CN112850552B

CN112850552B - Conveying device and cargo conveying method

Info

Publication number: CN112850552B
Application number: CN202011644053.9A
Authority: CN
Inventors: 白寒
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2023-09-19
Anticipated expiration: 2040-12-31
Also published as: CN112850552A

Abstract

The embodiment of the application discloses a conveying device and a cargo conveying method, relates to the technical field of automatic guiding and conveying, and aims to provide conveying efficiency. The handling device includes: the vehicle comprises a vehicle body and a carrying arm, wherein 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 so as to lift cargoes by the lifting mechanism and return to the vehicle body; in the process that the lifting mechanism lifts from a low position to a high position, the top of the lifting mechanism moves in the horizontal direction towards the direction that the carrying arm returns to the vehicle body. The application is suitable for carrying articles such as trays, goods or shelves.

Description

Conveying device and cargo conveying method

Technical Field

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

Background

Existing handling devices generally include a body and a handling arm provided 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 extend out of the vehicle body to lift the goods by the lifting mechanism, and the lifted goods are placed on the vehicle body, and the vehicle body conveys the goods to a destination.

In the conventional carrying device, the process that the carrying arm extends out of the vehicle body to carry the goods is usually that after the goods are lifted up to a preset height, the vehicle body walks forward to the position below the goods lifted by the lifting mechanism, and then the lifting mechanism places the lifted goods on the vehicle body. The process of lifting the goods vertically upwards and the process of moving the car body forwards are required in the process of moving the goods from the outside of the car body to the car body by the carrying arm, so that the carrying efficiency is low.

Disclosure of Invention

In view of the above, embodiments of the present invention provide a transporting device and a cargo transporting method with high transporting efficiency.

In a first aspect, an embodiment of the present invention provides a handling apparatus, including: the vehicle comprises a vehicle body and a carrying arm, wherein 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 so as to lift cargoes by the lifting mechanism and return to the vehicle body; in the process that the lifting mechanism lifts from a low position to a high position, the top of the lifting mechanism moves in the horizontal direction towards the direction that the carrying arm returns to the vehicle body.

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 executing mechanism is connected with the lifting driving mechanism; when the lifting driving mechanism drives the lifting executing mechanism to do shrinkage action, the lifting executing mechanism folds and shrinks towards the direction that the carrying arm stretches out from 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 in the horizontal direction towards the direction that the carrying arm returns to the vehicle body.

According to a specific implementation manner of the embodiment of the application, the lifting executing mechanism comprises a connecting rod mechanism and a pull rod; the bottom end of the connecting rod 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; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to do shrinkage action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting.

According to a specific implementation manner of the embodiment of the application, the pull rod comprises a first pull rod and a second pull rod, wherein the first end of the first pull rod is hinged with the lifting driving mechanism, the second end of the first pull rod is hinged with the first end of the second pull rod, and the second end of the second pull rod is hinged with the connecting rod 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 link mechanism to a preset height from a 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 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 screw rod, the sliding block comprises a nut, and the nut is in threaded connection with the screw rod to form a screw rod nut pair.

According to a specific implementation manner of the embodiment of the application, a suspension auxiliary mechanism for assisting the carrying arm to suspend from the ground is arranged on the vehicle body.

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 carrying arm is provided with a climbing component capable of climbing along the climbing guide component; the carrying arm and/or the vehicle body are/is provided with a power device for providing climbing power for the climbing component.

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

According to a specific implementation of the embodiment of the present application, the climbing guiding component includes: a first climbing guide member provided at a first end of the vehicle body and a second climbing guide member provided at a second end of the vehicle body; the climbing component on the carrying arm comprises: a first climbing member capable of climbing along the first climbing guide member, and a second climbing member capable of climbing along the second climbing guide member.

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

According to a specific implementation manner of the embodiment of the application, the first climbing guiding component comprises a guiding plate which is arranged at the bottom of the vehicle body and has a preset gradient relative to the ground; the support wheels comprise first support wheels and second support wheels 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 component is the first supporting wheel;

the first supporting wheel climbs along the first climbing guide part, and meanwhile, the second climbing part climbs along the second climbing guide part, so that the first supporting wheel and the second supporting wheel are lifted off the ground.

According to a specific implementation manner of the embodiment of the application, the second climbing guiding component comprises a rolling body capable of rolling along the length direction of the arm body; the second climbing component 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 in supporting fit with the second climbing guide component.

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 executing mechanism is connected with the lifting driving mechanism; the lifting actuating mechanism is supported on the supporting part on the vehicle body, the lifting actuating mechanism drives the lifting actuating mechanism to continue to perform shrinkage motion, and the supporting wheel is lifted off the ground.

According to a specific implementation manner of the embodiment of the application, 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 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 perform shrinkage motion, 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 the first side of the vehicle body and a second supporting part arranged on the second side of the vehicle body; the 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 part, the second bulge is supported on the second supporting part, the lifting driving mechanism drives the lifting executing mechanism to continue to perform the retraction motion, and the supporting wheel is lifted 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; the side part of the carrying arm accommodating groove is provided with a slide rail guiding and supporting structure which is matched with the slide rail so as to provide transverse guiding and vertical supporting for the slide rail; the slide rail guiding and supporting structure can support the slide rail to move up and down.

