WO2022142668A1

WO2022142668A1 - Carrying device and cargo carrying method

Info

Publication number: WO2022142668A1
Application number: PCT/CN2021/127240
Authority: WO
Inventors: 白寒
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2020-12-31
Filing date: 2021-10-29
Publication date: 2022-07-07
Also published as: EP4273086A1; JP2024502507A; KR20230125295A

Abstract

A carrying device and a cargo carrying method. The carrying device comprises: a vehicle body (20) and a carrying arm (30), wherein the carrying arm (30) is arranged 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 carrying arm (30) can horizontally extend out of the vehicle body (20) to lift cargo by means of the lifting mechanism (303), and can return to the interior of the vehicle body (20); and in the process of the lifting mechanism (303) lifting from a lower position to a higher position, the top of the lifting mechanism (303) horizontally moves in a direction of the carrying arm (30) returning to the vehicle body (20).

Description

A kind of handling device and cargo handling method

technical field

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

Background technique

The carrying device usually includes a car body and a carrying arm arranged on the car body; the carrying arm includes an arm body, a lifting mechanism and a supporting wheel arranged on the arm body. The carrying arm can extend from the vehicle body to lift the goods through the lifting mechanism, and place the lifted goods on the vehicle body, and the vehicle body transports the goods to the destination.

In this kind of handling device, the process that the handling arm extends from the car body to carry the goods is usually to lift the goods and lift the goods vertically up to a predetermined height, and then the car body walks forward until the lifting mechanism lifts the goods. Below the cargo, the lifting mechanism places the lifted cargo on the vehicle body. In the process of moving the goods from the outside of the car body to the car body by the carrying arm, a process of vertically upward lifting and a process of moving the car body forward are required, and the handling efficiency is not high.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present application provide a handling device and a method for handling goods.

In a first aspect, an embodiment of the present application provides a transport device, comprising: a vehicle body and a transport arm, wherein the transport arm is provided in the vehicle body; the transport arm includes an arm body, and the arm body is provided with Lifting mechanism; the carrying arm can be extended in the horizontal direction from the vehicle body, so as to lift the goods through the lifting mechanism and return to the vehicle body.

According to a specific implementation of the embodiment of the present application, during the process of lifting the lifting mechanism from a low position to a high position, the top of the lifting mechanism moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body .

According to a specific implementation of the embodiment of the present application, the lift mechanism includes a lift drive mechanism and a foldable lift actuator; the lift actuator is connected to the lift drive mechanism; the lift drive mechanism When driving the lift actuator to perform a retracting action, the lift actuator folds and contracts toward the direction in which the carrying arm extends from the vehicle body in the horizontal direction; the lift drive mechanism drives the lift When the actuator performs the lifting and extending action, the top of the lifting actuator moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body.

According to a specific implementation of the embodiment of the present application, the lift actuator includes a link mechanism and a pull rod; the bottom end of the link mechanism is hinged on the arm body; the first end of the pull rod is connected to the lift rod. The drive mechanism is hinged, and the second end is hinged with the link mechanism; the lift drive mechanism pulls the pull rod, and the pull rod pulls the link mechanism to perform a retracting action; the lift drive mechanism pushes the A pull rod pushes the link mechanism to perform a stretching and lifting action.

According to a specific implementation 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 with the lift drive mechanism, and a second end is connected with the second pull rod The first end of the second pull rod is hinged with the link mechanism; the second end of the first pull rod is provided with a first limit block, and the second end of the second pull rod is hinged with the link mechanism; The first end is provided with a second limit block; after the first pull rod and the second pull rod push the link mechanism to a predetermined height from the maximum contraction state, the first limit block and the second limit block The limit blocks are in contact with each other.

According to a specific implementation of the embodiment of the present application, the lift drive mechanism includes a lift drive motor, a power transmission mechanism connected to the lift drive motor, and a slider connected to the power transmission mechanism; The block is arranged on the arm body and is hinged with the first end of the pull rod; the lift drive motor can drive the slider on the arm body through the power transmission mechanism, along the The length of the arm body moves back and forth.

According to a specific implementation of the embodiment of the present application, the power transmission mechanism includes a lead screw, the slider includes a nut, and the nut and the lead screw are threadedly connected to form a lead screw nut pair.

According to a specific implementation of the embodiment of the present application, the vehicle body is provided with a suspension auxiliary mechanism for assisting the carrying arm to be suspended from the ground, and the arm body is provided with a support wheel.

According to a specific implementation of the embodiment of the present application, the suspension assisting mechanism includes a climbing guide member disposed on the vehicle body; wherein, the carrying arm has a climbing member capable of climbing along the climbing guide member; the On the carrying arm and/or on the vehicle body, there is a power device for providing climbing power to the climbing component.

