in particular to a carrying device and a cargo carrying method.

Background

The existing conveying device generally comprises a body and a conveying arm arranged on the vehicle body; the carrying arm comprises an arm body, and a lifting mechanism and a supporting wheel which are arranged on the arm body. The carrying arm can be extended from the vehicle body to lift the goods by the lifting mechanism and place the lifted goods on the vehicle body, and the goods are transported to a destination by the vehicle body.

In the conventional transporting device, the transporting arm extends out of the vehicle body to transport the goods, and the transporting arm lifts the goods vertically upward to a predetermined height, and then the vehicle body moves forward to a position below the goods lifted by the lifting mechanism, and then the lifting mechanism places the lifted goods on the vehicle body. The process that the transport arm was carried the goods to the car body from the car body outside needs vertical process and the process that the car body moved forward that upwards lifts, and handling efficiency is not high.

Disclosure of Invention

In view of this, the embodiments of the invention provide a conveying device and a cargo conveying method with high conveying efficiency.

In a first aspect, an embodiment of the present invention provides a conveying device, including: the carrying arm is arranged in the vehicle body; the carrying arm comprises an arm body, and a lifting mechanism is arranged on the arm body; the carrying arm can extend out of the vehicle body along the horizontal direction to lift goods through the lifting mechanism and return the goods into the vehicle body; and in the process that the lifting mechanism is lifted from the low position to the high position, the top of the lifting mechanism moves towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

According to a specific implementation manner of the embodiment of the application, the lifting mechanism comprises a lifting driving mechanism and a foldable lifting executing mechanism; the lifting actuating mechanism is connected with the lifting driving mechanism; when the lifting driving mechanism drives the lifting executing mechanism to do contraction action, the lifting executing mechanism is folded and contracted towards the direction in which the carrying arm extends out of the vehicle body along the horizontal direction; when the lifting driving mechanism drives the lifting executing mechanism to do lifting stretching action, the top of the lifting executing mechanism moves towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

According to a specific implementation manner of the embodiment of the application, the lifting execution mechanism comprises a connecting rod mechanism and a pull rod; the bottom end of the connecting rod mechanism is hinged to the arm body; the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform contraction action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

According to a specific implementation manner of the embodiment of the present application, the pull rod includes a first pull rod and a second pull rod, a first end of the first pull rod is hinged to the lifting driving mechanism, a second end of the first pull rod is hinged to a first end of the second pull rod, and a second end of the second pull rod is hinged to the link mechanism; a first limiting block is arranged at the second end of the first pull rod, and a second limiting block is arranged at the first end of the second pull rod; after the first pull rod and the second pull rod push the connecting rod mechanism to a preset height from the maximum contraction state, the first limiting block and the second limiting block are abutted.

According to a specific implementation manner of the embodiment of the application, the lifting driving mechanism comprises a lifting driving motor, a power transmission mechanism connected with the lifting driving motor, and a sliding block connected with the power transmission mechanism; the sliding block is arranged on the arm body and is hinged with the first end of the pull rod; the lifting driving motor can drive the sliding block to move back and forth on the arm body along the length direction of the arm body through the power transmission mechanism.

According to a specific implementation manner of the embodiment of the application, the power transmission mechanism comprises a lead screw, the slider comprises a nut, and the nut is in threaded connection with the lead screw to form a lead screw nut pair.

According to a specific implementation manner of the embodiment of the application, the vehicle body is provided with a suspension auxiliary mechanism for assisting the carrying arm to be suspended above the ground.

According to a specific implementation manner of the embodiment of the application, the suspension auxiliary mechanism comprises a climbing guide part arranged on the vehicle body; wherein the transfer arm is provided with a climbing part capable of climbing along the climbing guide part; and the power device for providing climbing power for the climbing part is arranged on the carrying arm and/or the vehicle body.

According to a specific implementation manner of the embodiment of the application, the climbing guide part comprises a guide plate which is arranged at the bottom of the vehicle body and has a preset gradient relative to the ground; the climbing part on the carrying arm is the supporting wheel.

According to a particular implementation of an embodiment of the present application, the climbing guide member comprises: the first climbing guide part is arranged at the first end of the vehicle body, and the second climbing guide part is arranged at the second end of the vehicle body; the climbing member on the handling arm comprises: a first climbing means able to climb along said first climbing guide means, and a second climbing means able to climb along said second climbing guide means.

The power device is used for providing climbing power for the first climbing part and/or the second climbing part.

According to a specific implementation manner of the embodiment of the application, the first climbing guide part comprises a guide plate which is arranged at the bottom of the vehicle body and has a predetermined slope relative to the ground; the supporting wheels comprise a first supporting wheel and a second supporting wheel which are arranged at intervals along the length direction of the arm body; the power device is arranged on the carrying arm and is connected with the first supporting wheel; the first climbing member is the first support wheel;

the first support wheel climbs along the first climbing guide member while the second climbing member climbs along the second climbing guide member to lift the first support wheel and the second support wheel off the ground.

According to a specific implementation manner of the embodiment of the application, the second climbing guide part comprises a rolling body capable of rolling along the length direction of the arm body; the second climbing part is a supporting block arranged on the outer side of the arm body, and the bottom of the supporting block is provided with an inclined plane which is in supporting fit with the second climbing guide part.

According to a specific implementation manner of the embodiment of the application, the suspension auxiliary mechanism comprises a supporting part arranged on the vehicle body; the lifting mechanism comprises a lifting driving mechanism and a lifting executing mechanism; the lifting actuating mechanism is connected with the lifting driving mechanism; the lifting actuating mechanism is supported on the supporting part on the vehicle body, the lifting driving mechanism drives the lifting actuating mechanism to continue to do contraction action, and the supporting wheels are lifted off the ground.

According to a specific implementation manner of the embodiment of the application, the lifting execution mechanism comprises a telescopic lifting mechanism and a lifting top plate arranged at the top of the telescopic lifting mechanism; the lifting driving mechanism drives the lifting executing mechanism to retract to a preset position, and the lifting top plate is supported on the supporting part on the vehicle body; the lifting driving mechanism drives the lifting executing mechanism to continue to do contraction action, and the supporting wheel is lifted off the ground.

According to a specific implementation manner of the embodiment of the application, the supporting part comprises a first supporting part arranged on a first side of the vehicle body and a second supporting part arranged on a second side of the vehicle body; two sides of the lifting top plate are provided with a first lug which is in supporting fit with the first supporting part and a second lug which is in supporting fit with the second supporting part; the lifting driving mechanism drives the lifting executing mechanism to retract to a preset position, the first bulge is supported on the first supporting portion, the second bulge is supported on the second supporting portion, the lifting driving mechanism drives the lifting executing mechanism to continue retracting, and the supporting wheel lifts off the ground.

According to a specific implementation manner of the embodiment of the application, the vehicle body is provided with a carrying arm accommodating groove extending along the horizontal direction, and the carrying arm is arranged in the carrying arm accommodating groove; a sliding rail is arranged between the carrying arm accommodating groove and the carrying arm; a slide rail guide and support structure is arranged at the side part of the carrying arm accommodating groove and is matched with the slide rail so as to provide transverse guide and vertical support for the slide rail; the slide rail guide and support structure can support the slide rail to move up and down.