According to a specific implementation manner of the embodiment of the application, the lateral part of the carrying arm accommodating groove is provided with a vertical guide structure; the slide rail direction and bearing structure include: the base part is matched with the vertical guide structure in a sliding way or rolling way up and down; the guide and support portion cooperates with the slide rail to provide lateral guide and vertical support for the slide rail.

In a second aspect, an embodiment of the present application provides a method for handling cargo, including: the vehicle body is operated 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, lifts the goods and returns to a preset position in the vehicle body; in the process that the lifting mechanism lifts the goods from a low position to a high position, the goods move in the horizontal direction towards the direction that the carrying arm returns to the vehicle body; the lifting mechanism performs contraction motion, and the lifted goods are placed 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 horizontal direction in a direction in which the handling arm returns to the vehicle body, including: when the lifting actuating mechanism is driven to do lifting stretching action by the lifting actuating mechanism, the goods at the top of the lifting actuating mechanism are lifted to move in the horizontal direction in the direction that the carrying arm returns to the vehicle body.

According to a specific implementation manner of the embodiment of the application, the lifting executing mechanism comprises a connecting rod mechanism and a pull rod; the lifting driving mechanism drives the lifting executing mechanism to do lifting and stretching actions, and the lifting driving mechanism comprises: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting.

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 lifting action, 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 do stretching lifting.

According to a specific implementation manner of the embodiment of the present application, the lifting mechanism of the handling arm performs a lifting action to lift the cargo and return the cargo to a predetermined position in the vehicle body, and includes: and in the process of lifting the goods by the lifting mechanism of the carrying arm, the carrying arm moves into the vehicle body.

According to a specific implementation manner of the embodiment of the present application, the vehicle body is operated to a position close to a predetermined position of a cargo, and the carrying arm extends from the vehicle body to the bottom of the cargo, including: the vehicle body is operated to a position close to a preset position of the goods, and after the supporting wheels of the carrying arm fall from a suspended state to be in contact with the ground, the carrying arm stretches out from the vehicle body to the bottom of the goods.

According to a specific implementation manner of the embodiment of the present application, the supporting wheel of the handling arm falls from a suspended 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 contacted with the ground after traveling for a preset distance along a preset direction on the vehicle body; or the lifting mechanism is in a contracted state and is supported on the vehicle body, and the supporting wheels of the carrying arm are in a suspended state; the lifting mechanism performs lifting action, and the supporting wheels of the carrying arms drop to contact with the ground.

According to a specific implementation manner of the embodiment of the present application, after the lifting mechanism performs the contraction motion to place the lifted goods on the vehicle body, the method further includes: the supporting wheel of the carrying arm is suspended from the ground.

According to a specific implementation manner of the embodiment of the present application, the supporting wheel of the handling arm is suspended from the ground, and includes: the carrying arm continuously walks in the vehicle body and climbs onto the vehicle body, and the supporting wheel of the carrying arm is suspended from the ground; or the lifting mechanism continues to perform shrinkage action until the supporting wheel is supported on the vehicle body, the lifting mechanism further performs shrinkage action, and the supporting wheel is lifted off the ground.

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

According to a specific implementation manner of the embodiment of the present application, the supporting wheel at the first end of the carrying arm climbs along the first guiding component at the first end of the vehicle body, including: the support 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 side part of the carrying arm climbs upwards along the second climbing guide part of the second end side part of the vehicle body, and the climbing guide device comprises: the climbing guide surface at the bottom of the supporting block at the second end side part of the carrying arm climbs upwards along the rolling bodies at the second end side part of the vehicle body.

In the embodiment of the carrying device and the carrying method, after the carrying arm extends out of the vehicle body along the horizontal direction, the carrying arm moves in the horizontal direction towards the direction that the carrying arm returns to the vehicle body in the process of lifting the goods from the low position to the high position by the lifting mechanism after the goods are lifted by the lifting mechanism, that is, when the lifting mechanism carries out lifting action, the top of the lifting mechanism moves along a curve track, and has two vertical and horizontal displacement components, the vertical displacement component is the lifting process from the low position to the high position, and the horizontal displacement component moves in the direction that the carrying arm returns to the vehicle body in the horizontal direction, so that the lifting of the goods and the carrying of the goods towards the direction of the vehicle body can be simultaneously carried out in the lifting process of the lifting mechanism, and the carrying efficiency of the carrying arm on the goods can be improved.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

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

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

FIG. 4 is a schematic view of a cargo handling arm according to an embodiment of the present application extended from a body of a vehicle to lift cargo;

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

FIG. 6 is a schematic view of another embodiment of a carrying device according to the present application, in which the carrying arm is in a state before climbing in the vehicle body;

FIG. 7 is a schematic view showing a suspension state of a carrying arm from the ground after climbing in a body of a vehicle in a carrying device according to an embodiment of the application;

FIG. 8 is a schematic view of a handling device according to another embodiment of the present application (a handling arm is in a vehicle body);

FIG. 9 is a schematic view of the embodiment of FIG. 8 in which the arm extends out of the body through a rail;

FIG. 10 is a schematic view of the lifting mechanism of the handling arm in the embodiment of FIG. 8 in a lifted state;

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

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

FIG. 13 is a side view schematically showing the structure of a supporting portion of the lifting mechanism in which the roof is supported on the vehicle body in the embodiment shown in FIG. 8;

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

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

FIG. 16 is a schematic view of the truck body being moved to a predetermined position adjacent to the cargo, with the arm extending from the truck body to the bottom of the cargo;

FIG. 17 is a schematic view showing a lifting mechanism lifting a tray from a low position to a high position;

FIG. 18 is a schematic view showing the return of the arm to the body;

FIG. 19 is a schematic view of the lifting mechanism in a retracted position to place the lifted pallet on the truck body;

FIG. 20 is a schematic view of the lifting mechanism in a configuration in which the lifting tray is placed on the vehicle body, and the carrying arm is lifted and suspended from the ground;

FIG. 21 is a flow chart of another embodiment of a method for handling cargo.