According to a specific implementation of the embodiment of the present application, the climbing guide member includes a guide plate disposed at the bottom of the vehicle body and having a predetermined gradient relative to the ground; the climbing member on the carrying arm is the support wheel.

According to a specific implementation of the embodiment of the present application, the climbing guide member includes: a first climbing guide member disposed at the first end of the vehicle body and a second climbing guide member disposed at the second end of the vehicle body; the The climbing member on the carrying arm includes 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 to the first climbing member and/or the second climbing member.

According to a specific implementation of the embodiment of the present application, the first climbing guide member includes a guide plate disposed at the bottom of the vehicle body and having a predetermined gradient relative to the ground; the support wheels include spaced intervals along the length direction of the arm body a first support wheel and a second support wheel are provided; the power device is arranged on the conveying arm and is connected with the first support wheel; the first climbing component is the first support wheel;

The first support wheel climbs along the first climbing guide member, and at the same time, the second climbing member climbs along the second climbing guide member, so that the first support wheel and the second support wheel are lifted. off the ground.

According to a specific implementation of the embodiment of the present application, the second climbing guide member includes a rolling body that can roll along the length direction of the arm body; the second climbing member is a support block disposed outside the arm body, The bottom of the support block has an inclined surface that supports and cooperates with the second climbing guide member.

According to a specific implementation of the embodiment of the present application, the suspension assist mechanism includes a support portion provided on the vehicle body; wherein, the lift mechanism includes a lift drive mechanism and a lift execution mechanism; the lift execution mechanism The lift actuator is connected to the lift drive mechanism; the lift actuator is supported on the support portion on the vehicle body, the lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheel Lift off the ground.

According to a specific implementation of the embodiment of the present application, the lift actuator includes a telescopic lift mechanism and a lift top plate disposed on the top of the telescopic lift mechanism; the lift drive mechanism drives the lift The actuator retracts to a predetermined position, and the lift top plate is supported on the support portion on the vehicle body; the lift drive mechanism drives the lift actuator to continue the retracting action, and the support wheel is lifted off the ground.

According to a specific implementation of the embodiment of the present application, 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; the lift top plate There are first bumps supported and matched with the first support part on both sides, and second bumps supported and matched with the second support part; the lift drive mechanism drives the lift actuator retracted to a predetermined position, the first protrusion is supported on the first support portion, the second protrusion is supported on the second support portion, and the lift drive mechanism drives the lift actuator Continuing to do the contraction, the support wheel is lifted off the ground.

According to a specific implementation of the embodiment of the present application, the vehicle body has a carrying arm accommodating groove extending in a horizontal direction, and the carrying arm is provided in the carrying arm accommodating groove; between the carrying arm accommodating groove and the carrying arm accommodating groove Slide rails are arranged between the transport arms; a slide rail guide and a support structure are provided on the sides of the transport arm accommodating grooves, and the slide rail guide and support structures cooperate with the slide rails to provide a lateral direction for the slide rails Guide and vertical support; the slide rail guide and support structure can support the slide rail to move up and down.

According to a specific implementation of the embodiment of the present application, the side portion of the carrying arm accommodating groove is provided with a vertical guide structure; the slide rail guide and support structure includes: a base portion and a guide and support portion connected to the base portion. The base is in sliding fit or rolling fit with the vertical guide structure up and down; the guide and support part is matched with the slide rail to provide lateral guidance and vertical support for the slide rail.

In a second aspect, an embodiment of the present application provides a cargo handling method, including: a vehicle body runs to a position close to a predetermined position of the cargo, a handling arm extends from the vehicle body to the bottom of the cargo; a lift mechanism of the handling arm is The lifting action lifts the cargo and returns it to a predetermined position in the vehicle body; the lifting mechanism performs a retracting action to place the lifted cargo on the vehicle body.

According to a specific implementation of the embodiment of the present application, during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body .

According to a specific implementation of the embodiment of the present application, during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body , including: when the lifting drive mechanism drives the lifting actuator to perform the lifting and stretching action, the goods on the top of the lifting actuator are lifted, and the transport arm is returned to the vehicle body in the horizontal direction. direction move.

According to a specific implementation of the embodiment of the present application, the lift actuator includes a link mechanism and a pull rod; wherein, the lift drive mechanism drives the lift actuator to perform a lift and extension action, including: the lift drive mechanism The pull rod is pushed, and the pull rod pushes the link mechanism to perform a stretching and lifting action.

According to a specific implementation of the embodiment of the present application, the lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action, including: the lift drive motor drives the slider through the power transmission mechanism When moving, the slider pushes the pull rod, and the pull rod pushes the link mechanism to perform a stretching and lifting action.

According to a specific implementation of the embodiment of the present application, the lifting mechanism of the transport arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body, including: The lifting mechanism performs a lifting action, and during the process of lifting the cargo, the carrying arm moves into the vehicle body.