According to a specific implementation manner of the embodiment of the application, a vertical guide structure is arranged on the side part of the carrying arm accommodating groove; the slide rail direction and bearing structure includes: the base part is in up-and-down sliding fit or up-and-down rolling fit with the vertical guide structure; the guide and support part is matched with the slide rail to provide transverse guide and vertical support for the slide rail.

In a second aspect, an embodiment of the present application provides a cargo handling method, including: the vehicle body moves to a position close to a preset position of the goods, and the carrying arm extends out of the vehicle body to the bottom of the goods; the lifting mechanism of the carrying arm performs lifting action to lift the goods and return the goods to a preset position in the vehicle body; when the lifting mechanism lifts the goods from a low position to a high position, the goods move in the direction that the carrying arm returns to the vehicle body in the horizontal direction; the lifting mechanism contracts to place the lifted goods on the vehicle body.

According to a specific implementation manner of the embodiment of the present application, in a process that the lifting mechanism lifts the cargo from a low position to a high position, the cargo moves in a direction in which the carrying arm returns to the vehicle body in a horizontal direction, and the method includes: when the lifting driving mechanism drives the lifting executing mechanism to do lifting stretching action, the goods lifted at the top of the lifting executing mechanism move towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

According to a specific implementation manner of the embodiment of the application, the lifting execution mechanism comprises a connecting rod mechanism and a pull rod; wherein, lift actuating mechanism drive and lift actuating mechanism and do and lift stretching action, include: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

According to a specific implementation manner of the embodiment of the present application, the lifting driving mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform an extending and lifting operation, including: the lifting driving motor drives the sliding block to move through the power transmission mechanism, the sliding block pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

According to a specific implementation manner of the embodiment of the present application, the lifting mechanism of the carrying arm performs a lifting operation to lift the cargo and return the cargo to a predetermined position in the cart body, including: and when the lifting mechanism of the carrying arm performs lifting action to lift the goods, the carrying arm moves towards the interior of the vehicle body.

According to a concrete implementation of this application embodiment, the car body moves to and is close to goods preset position department, and the transport arm stretches out to in the car body the goods bottom, includes: the vehicle body moves to a position close to a preset position of the goods, the supporting wheels of the carrying arms fall from a suspension state to contact with the ground, and the carrying arms extend out of the vehicle body to the bottom of the goods.

According to a specific implementation manner of the embodiment of the present application, the support wheel of the carrying arm falls from the suspension state to contact with the ground, including: the traveling driving mechanism of the carrying arm acts, and the supporting wheel of the carrying arm falls to be in contact with the ground after traveling for a preset distance along a preset direction on the vehicle body; or the lifting mechanism is in a contraction state, the lifting mechanism is supported on the vehicle body, and the supporting wheels of the carrying arms are in a suspension state; the lifting mechanism lifts, and the supporting wheels of the carrying arms fall to be in contact with the ground.

According to a specific implementation manner of the embodiment of the application, after the lifting mechanism retracts and the lifted cargo is placed on the vehicle body, the method further includes: the supporting wheels of the carrying arm are suspended above the ground.

According to a specific implementation manner of the embodiment of the application, the supporting wheels of the carrying arm are suspended in the air, and the method comprises the following steps: the carrying arm continues to travel in the vehicle body and climbs to the vehicle body, and a supporting wheel of the carrying arm is suspended above the ground; or the lifting mechanism continues to perform retraction until the lifting mechanism is supported on the vehicle body, the lifting mechanism further performs retraction, and the support wheels are lifted off the ground.

According to a specific implementation manner of the embodiment of the present application, the carrying arm continues to travel in the vehicle body and climbs to the vehicle body, and the supporting wheel of the carrying arm is suspended above the ground, including: the carrying arm continues to walk in the vehicle body, the supporting wheel at the first end of the carrying arm climbs along the first climbing guide part at the first end of the vehicle body, and meanwhile, the climbing part at the side part of the second end of the carrying arm climbs upwards along the second climbing guide part at the side part of the second end of the vehicle body.

According to a specific implementation manner of the embodiment of the present application, the climbing of the support wheel at the first end of the carrying arm along the first guide part at the first end of the vehicle body includes: the supporting wheel at the first end of the carrying arm climbs along a guide plate with a preset gradient relative to the ground at the bottom of the first end of the vehicle body; the climbing part of the second end lateral part of the carrying arm climbs upwards along the second climbing guide part of the second end lateral part of the vehicle body, and comprises: and the climbing guide surface at the bottom of the supporting block at the side part of the second end of the carrying arm ascends along the rolling body at the side part of the second end of the vehicle body.

In the embodiment of the carrying device and the carrying method, after the carrying arm extends out from the vehicle body along the horizontal direction, after the goods are lifted by the lifting mechanism, in the process that the lifting mechanism lifts the goods from a low position to a high position, the top of the lifting mechanism, i.e. the lifted cargo, is moved in a horizontal direction towards the direction in which the handling arms return to the car body, i.e. when the lifting mechanism is lifting, the top of the lifting mechanism runs along a curved track and has a vertical displacement component and a horizontal displacement component, the displacement component in the vertical direction is the lifting process from a low position to a high position, the displacement component in the horizontal direction is the movement in the horizontal direction towards the direction that the carrying arm returns to the vehicle body, therefore, in the lifting process of the lifting mechanism, can realize going on simultaneously with the transport of the lift of goods towards car body direction, can improve the transport efficiency of transport arm to the goods.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a handling apparatus according to an embodiment of the present application;

FIG. 2 is a schematic view of the transfer arm of FIG. 2 (with the lift mechanism in a retracted state);

FIG. 3 is a schematic structural view of the transfer arm of FIG. 2 (the lifting mechanism is in a lifted state);

FIG. 4 is a schematic view of a transfer arm extending from a body of the truck to lift a cargo according to an embodiment of the present application;

fig. 5 is a schematic view of a carrying arm in a vehicle body in the carrying device according to an embodiment of the present application (the carrying arm is in a state before climbing);

FIG. 6 is a schematic view of another state of the handling arm of the handling apparatus of the embodiment of the present application before climbing in the vehicle body;

fig. 7 is a schematic view illustrating a state in which a carrying arm of the carrying apparatus according to an embodiment of the present application is suspended above the ground after climbing in a vehicle body;

FIG. 8 is a schematic structural view of a handling apparatus according to another embodiment of the present application (with the handling arm in the cart body);

FIG. 9 is a schematic view of the embodiment of FIG. 8 showing the transfer arm extending out of the cart body via the slide rails;

FIG. 10 is a schematic view of the lift mechanism of the transfer arm of the embodiment of FIG. 8 in a raised position;

FIG. 11 is a schematic view of the embodiment of FIG. 8 with the transfer arm returned to the truck body;

FIG. 12 is a schematic structural view of a supporting portion of the top plate of the lifting mechanism supported on the vehicle body in the embodiment shown in FIG. 8;

FIG. 13 is a side view of the structure of the support portion of the roof panel supported on the vehicle body in the lifting mechanism of the embodiment of FIG. 8;

FIG. 14 is a schematic view of the transfer arm of FIG. 13 suspended from the ground;

FIG. 15 is a schematic flow chart illustrating a cargo handling method according to an embodiment of the present application;

FIG. 16 is a schematic view of the body of the truck in a position near a predetermined position for loading, with the transfer arm extending from the body to the bottom of the load;

FIG. 17 is a schematic view of the lifting mechanism lifting the tray from a lower position to a higher position;

FIG. 18 is a schematic view of the carrier arm being returned to the vehicle body;

FIG. 19 is a schematic view of the lifting mechanism retracting to place the lifted pallet on the cart body;

fig. 20 is a schematic structural view showing the lifting mechanism placing the lifted tray on the vehicle body and the carrying arm being lifted and suspended away from the ground;

fig. 21 is a schematic flowchart of a cargo handling method according to another embodiment of the present application.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a carrying device 10 according to an embodiment of the present application includes: a cart body 20 and a carrying arm 30, the carrying arm 30 being provided in the cart body 20; the carrying arm 30 comprises an arm body 301, and a lifting mechanism 303 is arranged on the arm body 301; the carrier arm 30 can be extended horizontally from the vehicle body 20 to lift the cargo by the lifting mechanism 303 and be returned to the vehicle body 20.