Detailed Description

Embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, a handling device 10 according to an embodiment of the present application includes: a vehicle body 20 and a carrier arm 30, the carrier arm 30 being provided in the vehicle 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 extend horizontally from the vehicle body 20 to lift the cargo by the lifting mechanism 303 and return to the vehicle body 20.

During the lifting of the cargo from the low position to the high position by the lifting mechanism 303, the top of the lifting mechanism 303 moves in the horizontal direction in a direction in which the carrier 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 transport vehicle (Automated Guided Vehicle, AGV). An AGV is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, and having safety protection and various transfer functions. In addition to pallets, the handling device can handle various types of goods, shelves, and loads, with only a space left below for the handling arm 30 to enter.

The vehicle body 20 may be provided with an omnidirectional walking 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. Wherein the sensing unit can adopt laser, vision, infrared, photoelectric and other 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 vehicle 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, a carrier arm receiving groove 201 may be provided on the vehicle body 20, and the carrier arm 30 may be provided in the carrier arm receiving groove 201.

Two carrying arm accommodating grooves 201 can be arranged on the vehicle 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 cooperatively.

In some embodiments, the arm 301 is provided with a support wheel, which may be provided at the bottom of the arm 301 to support the handling arm 30. The supporting wheels may be driving wheels with driving power or casters without driving power. A support wheel may be provided at one end of the arm 301, and the other end of the arm 301 may be supported on the vehicle body 20; referring to fig. 2 and 3, supporting wheels 302a and 302b may be respectively disposed at two ends of the arm 301, and when carrying goods, both ends of the arm 301 may be supported on the ground by the supporting wheels, wherein one supporting wheel 302a may be a driving wheel, and the other supporting wheel 302b may be a caster.

The lifting mechanism 303 is used to lift the cargo, or to lift a tray holding the cargo. Referring to fig. 4, in an example, in the process of lifting the tray 100 from the low position to the high position by the lifting mechanism 303, the top of the lifting mechanism 303 moves in the horizontal direction in the direction of returning the handling arm 30 to the vehicle body 20, and the direction indicated by the arc arrow in fig. 4 indicates the direction in which the lifting mechanism lifts the tray from the low position to the high position, and the direction indicated by the arrow in the horizontal direction is the direction in which the handling arm 30 returns to the vehicle body 20.

In this embodiment, after the carrier arm 30 extends from the vehicle body 20 in the horizontal direction, the carrier arm 303 lifts the cargo by the lifting mechanism 303, and in the process of lifting the cargo from the low position to the high position by the lifting mechanism 303, the top of the lifting mechanism 303 (i.e. the lifted cargo) moves in the horizontal direction in the direction of returning the carrier arm 30 to the vehicle body 20, that is, when the lifting mechanism 303 performs the lifting action, 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 displacement component in the vertical direction is the lifting process from the low position to the high position, and the displacement component in the horizontal direction moves in the direction of returning the carrier arm 30 to the vehicle body 20, so that in the lifting process of the lifting mechanism 303, the lifting of the cargo and the carrying of the cargo in the direction of the vehicle body 20 can be performed simultaneously, and the carrying efficiency of the carrier arm on the cargo can be improved.

The lifting mechanism 303 may be a lifting mechanism that lifts along a predetermined curved trajectory, which may be a lifting mechanism having driving forces in a vertical direction and a horizontal direction, respectively, and applies a driving force in a horizontal direction to push the lifting mechanism 303 to move in a horizontal direction while the lifting mechanism 303 is lifted in the vertical direction. The lifting mechanism 303 may be a screw type lifting mechanism, a scissor type lifting mechanism, or the like.

To provide the lifting mechanism 303 with a relatively compact structure in the non-lifted state, so as to facilitate folding in the vehicle body 20, the lifting mechanism 303 may employ a foldable lifting mechanism, and in particular, in some embodiments, the lifting mechanism 303 may include a lifting driving mechanism and a foldable lifting actuator; the lifting executing mechanism is connected with the lifting driving mechanism;

when the lifting driving mechanism drives the lifting executing mechanism to do a contraction motion, the lifting executing mechanism is folded and contracted on the arm body 301 of the carrying arm 30 towards the direction that the carrying arm 30 can extend from the vehicle body 20 along the horizontal direction, so that when the lifting driving mechanism drives the lifting executing mechanism to do a lifting expansion motion, the top of the lifting executing mechanism can move towards the direction that the carrying arm 30 returns to the vehicle body 20 in the horizontal direction.

In some embodiments, the lift actuator may include a linkage and a tie rod; the bottom end of the link mechanism is hinged on 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 do shrinkage action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting.

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

In order to make the lifting of the lifting top plate 3031 smoother, the supporting force is stronger, referring to fig. 2, there may be two first links 3032, and the two first links 3032 are arranged in parallel; two second connecting rods 3033 are also arranged, 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 tie rod may be one. One end of the pull rod is hinged with the lifting driving mechanism, and the other end of the pull rod is hinged with the first connecting rod 3032.

Referring to fig. 3 and 4, in some embodiments, the number of tie rods is two, including a first tie rod 3034 and a second tie rod 3035, the first end of the first tie rod 3034 is hinged to the lift driving mechanism, the second end is hinged to the first end of the second tie rod 3035, and the second end of the second tie rod 3035 is hinged to the first tie rod 3032. When the number of the first links 3032 is two, each first link 3032 pulls a rod, respectively.

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 a predetermined included angle is formed between the second pull rod 3035 and the first pull rod 3034, and the predetermined included angle may be greater than or equal to 150 degrees and less than or equal to 180 degrees, so that the lifting driving mechanism can conveniently apply a lifting driving force to the link mechanism, and the link mechanism can be lifted from the contracted state to the extended lifting state with a smaller pushing force.

A first stopper (not shown) may be provided at a second end of the first pull rod 3034, and a second stopper (not shown) may be provided at a first end of the second pull rod 3035. After the first and second tie rods 3034 and 3035 push the link mechanism from the maximum contracted state to a predetermined height,

the first limiting block and the second limiting block are abutted, 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 curve track.

Referring to FIG. 3, in some embodiments, a lift drive mechanism may include a lift drive motor 304, a power transmission mechanism 305 coupled to the lift drive motor 304, and a slider 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 slider 306 to move back and forth along the length direction of the arm 301 on the arm 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 link 3032 to rotate around the hinge point with the arm 301.

The power transmission mechanism 305 shown in fig. 3 includes a screw, and the slider 306 includes a nut screwed with the screw to form a screw-nut pair. In other embodiments, the power transmission mechanism 305 may also be a chain transmission mechanism, a rack and pinion transmission mechanism.

The hinge point between the slider 306 and the first pull rod 3034 can always move in the horizontal direction during the pushing of the first pull rod 3034 by the slider 306. Referring to fig. 3, an elongated chute 307 extending in a horizontal direction may be provided at a side portion of the arm body 301 of the carrier arm 30, one end of a hinge shaft 308 between the slider 306 and the first tie rod 3034 is provided in the chute 307, and a hinge point between the slider 306 and the first tie rod 3034 is limited by the chute 307 so as to be always 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 may be supported on the arm body 301 of the support arm, so that stable support may be provided for the lifting mechanism 303.

To facilitate articulation between the slider 306 and the first pull rod 3034, a support block 309 may be provided on a side of the slider 306, and a first end of the first pull rod 3034 may be articulated to the support block 309. When two first tie rods 3034 are provided at both sides of the arm body, support blocks 309 may be provided at both sides of the slider 306, respectively.

In some embodiments, a suspension assist mechanism is provided on the vehicle body 20 to assist in suspending the arm 30 from the ground.

When carrying an article, the carrying arm 30 extends from the vehicle body 20 to the lower part of the article along the horizontal direction, the article is lifted by the lifting mechanism 303 and returns to the vehicle body 20, and after the lifting mechanism 303 places the lifted article on the vehicle body 20, the suspended auxiliary mechanism on the vehicle body 20 suspends the carrying arm 30 from the ground. In other embodiments, after the carrier arm 30 returns to the cart body 20, the carrier arm 30 may be suspended from the ground by the suspension assistance mechanism when the lifting mechanism 303 lifts the article.

After the carrying arm 30 returns to the vehicle body 20, the carrying arm 30 is suspended from the ground through the suspended auxiliary mechanism on the vehicle body 20, so that the supporting wheel 302 of the carrying arm 30 is lifted away from the ground and is not contacted with the ground, and therefore, in the operation process of the carrying device 10, only the vehicle body 20 is contacted with the ground, the carrying arm 30 is in a suspended state from the ground, friction between the carrying arm 30 and the ground is reduced, and the walking resistance of the carrying device 10 is smaller and the walking is quicker.

In some embodiments, the overhead assistance mechanism may be a boom climbing assistance mechanism. Specifically, the overhead auxiliary mechanism may include a climb guide member provided on the vehicle body 20; accordingly, the transport arm 30 has a climbing member capable of climbing along the climbing guide.

The climbing guide 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 rolling body capable of rolling, or may be a block or a plate capable of sliding along the climbing guide.

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

The power device may be provided on the carrier arm 30, the vehicle body 20, or the carrier arm 30 and the vehicle body 20, respectively.

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

When the supporting wheel contacts with the guide plate, the power device provides climbing power (such as by pushing or dragging the arm body 301 of the carrying arm 30 to move forward), and the supporting wheel climbs onto the vehicle body 20 along the guide plate, so that the supporting wheel is suspended from the ground.

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

The power device is configured to provide climbing power to the first climbing member 304a and/or the second climbing member 304b.

The first climbing guide member and the second climbing guide member may be guide plates, guide blocks, guide rails, guide wheels, guide ropes, or the like. The first climbing member and the second climbing member may be rolling bodies or may be non-rolling blocks or plates or the like which are slidable along the first climbing guide member and the second climbing guide member, respectively.