When the lifting mechanism 303 lifts the cargo from the lower position to the upper position, the top of the lifting mechanism 303 moves in the horizontal direction in the direction in which the carrying arm 30 returns to the vehicle body 20.

In this embodiment, the transport device may also be referred to as an automatic Guided transport device, a transport robot, a transport AGV, or an Automatic Guided Vehicle (AGV). An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. In addition to pallets, the handling device can handle various types of goods, racks and cargoes, leaving only the space below for the handling arm 30 to enter.

The car body 20 may be provided with an omnidirectional traveling unit, a sensing unit, a battery, a charging unit, a control unit, an anti-collision unit, a code reading unit, a communication unit, and the like. The sensing unit can adopt sensors such as laser, vision, infrared and photoelectric sensors. The omnidirectional walking unit can realize various walking modes such as straight lines, oblique lines, arc lines and the like, and can also be replaced by other walking units to realize different walking modes.

The car body 20 may be provided with a guide structure, such as a guide groove or a guide rail, for the carrying arm 30 to enter and exit. Referring to fig. 1, in one example, the cart body 20 may be provided with a carrying arm receiving groove 201, and the carrying arm 30 may be provided in the carrying arm receiving groove 201.

Two carrying arm accommodating grooves 201 can be arranged on the cart body 20 in parallel, each carrying arm accommodating groove 201 is provided with one carrying arm 30, and the two carrying arms 30 can work in cooperation.

In some embodiments, the arm 301 is provided with support wheels, which may be provided at the bottom of the arm 301 to support the carrying arm 30. The support wheels may be drive wheels with or without drive power. One end of the arm body 301 can be provided with a supporting wheel, and the other end of the arm body 301 can be supported on the vehicle body 20; referring to fig. 2 and 3, the two ends of the arm 301 may be respectively provided with supporting

wheels

302a and 302b, and when carrying goods, the two ends of the arm 301 may be supported on the ground through the supporting wheels, wherein one of the supporting wheels 302a may be a driving wheel, and the other supporting wheel 302b may be a caster wheel.

The lifting mechanism 303 is used to lift the goods or to lift the pallet containing the goods. Referring to fig. 4, in one example, during the process of lifting the tray 100 from the lower position to the upper position by the lifting mechanism 303, the top of the lifting mechanism 303 moves in the horizontal direction toward the direction of returning the carrying arm 30 to the cart body 20, the direction indicated by the curved arrow in fig. 4 illustrates the direction of lifting the tray from the lower position to the upper position by the lifting mechanism, and the direction indicated by the horizontal arrow is the direction of returning the carrying arm 30 to the cart body 20.

In this embodiment, after the transporting arm 30 extends out from the car body 20 in the horizontal direction, and the lifting mechanism 303 lifts the cargo from the lower position to the upper position, when the lifting mechanism 303 lifts the cargo from the lower position to the upper position, the top of the lifting mechanism 303 (i.e. the lifted cargo) moves in the direction that the transporting arm 30 returns to the car body 20 in the horizontal direction, that is, when the lifting mechanism 303 lifts, the top of the lifting mechanism 303 moves along a curved track, and has two displacement components, namely, a vertical displacement component and a horizontal displacement component, the vertical displacement component is the lifting process from the lower position to the upper position, the horizontal displacement component is the lifting process in the horizontal direction that the transporting arm 30 returns to the car body 20, so that during the lifting process of the lifting mechanism 303, the lifting of the cargo and the transporting of the cargo in the direction of the car body 20 can be performed simultaneously, the carrying efficiency of the carrying arm to the goods can be improved.

The lifting mechanism 303 may be a lifting mechanism having driving forces in a vertical direction and a horizontal direction, and the lifting mechanism 303 may be a lifting mechanism having a driving force in a horizontal direction to move the lifting mechanism 303 in the horizontal direction while lifting in the vertical direction. The lifting mechanism 303 may be a screw-type lifting mechanism or a scissor-type lifting mechanism.

In order to make the lifting mechanism 303 have a more compact structure in the non-lifting state and be convenient to be folded in the vehicle body 20, the lifting mechanism 303 may adopt a foldable lifting mechanism, and specifically, in some embodiments, the lifting mechanism 303 may include a lifting driving mechanism and a foldable lifting executing mechanism; the lifting actuating mechanism is connected with the lifting driving mechanism;

when the lifting actuator is driven by the lifting driving mechanism to perform a retracting action, the lifting actuator is folded and retracted on the arm body 301 of the carrying arm 30 towards the direction in which the carrying arm 30 can extend out of the cart body 20 along the horizontal direction, so that when the lifting actuator is driven by the lifting driving mechanism to perform a lifting and extending action, the top of the lifting actuator can move in the horizontal direction towards the direction in which the carrying arm 30 returns to the cart body 20.

In some embodiments, the lift actuator may include a linkage and a pull rod; the bottom end of the connecting rod mechanism is hinged to the arm body 301; the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform contraction action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

Referring to fig. 2, in one example, the link mechanism includes a top lift plate 3031, a first link 3032 and a second link 3033, wherein the first link 3032 is hinged to the arm body 301 at the bottom end thereof, is hinged to the top lift plate 3031 at the top end thereof, and is hinged to the arm body 301 at the bottom end thereof and is hinged to the top lift plate 3031 at the top end thereof; a parallel four-bar linkage is formed among the lift top plate 3031, the first link 3032, the second link 3033, and the arm body 301. The lifting top plate 3031 is used to lift cargo.

In order to make the lifting of the lifting top plate 3031 more stable and the supporting force stronger, referring to fig. 2, there may be two first connecting rods 3032, and the two first connecting rods 3032 are arranged in parallel; there are also two second connecting rods 3033, the two second connecting rods 3033 are arranged in parallel, and the lifting top plate 3031 is supported in four corners through four connecting rods.

The pull rod can be one. One end of the pull rod is hinged with the lifting driving mechanism, and the other end is hinged with the first connecting rod 3032.

Referring to fig. 3 and 4, in some embodiments, the number of the pull rods is two, and the pull rods include a first pull rod 3034 and a second pull rod 3035, a first end of the first pull rod 3034 is hinged to the lifting driving mechanism, a second end of the first pull rod 3035 is hinged to a first end of the second pull rod 3035, and a second end of the second pull rod 3035 is hinged to the first link 3032. When the number of the first links 3032 is two, each of the first links 3032 is pulled separately.

Referring to fig. 5, when the link mechanism is in the maximum contracted state, the first pull rod 3034 is horizontally supported on the arm 301, and the second pull rod 3035 and the first pull rod 3034 form a predetermined included angle therebetween, which may range from 150 degrees or more to 180 degrees or less, so that the lifting driving mechanism can apply a lifting driving force to the link mechanism conveniently, and the link mechanism can be lifted from the contracted state to the extended lifted state with a small driving force.

A first stopper (not shown) may be provided at the second end of the first pull rod 3034, and a second stopper (not shown) may be provided at the first end of the second pull rod 3035. After the first and

second pull rods

3034 and 3035 push up the link mechanism from the maximum contracted state to a predetermined height,

the first limiting block is abutted with the second limiting block, so that a fixed included angle between the first pull rod 3034 and the second pull rod 3035 is kept unchanged, and the connecting rod mechanism is pushed to stably extend and lift along a curved track.

Referring to FIG. 3, in some embodiments, the lift drive mechanism may include a lift drive motor 304, a power transmission mechanism 305 coupled to the lift drive motor 304, and a sled 306 coupled to the power transmission mechanism 305; the sliding block 306 is arranged on the arm body 301 and is hinged with the first end of the first pull rod 3034; the lifting driving motor 304 can drive the sliding block 306 to move back and forth on the arm body 301 along the length direction of the arm body 301 through the power transmission mechanism 305, so as to drive the first pull rod 3034 to move, the movement of the first pull rod 3034 drives the second pull rod 3035 to move, and the second pull rod 3035 drives the first pull rod 3032 to rotate around a hinge point with the arm body 301.

The power transmission 305 shown in fig. 3 comprises a screw and the slide 306 comprises a nut which is screwed to the screw to form a screw-nut pair. In other embodiments, the power transmission mechanism 305 may also be a chain drive mechanism, a rack and pinion drive mechanism.

During the process that the slider 306 pushes the first pull rod 3034, the hinge point between the slider 306 and the first pull rod 3034 can always move in the horizontal direction. Referring to fig. 3, a horizontally extending elongated slide groove 307 may be provided on a side portion of the arm body 301 of the transfer arm 30, one end of a hinge shaft 308 between the slider 306 and the first pull rod 3034 is provided in the slide groove 307, and a hinge point between the slider 306 and the first pull rod 3034 is restricted by the slide groove 307 so as to be constantly movable in the horizontal direction.

When the hinge point between the slider 306 and the first pull rod 3034 moves in the horizontal direction, the hinge point between the slider 306 and the first pull rod 3034 can be supported on the arm body 301 of the supporting arm, so that the lifting mechanism 303 can be stably supported.

To facilitate the hinge connection between the slider 306 and the first pull rod 3034, a support block 309 may be provided at a side of the slider 306, and a first end of the first pull rod 3034 may be hinged to the support block 309. When two first pull rods 3034 are disposed on two sides of the arm body, the support blocks 309 may be disposed on two sides of the slider 306.

In some embodiments, the cart body 20 is provided with a suspension assistance mechanism for assisting the carrying arm 30 to suspend above the ground.

When transporting an object, the transporting arm 30 extends out from the cart body 20 to below the object along the horizontal direction, lifts the object by the lifting mechanism 303, and returns to the cart body 20, after the lifting mechanism 303 places the lifted object on the cart body 20, the suspension auxiliary mechanism on the cart body 20 suspends the transporting arm 30 above the ground. In other embodiments, after the carrying arm 30 returns to the vehicle body 20, the carrying arm 30 may be suspended from the ground by the suspension assisting mechanism while the lifting mechanism 303 lifts the object.

After the carrying arm 30 returns to the vehicle body 20, the carrying arm 30 can be lifted off the ground and suspended by the suspension auxiliary mechanism on the vehicle body 20, so that the supporting wheel 302 of the carrying arm 30 is lifted off the ground and is not in contact with the ground, and thus, only the vehicle body 20 is in contact with the ground and the carrying arm 30 is in a lifted off and suspended state in the operation process of the carrying device 10, the friction between the carrying arm 30 and the ground is reduced, the walking resistance of the carrying device 10 is smaller, and the walking is faster.

In some embodiments, the aerial assist mechanism may be a carrier arm climb assist mechanism. Specifically, the suspension assist mechanism may include a climbing guide member provided on the vehicle body 20; accordingly, the carrying arm 30 has a climbing member that can climb along the climbing guide member.

The climbing guide member may be a guide plate, a guide block, a guide rail, a guide wheel, a guide rope, or the like. The climbing member may be a rollable rolling body, or a block or plate that is non-rollable and is slidable along the climbing guide member.

The handling device 10 is also provided with power means for providing climbing power to the climbing member in order to push or pull the handling arm 30 to climb along the climbing guide member. The power device may include a drive motor, a speed reduction mechanism connected to the drive motor, and a power transmission mechanism connected to the speed reduction mechanism, the power transmission mechanism being connected to the carrying arm 30. The power transmission mechanism can be a traction rope, a conveyor belt, a chain, a gear, a rack and the like.

The power unit may be provided on the transport arm 30, on the vehicle body 20, or on each of the transport arm 30 and the vehicle body 20.

In some embodiments, the climbing guide member may include a guide plate disposed at the bottom of the vehicle body 20 and having a predetermined slope with respect to the ground; the support wheels on the transfer arm 30 may be climbing members, in addition to the traveling and supporting members of the transfer arm 30.

When the supporting wheels are in contact with the guide plate, the power device provides climbing power (for example, by pushing or dragging the arm body 301 of the carrying arm 30 to move forward), and the supporting wheels climb onto the vehicle body 20 along the guide plate, so that the supporting wheels are suspended above the ground.

Referring to fig. 5-7, to improve climbing efficiency of the transfer arm 30, in some embodiments, the climbing guide member may include: a first climbing guide part 401a provided at a first end of the vehicle body 20 and a second climbing guide part 401b provided at a second end of the vehicle body 20; accordingly, the climbing member on the handling arm 30 comprises: a first climbing member 304a able to climb along the first climbing guide member 401a, and a second climbing member 304b able to climb along the second climbing guide member 401 b.

The power means for providing climbing power to the first climbing member 304a and/or the second climbing member 304 b.

Wherein the first climbing guide element and the second climbing guide element may be guide plates, guide blocks, guide rails, guide wheels, guide ropes, etc. The first climbing member and the second climbing member may be rolling bodies or non-rolling bodies, and may be blocks, plates, or the like that slide along the first climbing guide member and the second climbing guide member, respectively.

In this embodiment, the first climbing part 304a and the second climbing part 304b on the carrying arm 30 are respectively matched with the first climbing guide part 401a and the second climbing guide part 401b on the vehicle body 20, so that the carrying arm 30 can be lifted upwards at two different positions of the carrying arm 30, which is beneficial to improving the climbing efficiency of the carrying arm 30, and the carrying arm 30 can be suspended above the ground in a short time.