In this embodiment, the first climbing member 304a and the second climbing member 304b on the carrying arm 30 are respectively matched with the first climbing guide member 401a and the second climbing guide member 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 from the ground in a short time.

Referring to fig. 5, in some embodiments, the first climb guide element 401a may include a guide plate 402 disposed at a bottom portion of the first end of the truck body 20 having a predetermined slope with respect to the ground.

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

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

Referring to fig. 5, when the supporting wheel does not perform the climbing motion, the bottom of the guide plate 402 may maintain a certain height with the ground so as not to affect the normal running of the vehicle body 20. A rotating shaft 202 may be provided on the vehicle 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 supporting wheel 302a does not perform the climbing action, the guide plate 402 is inclined downward to have a certain height from the ground. When the support wheel 302a contacts the guide plate 402 and continues to walk, the support wheel 302a can push the guide plate 402 to rotate, so that the bottom end of the guide plate 402 contacts the ground, and powerful support is provided for climbing of the support wheel 302 a. After the supporting 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 wheel 302a climbs onto the vehicle body 20, the rotating shaft 202 may be located behind the supporting wheel 302a to block the supporting wheel 302a from backing to a certain extent, so as to prevent the supporting wheel 302a of the carrier arm 30 from sliding off the vehicle body 20 and landing again due to uneven road surface or acceleration or deceleration of the vehicle body 20 during the running of the vehicle body 20.

The second ascent guide member 401b may include rolling bodies capable of rolling in the length direction of the arm body 301, and may be, for example, rollers, balls, drums, or the like.

Referring to fig. 6, the second climbing member 304b is a support block 305 provided outside the arm 301, and the bottom of the support block 305 has a slope in supporting engagement with the second climbing guide 401 b.

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

In other embodiments, the first climb guide element 401a may include a first set of guide plates disposed on either side of the first end of the arm receiving slot 201; the second climbing guide 401b may include a second group of guide plates provided at both sides of the second end of the transporting 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 two sides of the first end of the arm body 301 of the carrying arm 30; the second climbing parts 304b on the carrying arm 30 are second groups of supporting blocks arranged on 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 surfaces matched with the guiding inclined surfaces of the first group of guiding plates and the second group of guiding plates.

When the first group of supporting blocks are close to the first group of guide plates and the second group of supporting blocks are close to the second group of guide plates, climbing power is provided for the carrying arm 30 through the power device, the first group of supporting blocks climb along the first group of guide plates and the second group of supporting blocks climb along the second group of guide plates, so that the supporting wheels 302a and 302b of the carrying arm 30 can be suspended from the ground.

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

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

The slide rail 50 is movable in a telescopic manner in a lateral direction (horizontal direction) with respect to the arm receiving groove 201, and the arm 30 is movable horizontally along the slide rail 50. The slide rails 50 may also be referred to as secondary rails of the carrier arm 30.

When the arm 30 is suspended from the ground in a climbing manner, the arm 30 moves upward as a whole. In an embodiment, the up and down positions of the sliding rail 50 relative to the vehicle body 20 can be fixed, and the carrying arm 30 can move up and down relative to the sliding rail 50. In another example, the slide rail 50 can move up and down relative to the vehicle body 20, the carrying arm 30 can be fixed up and down relative to the slide rail 50, and the carrying arm 30 can move up and down relative to the vehicle body 20 along with the slide rail 50.

Referring to fig. 6, in some embodiments, the sides of the carrier arm receiving slot 201 are provided with vertical guide structures 204; the slide guide and support structure 203 may include: a base and a guide and support portion connected to the base, the base being in sliding or rolling engagement with the vertical guide structure 204; the guide and support portion cooperates with the slide rail 50 to provide lateral guide and vertical support for the slide rail 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 is provided with a chute, and the base is in sliding fit with the vertical guide rail through the chute.

In some embodiments, the suspension assistance mechanism may also be a lifting suspension assistance mechanism, and in particular, the suspension assistance mechanism may include a support portion provided on the vehicle body 20; the lifting mechanism comprises a lifting driving mechanism and a lifting executing mechanism; the lifting executing mechanism is connected with the lifting driving mechanism; the lifting executing mechanism can be supported on the supporting part on the vehicle body 20, and after the lifting executing mechanism is supported on the supporting part on the vehicle body 20, the lifting driving mechanism drives the lifting executing mechanism to continue to perform contraction motion, and the supporting wheel is lifted off the ground.

In this embodiment, when the carrying arm 30 is in the vehicle body 20, the lifting driving mechanism drives the lifting mechanism to perform a retracting action, the lifting executing mechanism can be supported on the supporting portion on the vehicle body 20, and the lifting driving mechanism drives the lifting executing mechanism to continue to perform a retracting action, so that the supporting wheel is lifted off the ground. In this embodiment, the in-situ lift-off suspension operation of the handling arm 30 can be realized, and the structure of the vehicle body 20 can be more compact.

The supporting portion on the vehicle body 20 may be a supporting groove on the vehicle body 20, which not only can support the lifting executing mechanism, but also can limit the lifting mechanism (i.e. the carrying arm 30), so as to avoid shaking the carrying arm 30 back and forth on the vehicle body 20 due to uneven road surface and in the acceleration or deceleration process of the vehicle 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 executing 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 drive mechanism drives the lifting actuator to continue to perform the contraction motion, 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 actuating mechanism drives the lifting actuating mechanism to continue to perform shrinkage action, and the supporting wheel is lifted off the ground, so that the lifting actuating mechanism can be in a shrinkage state as large as possible, the overall height of the lifting mechanism is relatively small, the height of the vehicle body 20 is relatively low, the gravity center is lower, and the running is more stable.

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

Referring to fig. 8-11, in some embodiments, the support on the cart body 20 may include a first support 206 disposed on a first side of the cart body 20 and a second support 207 disposed on a second side of the cart body 20; the lifting top plate 308 has a first bump 306 supported and matched with the first supporting part 206 and a second bump 307 supported and matched with the second supporting part 207 at two sides; referring to fig. 12 and 13, the lift driving mechanism drives the lift actuator to retract to a predetermined position, the first protrusion is supported on the first support portion 206, and the second protrusion is supported on the second support portion 207; referring to fig. 14, the lift drive mechanism drives the lift actuator to continue to retract, and the support wheels 302a and 302b are lifted off the ground.

For smoother support of the support arm, 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 accordingly, the number of the first bump 306 and the second bump 307 may be two or more, respectively.

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

In some embodiments, a magnetic component (e.g., a magnet) may be disposed on the first support 206 and/or the second support 207, and a corresponding magnetic component may be disposed on the first bump 306 and/or the second bump 307 (e.g., on the bottom of the first bump 306 and the second bump 307). The magnetic attraction members provided on the first support portion 206 and/or the second support portion 207 may magnetically attract the magnetic attraction members provided on the first bump 306 and/or the second bump 307 together, so that when the first bump 306 and the second bump 307 are to be supported on the first support portion 206 and the second support portion 207, automatic alignment between the bumps and the support portions may be achieved by the magnetic attraction members. In addition, after the bump and the supporting portion are magnetically attracted together by the magnetic attraction component, a further limiting effect can be provided for the bump (i.e., the carrying arm 30).

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

and S100, the vehicle body is operated 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 near the tray 100, and the transfer arm 30 is extended from the truck body to the bottom of the tray 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, the lifting mechanism moves the cargo in the horizontal direction in a direction in which the carrying arm returns to the vehicle body in the process of lifting the cargo from the low position to the high position.

The lifting mechanism in fig. 17 lifts the tray from the low position to the high position; the carrier arm is returned to the truck body in fig. 18.

S104, the lifting mechanism performs shrinkage action, and the lifted goods are placed on the vehicle body.

Fig. 19 is a schematic view showing the lifting mechanism performing a retracting action to place the lifted tray on the vehicle body.

In this embodiment, after the carrier arm extends from the vehicle body to the bottom of the cargo, and lifts the cargo by the lifting mechanism, in the process that the lifting mechanism lifts the cargo from the low position to the high position, the top of the lifting mechanism (that is, the lifted cargo) moves in the horizontal direction toward the direction that the carrier arm returns to the vehicle body, that is, when the lifting mechanism performs lifting motion, the top of the lifting mechanism (such as the top plate) moves along a curved track, and has two displacement components, namely, a vertical displacement component and a horizontal displacement component, the displacement component in the vertical direction is the lifting process from the low position to the high position, and the displacement component in the horizontal direction moves in the direction that the carrier arm returns to the vehicle body in the horizontal direction, so that in the lifting process of the lifting mechanism, lifting of the cargo and carrying of the cargo in the direction of the vehicle body can be performed simultaneously, and the carrying efficiency of the carrier arm for carrying the cargo onto the vehicle body can be improved.

Referring to fig. 4 and 17, in the process of lifting the cargo from the low position to the high position by the lifting mechanism, the cargo moves in the horizontal direction in a direction in which the carrying arm returns to the vehicle body, which may include: when the lifting actuating mechanism is driven to do lifting stretching action by the lifting actuating mechanism, the goods at the top of the lifting actuating mechanism are lifted to move in the horizontal direction in the direction that the carrying arm returns to the vehicle body.

In some embodiments, the lifting actuator comprises a link mechanism and a pull rod, wherein the bottom end of the link 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. The lifting driving mechanism drives the lifting executing mechanism to do lifting and stretching actions, and the lifting driving mechanism comprises: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting.

In one example, the linkage mechanism comprises a lifting top plate, a first connecting rod and a second connecting rod, wherein the bottom end of the first connecting rod is hinged with the arm body, the top end of the first connecting rod is hinged with the lifting top plate, the bottom end of the second connecting rod is hinged with the arm body, and the top end of the second connecting rod is hinged with the lifting top plate; and a parallel four-bar mechanism 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 slider coupled to the power transmission mechanism. The lifting driving mechanism pushes the pull rod, the pull rod pushes the link mechanism to do stretching lifting action, and the lifting driving mechanism comprises: 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 do stretching lifting.

Wherein, lifting driving motor passes through power transmission mechanism, drives the slider and removes can include: the lifting driving motor drives the screw rod to rotate, the screw rod drives the 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 lifting.

In some embodiments, the lifting mechanism of the handling arm performs lifting action to lift the cargo and return to a predetermined position in the vehicle body, including: and in the process of lifting the goods by the lifting mechanism of the carrying arm, the carrying arm moves into the vehicle body.

In this embodiment, in the process of lifting the cargo by the lifting mechanism of the handling arm, the top of the lifting mechanism (i.e. the lifted cargo) moves in the horizontal direction in the direction in which the handling arm returns to the vehicle body, and at the same time, the handling arm also moves in the vehicle body, so that the handling efficiency of the handling arm for handling the cargo on the vehicle body can be further improved.