Referring to fig. 5, in some embodiments, the first climbing guide member 401a may include a guide plate 402 disposed at the bottom of the first end of the vehicle body 20 and having a predetermined slope with respect to the ground.

Referring to fig. 6, the first support wheel 302a may act as a first climbing member 304a to climb along the guide plate 402.

The power device is arranged on the carrying arm 30 and is connected with the first supporting wheel 302 a; in this embodiment, a power device is coupled to the first support wheel 302a to provide climbing power to the first support wheel 302 a. The power device can provide climbing power for the first support wheel 302a, and also can provide driving power for the first support wheel 302a to walk on the ground, so that the power device can also be used as a power driving device for the first support wheel 302a, that is, the power device can provide climbing power for the first support wheel 302a, and also can provide driving power for the first support wheel 302a to walk on the ground. Of course, the embodiment of the present application is not limited thereto, and the power device for providing climbing power to the first support wheel 302a and the driving device for providing driving power to the first support wheel 302a for walking on the ground may also be two independent power devices.

Referring to fig. 5, when the support wheel does not perform the climbing action, the bottom of the guide plate 402 may be kept at a certain height from the ground so as not to affect the normal walking of the vehicle body 20. A rotating shaft 202 may be provided on the car body 20, the guide plate 402 is connected to the rotating shaft 202, and a torsion spring is provided on the rotating shaft 202. When the support wheel 302a does not perform the climbing motion, the guide plate 402 is inclined downward and has a certain height from the ground. When the supporting wheel 302a contacts the guide plate 402 and continues to walk, the supporting wheel 302a can push the guide plate 402 to rotate, so that the bottom end of the guide plate 402 contacts with the ground, and powerful support is provided for climbing of the supporting wheel 302 a. After the support wheel 302a climbs onto the vehicle body, the guide plate 402 returns to the initial position under the restoring force of the torsion spring, and the bottom of the guide plate 402 maintains a certain height with the ground.

Referring to fig. 7, after the supporting wheels 302a climb onto the cart body 20, the rotating shaft 202 may be located behind the supporting wheels 302a to prevent the supporting wheels 302a from backing up to some extent, so as to prevent the supporting wheels 302a of the carrying arm 30 from sliding off the cart body 20 and landing again due to uneven road surface or acceleration or deceleration of the cart body 20 during the walking of the cart body 20.

The second climbing guide 401b may include a rolling body, such as a roller, a ball, a roller, etc., capable of rolling along the length direction of the arm 301.

Referring to fig. 6, the second climbing member 304b is a supporting block 305 disposed outside the arm 301, and the bottom of the supporting block 305 has an inclined surface for supporting and matching with the second climbing guide member 401 b.

In other embodiments, the second climbing member 304b may be a rolling element such as a roller, ball, or drum disposed outside the arm 301.

In other embodiments, the first climbing guide part 401a may comprise a first set of guiding plates provided on both sides of the first end of the carrier arm receiving slot 201; the second climbing guide part 401b may include a second set of guide plates provided at both sides of the second end of the carrier arm receiving groove 201; the first group of guide plates and the second group of guide plates are provided with guide inclined planes; the first climbing part 304a on the carrying arm 30 is a first group of supporting blocks arranged at both sides of the first end of the arm body 301 of the carrying arm 30; the second climbing part 304b on the carrying arm 30 is a second group of supporting blocks arranged at the two sides of the second end of the arm body 301 of the carrying arm 30; the bottoms of the first group of supporting blocks and the second group of supporting blocks are provided with inclined planes matched with the guide inclined planes of the first group of guide plates and the second group of guide plates.

The first set of blocks is close to the first set of guide plates, and the second set of blocks is close to the second set of guide plates, and provides climbing power for the carrying arm 30 through the power device, the first set of blocks climbs along the first set of guide plates, and the second set of blocks climbs along the second set of guide plates, so that the supporting

wheels

302a and 302b of the carrying arm 30 are suspended above the ground.

Referring to fig. 4 and 6, in some embodiments, to provide a longer extension stroke of the carrier arm 30, a slide 50 is provided between the carrier arm receiving slot 201 and the carrier arm 30.

Referring to fig. 6, the side of the carrying arm receiving slot 201 is provided with a rail guide and support structure 203, and the rail guide and support structure 203 cooperates with the rail 50 to provide lateral guidance and vertical support for the rail 50; the slide 50 guide and support structure can support the slide 50 to move up and down.

The slide rail 50 can be extended and retracted laterally (horizontally) relative to the carrying arm receiving groove 201, and the carrying arm 30 can be horizontally moved along the slide rail 50. The slide 50 may also be referred to as a secondary rail of the carrying arm 30.

When the carrying arm 30 is suspended from the ground in a climbing manner, the entire carrying arm 30 moves upward. In one embodiment, the slide rail 50 can be fixed relative to the vehicle body 20, and the carrying arm 30 can move up and down relative to the slide rail 50. In another example, the slide rail 50 is movable relative to the vehicle body 20 in the vertical direction, the carrying arm 30 is fixed relative to the slide rail 50 in the vertical direction, and the carrying arm 30 is movable together with the slide rail 50 in the vertical direction relative to the vehicle body 20.

Referring to fig. 6, in some embodiments, the sides of the carrier arm receiving slot 201 are provided with vertical guides 204; the slide rail guide and support structure 203 may include: the base part is in up-and-down sliding fit or up-and-down rolling fit with the vertical guide structure 204; the guide and support portions cooperate with the slide rails 50 to provide lateral guidance and vertical support for the slide rails 50.

In one example, the vertical guide structure 204 is a vertical guide slot in which the base can move up and down. In another example, the vertical guide structure is a vertical guide rail, and the base portion has a sliding groove, through which the base portion is slidably engaged with the vertical guide rail.

In some embodiments, the suspension auxiliary mechanism may also be a lifting suspension auxiliary mechanism, and specifically, the suspension auxiliary mechanism may include a support portion disposed on the cart body 20; the lifting mechanism comprises a lifting driving mechanism and a lifting executing mechanism; the lifting actuating mechanism is connected with the lifting driving mechanism; the lifting actuator can be supported on a support part on the vehicle body 20, and after the lifting actuator is supported on the support part on the vehicle body 20, the lifting driving mechanism drives the lifting actuator to continue to perform the retracting action, so that the support wheel is lifted off the ground.

In this embodiment, when the transporting arm 30 is located in the cart body 20, the lifting actuator drives the lifting mechanism to perform retracting action, the lifting actuator can be supported on a supporting portion of the cart body 20, the lifting actuator is driven by the lifting actuator to continue retracting action, and the supporting wheel is lifted off the ground. In this embodiment, the in-situ suspension operation of the carrying arm 30 can be realized, and the structure of the vehicle body 20 can be more compact.

The supporting portion of the cart body 20 may be a supporting groove formed on the cart body 20, which not only can support the lifting actuator, but also can limit the lifting actuator (i.e. the carrying arm 30), so as to prevent the carrying arm 30 from swaying back and forth on the cart body 20 due to uneven road surface and acceleration or deceleration of the cart body 20.

The lifting executing mechanism comprises a telescopic lifting mechanism and a lifting top plate arranged at the top of the telescopic lifting mechanism; the lifting driving mechanism drives the lifting actuating mechanism to retract to a preset position, and the lifting top plate is supported on a supporting part on the vehicle body 20; the lifting driving mechanism drives the lifting executing mechanism to continue to contract, and the supporting wheel 302 is lifted off the ground.

The lifting top plate is supported on the supporting part on the vehicle body 20, the lifting driving mechanism drives the lifting actuating mechanism to continue to do contraction action, and the supporting wheel is lifted off the ground, so that the lifting actuating mechanism is in a contraction state as large as possible, the whole height size of the lifting mechanism is relatively small, the vehicle body 20 is relatively low in height, lower in gravity center and more stable in operation.

In this embodiment, the lift driving mechanism drives the lift actuator to retract to a predetermined position, and the lift top plate is supported on a support portion of the vehicle body 20. In some other embodiments, the lifting actuator is driven by the lifting driving mechanism to retract to a predetermined position, and the lifting actuator may be supported on a support portion of the vehicle body 20, such as a support portion of the vehicle body 20 by a protrusion provided at a side of the lifting actuator.

Referring to fig. 8-11, in some embodiments, the support portions on the body 20 may include a first support portion 206 disposed on a first side of the body 20 and a second support portion 207 disposed on a second side of the body 20; the lifting top plate 308 has a first protrusion 306 at both sides for supporting and matching with the first supporting portion 206, and a second protrusion 307 for supporting and matching with the second supporting portion 207; referring to fig. 12 and 13, the lifting driving mechanism drives the lifting actuator to retract to a predetermined position, the first protrusion is supported on the first supporting portion 206, and the second protrusion is supported on the second supporting portion 207; referring to fig. 14, the lifting actuator is driven by the lifting drive mechanism to continue retracting, and the

support wheels

302a and 302b are lifted off the ground.

In order to support the support arm more smoothly, the number of the first support portion 206 and the second support portion 207 on the vehicle body 20 may be two or more, respectively, and correspondingly, the number of the first projection 306 and the second projection 307 may also be two or more, respectively.

The first supporting portion 206 and the second supporting portion 207 can be supporting blocks or supporting grooves, and the supporting grooves can support the lifting mechanism 303 and limit the lifting mechanism 303 (i.e., the carrying arm 30), so as to prevent the carrying arm 30 from swaying back and forth on the vehicle body 20 due to uneven road surface and acceleration or deceleration of the vehicle body 20.

In some embodiments, a magnetic attraction member (e.g., a magnet) may be disposed on the first support portion 206 and/or the second support portion 207, and a corresponding magnetic attraction member may be disposed on the first protrusion 306 and/or the second protrusion 307 (e.g., at the bottom of the first protrusion 306 and the second protrusion 307). The magnetic member disposed on the first support portion 206 and/or the second support portion 207 can be magnetically attracted with the magnetic member disposed on the first protrusion 306 and/or the second protrusion 307, so that when the first protrusion 306 and the second protrusion 307 are to be supported on the first support portion 206 and the second support portion 207, the protrusions and the second support portion 207 can be automatically aligned by the magnetic member. In addition, after the bump and the supporting portion are magnetically attracted together by the magnetic attraction member, the bump (i.e., the carrying arm 30) can be further limited.

Referring to fig. 15, an embodiment of the present application further provides a cargo handling method, including the steps of:

s100, the vehicle body moves to a position close to a preset position of the goods, and the carrying arm extends out of the vehicle body to the bottom of the goods.

Referring to fig. 16, the truck body 20 is moved to a predetermined position adjacent to the pallet 100, and the carrying arm 30 is extended from the truck body to the bottom of the pallet 100.

S102, lifting the goods by a lifting mechanism of the carrying arm, and returning the goods to a preset position in the vehicle body;

in this step, in the process of lifting the load from the low position to the high position by the lifting mechanism, the load moves in the horizontal direction in the direction in which the carrying arm returns to the vehicle body.

FIG. 17 illustrates the lifting mechanism lifting the pallet from the lowered position to the raised position; in fig. 18 the carrier arm is returned to the car body.

S104, the lifting mechanism contracts, and the lifted goods are placed on the vehicle body.

FIG. 19 is a schematic view of the lifting mechanism retracting to place the lifted pallet on the cart body.

In this embodiment, the carrying arm extends from the vehicle body to the bottom of the cargo, and after the cargo is lifted by the lifting mechanism, when the lifting mechanism lifts the cargo from the lower position to the upper position, the top of the lifting mechanism (i.e. the lifted cargo) moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, that is, when the lifting mechanism lifts, the top part (such as a top plate) of the lifting mechanism runs along a curved track and has a vertical displacement component and a horizontal displacement component, the vertical displacement component is used for lifting from a low position to a high position, the horizontal displacement component is used for moving towards the direction that the carrying arm returns to the vehicle body in the horizontal direction, so that in the lifting process of the lifting mechanism, can realize going on simultaneously with the transport of the lift of goods towards car body direction, can improve the handling efficiency that the transport arm carried the goods to the car body.

Referring to fig. 4 and 17, in the process of lifting the cargo from the lower position to the upper position by the lifting mechanism, the movement of the cargo in the horizontal direction toward the direction in which the carrying arm returns into the vehicle body may include: when the lifting driving mechanism drives the lifting executing mechanism to do lifting stretching action, the goods lifted at the top of the lifting executing mechanism move towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

In some embodiments, the lifting actuator comprises a linkage mechanism and a pull rod, wherein the bottom end of the linkage mechanism is hinged on the arm body; the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism. Wherein, lift actuating mechanism drive and lift actuating mechanism and do and lift stretching action, include: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

In one example, the link mechanism comprises a lifting top plate, a first link and a second link, wherein the bottom end of the first link is hinged with the arm body, the top end of the first link is hinged with the lifting top plate, the bottom end of the second link is hinged with the arm body, and the top end of the second link is hinged with the lifting top plate; a parallel four-bar linkage is formed among the lifting top plate, the first connecting bar, the second connecting bar and the arm body.

In some embodiments, the lift drive mechanism may include a lift drive motor, a power transmission mechanism coupled to the lift drive motor, and a slide coupled to the power transmission mechanism. The lift actuating mechanism promotes the pull rod, the pull rod promotes link mechanism does the extension and lifts the action, includes: the lifting driving motor drives the sliding block to move through the power transmission mechanism, the sliding block pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

Wherein, lift driving motor and pass through power transmission mechanism, drive the slider removal and can include: the lifting driving motor drives the screw rod to rotate, the screw rod drives a sliding block (nut) on the screw rod to move through the screw rod nut pair, the sliding block pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching and lifting actions.

In some embodiments, the lifting mechanism of the transfer arm performs a lifting action to lift the cargo and return the cargo to a predetermined position within the body, comprising: and when the lifting mechanism of the carrying arm performs lifting action to lift the goods, the carrying arm moves towards the interior of the vehicle body.

In this embodiment, when the lifting mechanism of the carrying arm performs the lifting operation to lift the cargo, the top of the lifting mechanism (i.e. the lifted cargo) moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, and at the same time, the carrying arm also moves toward the vehicle body, so that the carrying efficiency of the carrying arm carrying the cargo onto the vehicle body can be further improved.

Referring to fig. 21, in some embodiments, after the transporting arm is returned to the predetermined position in the cart body, the lifting mechanism retracts to place the lifted goods on the cart body, and the method may further include the following steps: s106, suspending the supporting wheels of the carrying arm in the ground.