Referring to fig. 21, in some embodiments, after the carrier arm returns to the predetermined position in the vehicle body, the lifting mechanism performs a retracting action, and after the lifted goods are placed on the vehicle body, the method may further include the steps of: s106, hanging the supporting wheels of the carrying arms from the ground.

In this embodiment, after the transport arm gets back to the preset position in the car body, place the goods of lifting on the car body, the supporting wheel of transport arm is unsettled from the ground, does not contact with ground, and in the handling device like this at the operation in-process, only car body and ground contact, and the transport arm is in unsettled state from the ground, has reduced the friction with ground for handling device's walking resistance is less, and it is more swift to walk.

In some embodiments, the truck body is operated to a predetermined position near the cargo, and the carrier arm extends from the truck body to the bottom of the cargo (S100), comprising: the vehicle body is operated to a position close to the preset position of the goods, and after the supporting wheels of the carrying arm fall from a suspended state to be contacted with the ground, the carrying arm stretches out to the bottom of the goods from the vehicle body.

In the embodiment, in the process of carrying the goods by the vehicle body, the supporting wheels of the carrying arm are in a suspended state; when the vehicle body moves to a position close to a preset position of goods, the supporting wheels of the carrying arm drop from a suspended state to be in contact with the ground, and then the carrying arm extends out of the vehicle body to the bottom of the goods.

In some embodiments, the support wheels of the carrier arm drop 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 descends to contact with the ground after traveling for a preset distance along a preset direction on the vehicle body.

In this embodiment, after the support wheels of the carrier arm travel a predetermined distance in a predetermined direction on the vehicle body, the support wheels fall down to contact the ground, contrary to the process of climbing the support wheels of the carrier arm onto the vehicle body in the foregoing embodiment of the carrier device.

In some embodiments, the support wheels of the carrier arm drop from a suspended state into contact with the ground, comprising: the lifting mechanism is in a contracted state, the lifting mechanism is supported on the vehicle body, and the supporting wheels of the carrying arm are in a suspended state; the lifting mechanism performs lifting action, and the supporting wheels of the carrying arms drop to contact with the ground.

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

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

In some embodiments, the carrier arm continues walking in the car body, climbs onto the car body, and the supporting wheel of carrier arm is unsettled from the ground, includes: the carrier arm continues the walking in the car body, and the supporting wheel of carrier arm first end climbs along the first guide part that climbs of car body first end, and the part that climbs of carrier arm second end lateral part climbs along the second guide part that climbs of car body second end lateral part simultaneously.

In some embodiments, the support wheel of the first end of the carrier arm climbs along the first guide member of the first end of the vehicle body, comprising: the support 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 component of the second end side part of the carrying arm climbs upwards along the second climbing guiding component of the second end side part of the vehicle body, and the climbing guiding component comprises: the climbing guide surface at the bottom of the supporting block at the second end side part of the carrying arm climbs upwards along the rolling bodies at the second end side part of the vehicle body.

In this embodiment, the supporting wheel of the carrying arm falls to contact with the ground, and the process of suspending from the ground is two opposite actions.

Referring to fig. 21, after the support wheel of the carrying arm is suspended from the ground, the carrying method further includes the steps of: s108, the vehicle body walks to convey the goods to the destination.

The cargo handling method of the present embodiment may be applied to the foregoing cargo handling device embodiments, and its implementation manner and achieved beneficial effects are substantially the same, which is not described herein.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article of manufacture, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. A handling device, comprising: the vehicle comprises a vehicle body and a carrying arm, wherein 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 so as to lift cargoes by the lifting mechanism and return to the vehicle body; in the process of lifting the lifting mechanism from a low position to a high position, the top of the lifting mechanism moves in the horizontal direction towards the direction of returning the carrying arm to the vehicle body;

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

The lifting executing mechanism comprises a connecting rod mechanism and a pull rod;

the pull rod comprises a first pull rod and a second pull rod, the first end of the first pull rod is hinged with the lifting driving mechanism, the second end of the first pull rod is hinged with the first end of the second pull rod, and the second end of the second pull rod is hinged with the connecting rod 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 link mechanism to a preset height from a maximum contraction state, the first limiting block and the second limiting block are abutted;

the car body is provided with a suspension auxiliary mechanism for assisting the carrying arm to be suspended from the ground.

2. The handling device of claim 1, wherein the lifting mechanism comprises a lifting drive mechanism and a collapsible lifting actuator; the lifting executing mechanism is connected with the lifting driving mechanism;

when the lifting driving mechanism drives the lifting executing mechanism to do shrinkage action, the lifting executing mechanism folds and shrinks towards the direction that the carrying arm stretches out from 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 in the horizontal direction towards the direction that the carrying arm returns to the vehicle body.

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

the bottom end of the connecting rod 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;

the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to do shrinkage action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting.

4. A handling device according to claim 3, wherein the lifting drive mechanism comprises a lifting drive motor, a power transmission mechanism connected to the lifting drive motor, and a slider connected to the power transmission mechanism;

the sliding block is arranged on the arm body and 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.

5. The handling device of claim 4 wherein the power transmission mechanism comprises a screw and the slider comprises a nut threadably coupled to the screw to form a screw nut pair.