In this embodiment, after the carrying arm got back to the internal predetermined position of car, the goods that will lift was placed on the car body, and the supporting wheel of carrying arm is liftoff unsettled, does not contact with ground, and handling device is at the operation in-process like this, only car body and ground contact, and the carrying arm is in liftoff unsettled state, has reduced and ground between the friction for handling device's walking resistance is littleer, and the walking is more swift.

In some embodiments, the body of the vehicle is moved to a predetermined position near the load, and the transfer arm is protruded from the body of the vehicle to the bottom of the load (S100), including: the vehicle body moves to a position close to a preset position of the goods, the supporting wheels of the carrying arms fall from a suspension state to contact with the ground, and the carrying arms extend out of the vehicle body to the bottom of the goods.

In the embodiment, in the process of transporting goods by the vehicle body, the supporting wheels of the transporting arm are in a suspended state; when the vehicle body moves to a position close to a preset position of a cargo, the supporting wheels of the carrying arms fall from a suspension state to contact with the ground, and the carrying arms extend out of the vehicle body to the bottom of the cargo.

In some embodiments, the support wheels of the handling arm fall from a suspended state into contact with the ground, comprising: the traveling driving mechanism of the carrying arm acts, and the supporting wheel of the carrying arm travels a preset distance on the vehicle body along a preset direction and then falls to be in contact with the ground.

In this embodiment, the supporting wheels of the carrying arm travel on the vehicle body in a predetermined direction for a predetermined distance and then fall into contact with the ground, which is the reverse of the above-described embodiment of the carrying device in which the supporting wheels of the carrying arm climb onto the vehicle body.

In some embodiments, the support wheels of the handling arm fall from a suspended state into contact with the ground, comprising: the lifting mechanism is in a contraction state, the lifting mechanism is supported on the vehicle body, and the supporting wheels of the carrying arms are in a suspension state; the lifting mechanism lifts, and the supporting wheel of the carrying arm falls to be in contact with the ground.

In some embodiments, the support wheels of the carrier arm are suspended above ground, comprising: the carrying arm continues to walk in the vehicle body and climbs to the vehicle body, and the supporting wheel of the carrying arm is suspended above the ground.

In other embodiments, the support wheels of the carrier arm are suspended from the ground, comprising: the lifting mechanism continues to do contraction action until the lifting mechanism is supported on the vehicle body, the lifting mechanism further does contraction action, and the supporting wheels are lifted off the ground.

In some embodiments, the carrying arm continues to travel in the vehicle body, climbs to the vehicle body, and the support wheel of the carrying arm is suspended above the ground, including: the carrying arm continues to walk in the vehicle body, the supporting wheel at the first end of the carrying arm climbs along the first climbing guide part at the first end of the vehicle body, and simultaneously, the climbing part at the side part of the second end of the carrying arm climbs upwards along the second climbing guide part at the side part of the second end of the vehicle body.

In some embodiments, the support wheel of the first end of the handling arm climbs along the first guide part of the first end of the vehicle body, comprising: the supporting wheel at the first end of the carrying arm climbs along a guide plate with a preset gradient relative to the ground at the bottom of the first end of the vehicle body; the climbing part of the second end lateral part of the carrying arm climbs upwards along the second climbing guide part of the second end lateral part of the vehicle body and comprises: the climbing guide surface at the bottom of the supporting block at the side part of the second end of the carrying arm ascends along the rolling body at the side part of the second end of the vehicle body.

In this embodiment, the supporting wheels of the carrying arm fall to contact with the ground, and the suspension process from the ground is two opposite action processes.

Referring to fig. 21, after the support wheels of the carrying arm are suspended from the ground, the carrying method further includes the steps of: and S108, the vehicle body travels to convey the goods to a destination.

The cargo handling method of the embodiment can be applied to the aforementioned cargo handling device embodiment, and the implementation manner and the beneficial effects that can be achieved are substantially the same, and are not described herein again.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A handling device, comprising: the carrying arm is arranged in the vehicle body;

the carrying arm comprises an arm body, and a lifting mechanism is arranged on the arm body;

the carrying arm can extend out of the vehicle body along the horizontal direction to lift goods through the lifting mechanism and return the goods into the vehicle body; and in the process that the lifting mechanism is lifted from the low position to the high position, the top of the lifting mechanism moves towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

2. The transfer device of claim 1, wherein the lift mechanism includes a lift drive mechanism and a collapsible lift actuator; the lifting actuating mechanism is connected with the lifting driving mechanism;

when the lifting driving mechanism drives the lifting executing mechanism to do contraction action, the lifting executing mechanism is folded and contracted towards the direction in which the carrying arm extends out of the vehicle body along the horizontal direction;

when the lifting driving mechanism drives the lifting executing mechanism to do lifting stretching action, the top of the lifting executing mechanism moves towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

3. The handling device of claim 2, wherein the lift actuator comprises a linkage mechanism and a drawbar;

the bottom end of the connecting rod mechanism is hinged to the arm body;

the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism;

the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform contraction action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

4. The handling device of claim 3, wherein the tie rod comprises a first tie rod and a second tie rod, a first end of the first tie rod is hinged with the lifting driving mechanism, a second end of the first tie rod is hinged with a first end of the second tie rod, and a second end of the second tie rod is hinged with the link mechanism;

a first limiting block is arranged at the second end of the first pull rod, and a second limiting block is arranged at the first end of the second pull rod; after the first pull rod and the second pull rod push the connecting rod mechanism to a preset height from the maximum contraction state, the first limiting block and the second limiting block are abutted.

5. The transfer apparatus of claim 3, wherein the lift drive mechanism comprises a lift drive motor, a power transmission mechanism coupled to the lift drive motor, and a ram coupled to the power transmission mechanism;

the sliding block is arranged on the arm body and is hinged with the first end of the pull rod; the lifting driving motor can drive the sliding block to move back and forth on the arm body along the length direction of the arm body through the power transmission mechanism.

6. The handling device of claim 5, wherein the power transmission mechanism comprises a lead screw, and the slide block comprises a nut, and the nut is in threaded connection with the lead screw to form a lead screw nut pair.

7. The carrying device as claimed in claim 1, wherein a suspension assist mechanism for assisting the carrying arm to suspend above the ground is provided on the carriage body.

8. The handling device of claim 7, wherein the suspension assist mechanism comprises a climbing guide member provided on the vehicle body;

wherein the transfer arm is provided with a climbing part capable of climbing along the climbing guide part;

and the power device for providing climbing power for the climbing part is arranged on the carrying arm and/or the vehicle body.

9. The handling device according to claim 8, wherein the climbing guide member comprises a guide plate provided at the bottom of the vehicle body and having a predetermined slope with respect to the ground;

the climbing part on the carrying arm is the supporting wheel.

10. The handling device according to claim 8, characterized in that the climbing guide means comprise: the first climbing guide part is arranged at the first end of the vehicle body, and the second climbing guide part is arranged at the second end of the vehicle body;

the climbing member on the handling arm comprises: a first climbing means able to climb along said first climbing guide means, and a second climbing means able to climb along said second climbing guide means.

11. The handling device according to claim 10, wherein the first climbing guide member comprises a guide plate provided at the bottom of the vehicle body and having a predetermined slope with respect to the ground;

the supporting wheels comprise a first supporting wheel and a second supporting wheel which are arranged at intervals along the length direction of the arm body; the power device is arranged on the carrying arm and is connected with the first supporting wheel;

the first climbing member is the first support wheel;

12. The handling device according to claim 10, wherein the second climbing guide member includes a rolling body capable of rolling in a longitudinal direction of the arm body;

the second climbing part is a supporting block arranged on the outer side of the arm body, and the bottom of the supporting block is provided with an inclined plane which is in supporting fit with the second climbing guide part.

13. The handling device of claim 7, wherein the flying assist mechanism includes a support portion provided on the vehicle body;

the lifting mechanism comprises a lifting driving mechanism and a lifting executing mechanism; the lifting actuating mechanism is connected with the lifting driving mechanism;

the lifting actuating mechanism is supported on the supporting part on the vehicle body, the lifting driving mechanism drives the lifting actuating mechanism to continue to do contraction action, and the supporting wheels are lifted off the ground.

14. The transfer apparatus of claim 13, wherein the lifting actuator comprises a retractable lifting mechanism, and a lifting top plate disposed on top of the retractable lifting mechanism;

the lifting driving mechanism drives the lifting executing mechanism to retract to a preset position, and the lifting top plate is supported on the supporting part on the vehicle body; the lifting driving mechanism drives the lifting executing mechanism to continue to do contraction action, and the supporting wheel is lifted off the ground.

15. The carrier device as claimed in claim 13, wherein the support portion includes a first support portion provided on a first side of the vehicle body and a second support portion provided on a second side of the vehicle body;

two sides of the lifting top plate are provided with a first lug which is in supporting fit with the first supporting part and a second lug which is in supporting fit with the second supporting part;

the lifting driving mechanism drives the lifting executing mechanism to retract to a preset position, the first bulge is supported on the first supporting portion, the second bulge is supported on the second supporting portion, the lifting driving mechanism drives the lifting executing mechanism to continue retracting, and the supporting wheel lifts off the ground.

16. The carrier device according to claim 7, wherein the vehicle body has a carrier arm receiving groove extending in a horizontal direction, the carrier arm being provided in the carrier arm receiving groove;

a sliding rail is arranged between the carrying arm accommodating groove and the carrying arm;

a slide rail guide and support structure is arranged at the side part of the carrying arm accommodating groove and is matched with the slide rail so as to provide transverse guide and vertical support for the slide rail; the slide rail guide and support structure can support the slide rail to move up and down.

17. A handling device according to claim 16, c h a r a c t e r i z e d in that the sides of the handling arm receiving slot are provided with vertical guiding structures;

the slide rail direction and bearing structure includes: the base part is in up-and-down sliding fit or up-and-down rolling fit with the vertical guide structure; the guide and support part is matched with the slide rail to provide transverse guide and vertical support for the slide rail.

18. A method of transporting cargo, comprising:

the vehicle body moves to a position close to a preset position of the goods, and the carrying arm extends out of the vehicle body to the bottom of the goods;

the lifting mechanism of the carrying arm performs lifting action to lift the goods and return the goods to a preset position in the vehicle body; when the lifting mechanism lifts the goods from a low position to a high position, the goods move in the direction that the carrying arm returns to the vehicle body in the horizontal direction;

the lifting mechanism contracts to place the lifted goods on the vehicle body.

19. The method for transporting cargo according to claim 18, wherein the moving of the cargo in a horizontal direction in a direction in which the transporting arm returns to the vehicle body while the lifting mechanism lifts the cargo from a lower position to an upper position includes:

when the lifting driving mechanism drives the lifting executing mechanism to do lifting stretching action, the goods lifted at the top of the lifting executing mechanism move towards the direction that the carrying arm returns to the vehicle body in the horizontal direction.

20. The method of cargo handling according to claim 19 wherein the lift actuator comprises a linkage and a drawbar:

wherein, lift actuating mechanism drive and lift actuating mechanism and do and lift stretching action, include:

the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

21. The method as claimed in claim 20, wherein the lifting driving mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform an extending and lifting operation, comprising:

the lifting driving motor drives the sliding block to move through the power transmission mechanism, the sliding block pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.

22. The method of claim 18, wherein the lifting mechanism of the transfer arm is configured to lift the cargo and return the cargo to a predetermined position within the body, comprising:

and when the lifting mechanism of the carrying arm performs lifting action to lift the goods, the carrying arm moves towards the interior of the vehicle body.

23. The method for handling cargo as recited in claim 18, wherein the body is moved to a predetermined position adjacent to the cargo, and wherein the handling arm extends from the body to the bottom of the cargo, comprising:

the vehicle body moves to a position close to a preset position of the goods, the supporting wheels of the carrying arms fall from a suspension state to contact with the ground, and the carrying arms extend out of the vehicle body to the bottom of the goods.

24. The method of cargo handling according to claim 23 wherein the lowering of the support wheels of the handling arm from a suspended state into contact with the ground comprises:

the traveling driving mechanism of the carrying arm acts, and the supporting wheel of the carrying arm falls to be in contact with the ground after traveling for a preset distance along a preset direction on the vehicle body;

alternatively, the first and second electrodes may be,

the lifting mechanism is in a contraction state, the lifting mechanism is supported on the vehicle body, and the supporting wheels of the carrying arms are in a suspension state; the lifting mechanism lifts, and the supporting wheels of the carrying arms fall to be in contact with the ground.

25. The method of transporting cargo of claim 18, wherein after the lifting mechanism retracts and the lifted cargo is placed on the body, the method further comprises:

the supporting wheels of the carrying arm are suspended above the ground.

26. The method of cargo handling according to claim 25 wherein the support wheels of the handling arm are suspended above ground, comprising:

the carrying arm continues to travel in the vehicle body and climbs to the vehicle body, and a supporting wheel of the carrying arm is suspended above the ground;

alternatively, the first and second electrodes may be,

the lifting mechanism continues to perform contraction action until the lifting mechanism is supported on the vehicle body, the lifting mechanism further performs contraction action, and the supporting wheels are lifted off the ground.

27. The method of transporting cargo as recited in claim 26, wherein the transporting arm continues to travel within the body and climbs onto the body, the support wheels of the transporting arm being suspended above ground, comprising:

the carrying arm continues to walk in the vehicle body, the supporting wheel at the first end of the carrying arm climbs along the first climbing guide part at the first end of the vehicle body, and meanwhile, the climbing part at the side part of the second end of the carrying arm climbs upwards along the second climbing guide part at the side part of the second end of the vehicle body.

28. The method of cargo handling according to claim 27 wherein the support wheels at the first end of the handling arm ride along a first guide member at the first end of the body, comprising:

the supporting wheel at the first end of the carrying arm climbs along a guide plate with a preset gradient relative to the ground at the bottom of the first end of the vehicle body;

the climbing part of the second end lateral part of the carrying arm climbs upwards along the second climbing guide part of the second end lateral part of the vehicle body, and comprises: and the climbing guide surface at the bottom of the supporting block at the side part of the second end of the carrying arm ascends along the rolling body at the side part of the second end of the vehicle body.