6. The handling device of claim 1, wherein the overhead assistance mechanism comprises a climb guide member provided on the vehicle body;

wherein the carrying arm is provided with a climbing component capable of climbing along the climbing guide component;

the carrying arm and/or the vehicle body are/is provided with a power device for providing climbing power for the climbing component.

7. The carrying device according to claim 6, wherein the climbing guide member includes a guide plate provided at a bottom of the vehicle body, having a predetermined gradient with respect to a ground surface;

the climbing component on the carrying arm is a supporting wheel.

8. The handling device of claim 6, wherein the climb-guide member comprises: a first climbing guide member provided at a first end of the vehicle body and a second climbing guide member provided at a second end of the vehicle body;

the climbing component on the carrying arm comprises: a first climbing member capable of climbing along the first climbing guide member, and a second climbing member capable of climbing along the second climbing guide member;

9. The carrying device according to claim 8, wherein the first climbing guide member includes a guide plate provided at a bottom of the vehicle body, having a predetermined gradient with respect to a ground surface;

the support wheels comprise first support wheels and second support wheels 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 component is the first supporting wheel;

10. The transfer device according to claim 8, wherein the second climbing guide includes a rolling element that can roll in a longitudinal direction of the arm body;

the second climbing component 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 in supporting fit with the second climbing guide component.

11. The carrying device according to claim 1, wherein the suspended 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 executing mechanism is connected with the lifting driving mechanism;

the lifting actuating mechanism is supported on the supporting part on the vehicle body, the lifting actuating mechanism drives the lifting actuating mechanism to continue to perform shrinkage motion, and the supporting wheel is lifted off the ground.

12. The handling device of claim 11, wherein the lift actuator comprises a telescoping lift mechanism, and a lift ceiling disposed atop the telescoping lift 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 perform shrinkage motion, and the supporting wheel is lifted off the ground.

13. The carrier device of claim 11, wherein the support 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;

The 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 part, the second bulge is supported on the second supporting part, the lifting driving mechanism drives the lifting executing mechanism to continue to perform the retraction motion, and the supporting wheel is lifted off the ground.

14. The carrier device according to claim 1, 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;

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

15. The carrier device of claim 14, wherein the sides of the carrier arm receiving slots are provided with vertical guide structures;

The slide rail direction and bearing structure include: the base part is matched with the vertical guide structure in a sliding way or rolling way up and down; the guide and support portion cooperates with the slide rail to provide lateral guide and vertical support for the slide rail.

16. A method of handling cargo, comprising:

the vehicle body is operated 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, lifts the goods and returns to a preset position in the vehicle body; in the process that the lifting mechanism lifts the goods from a low position to a high position, the goods move in the horizontal direction towards the direction that the carrying arm returns to the vehicle body;

the lifting mechanism performs contraction action, and the lifted goods are placed on the vehicle body;

in the process that the lifting mechanism lifts the goods from the low position to the high position, the goods move towards the direction that the carrying arm returns to the car body in the horizontal direction, and the lifting mechanism comprises:

when the lifting actuating mechanism is driven by the lifting actuating mechanism to do lifting stretching action, the goods at the top of the lifting actuating mechanism are lifted to move in the horizontal direction in the direction that the carrying arm returns to the vehicle body;

the lifting driving mechanism drives the lifting executing mechanism to do lifting and stretching actions, and the lifting driving mechanism comprises:

the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to do stretching lifting action;

after the lifting mechanism performs the contraction motion and the lifted goods are placed on the vehicle body, the method further comprises:

the supporting wheel of the carrying arm is suspended from the ground.

17. The method of claim 16, wherein the lifting drive mechanism pushes the tie bar, the tie bar pushing the linkage to extend and lift, 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 do stretching lifting.

18. The method of claim 16, wherein the lifting mechanism of the arm lifts the cargo and returns to a predetermined position within the body, comprising:

and in the process of lifting the goods by the lifting mechanism of the carrying arm, the carrying arm moves into the vehicle body.

19. The method of claim 16, wherein the vehicle body is operated to a predetermined position adjacent the load, and wherein the arm extends from the vehicle body to the bottom of the load, comprising:

the vehicle body is operated to a position close to a preset position of the goods, and after the supporting wheels of the carrying arm fall from a suspended state to be in contact with the ground, the carrying arm stretches out from the vehicle body to the bottom of the goods.

20. The method of claim 19, wherein the support wheels of the carrier arm drop from a suspended condition into contact with the ground, comprising:

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

or alternatively, the process may be performed,

the lifting mechanism is in a contracted state and is supported on the vehicle body, and the supporting wheels of the carrying arm are in a suspended state; the lifting mechanism performs lifting action, and the supporting wheels of the carrying arms drop to contact with the ground.

21. The method of claim 16, wherein the support wheels of the carrier arm are suspended from the ground, comprising:

the carrying arm continuously walks in the vehicle body and climbs onto the vehicle body, and the supporting wheel of the carrying arm is suspended from the ground;

Or alternatively, the process may be performed,

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

22. The method of claim 21, wherein the arm continues to travel within the body and climbs onto the body, the arm supporting wheels suspended from the ground, comprising:

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

23. The method of cargo handling according to claim 22, wherein the support wheels of the first end of the handling arm climb along the first guide member of the first end of the vehicle body, comprising:

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