According to a specific implementation of the embodiment of the present application, the vehicle body runs to a position close to the predetermined position of the goods, and the carrying arm extends from the vehicle body to the bottom of the goods, including: the vehicle body runs to a position close to the predetermined position of the goods, the carrying arm After the supporting wheel of the vehicle falls from the suspended state to contact with the ground, the carrying arm extends from the vehicle body to the bottom of the cargo.

According to a specific implementation of the embodiment of the present application, the supporting wheel of the transport arm falls from a suspended state to contact with the ground, including: the walking driving mechanism of the transport arm is actuated, so that the supporting wheel of the transport arm is in the After the vehicle body travels a predetermined distance in a predetermined direction, it falls to contact the ground; or, the lifting mechanism is in a retracted state, the lifting mechanism is supported on the vehicle body, and the support wheels of the transport arm are suspended in the air state; the lifting mechanism performs a lifting action, and the support wheel of the carrying arm falls down to contact the ground.

According to a specific implementation of the embodiment of the present application, after the lifting mechanism performs a retracting action and the lifted cargo is placed on the vehicle body, the method further includes: the supporting wheel of the transport arm is separated from the The ground is suspended; the vehicle body walks to transport the goods to the destination.

According to a specific implementation of the embodiment of the present application, the supporting wheels of the transport arm are suspended from the ground, including: the transport arm continues to walk in the vehicle body, climbs up to the vehicle body, and the transport arm supports The wheel is suspended from the ground; or, the lifting mechanism continues to perform a retracting action until it is supported on the vehicle body, the lifting mechanism further performs a retracting action, and the supporting wheel is lifted off the ground.

According to a specific implementation 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 support wheels of the carrying arm are suspended from the ground, including: the carrying arm is in the Continue to walk inside the vehicle body, the support wheel at the first end of the transport arm climbs along the first climbing guide member at the first end of the vehicle body, and the climbing member on the side of the second end of the transport arm climbs along the vehicle body The second climbing guide member on the side of the second end of the body climbs upward.

According to a specific implementation of the embodiment of the present application, the support wheel at the first end of the transport arm climbs along the first guide member at the first end of the vehicle body, including: the support wheel at the first end of the transport arm, along the first guide member at the first end of the vehicle body The bottom of the first end of the vehicle body has a guide plate with a predetermined slope to climb up; , comprising: the climbing guide surface at the bottom of the support block on the second end side of the carrying arm climbs upward along the rolling body on the second end side of the vehicle body.

In the embodiment of the handling device and the handling method of the present application, after the handling arm is extended from the vehicle body in the horizontal direction, after the goods are lifted by the lifting mechanism, the lifting mechanism lifts the goods from a low position to a high position. The top of the lifting mechanism (that is, the lifted goods) moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, that is to say, when the lifting mechanism performs the lifting action, the The top runs along a curved track and has two displacement components, vertical and horizontal. The direction of the vehicle body is moved, so that during the lifting process of the lifting mechanism, the lifting of the goods and the transport of the goods towards the direction of the vehicle body can be realized at the same time, which can improve the handling efficiency of the goods by the transport arm. After the carrying arm returns to the car body, the carrying arm can be suspended from the ground through the suspension auxiliary mechanism on the car body, so that the supporting wheel of the carrying arm is lifted off the ground and does not contact the ground, so that the carrying device is in operation during the operation. , only the car body is in contact with the ground, and the carrying arm is in a suspended state from the ground, which reduces the friction with the ground, makes the walking resistance of the carrying device smaller, and travels faster.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

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

FIG. 2 is a schematic structural diagram of the carrying arm in FIG. 2 (the lifting mechanism is in a retracted state);

FIG. 3 is a schematic structural diagram of the carrying arm in FIG. 2 (the lifting mechanism is in a lifting state);

4 is a schematic diagram of a carrying arm extending from a vehicle body to lift a cargo according to an embodiment of the application;

FIG. 5 is a schematic diagram of a transport arm in a vehicle body in a transport device according to an embodiment of the application (the transport arm is in a state before climbing);

6 is a schematic diagram of another state of the transport arm in the vehicle body before climbing in the transport device according to an embodiment of the application;

7 is a schematic diagram of a state in which the carrying arm is suspended from the ground after climbing in the vehicle body in the carrying device according to an embodiment of the application;

FIG. 8 is a schematic structural diagram of a carrying device according to another embodiment of the application (the carrying arm is in the vehicle body);

9 is a schematic structural diagram of the carrying arm extending out of the vehicle body through the slide rail in the embodiment shown in FIG. 8;

Fig. 10 is a schematic diagram of the lifting mechanism of the carrying arm in the lifting state in the embodiment shown in Fig. 8;

FIG. 11 is a schematic structural diagram of the carrying arm returning to the vehicle body in the embodiment shown in FIG. 8;

FIG. 12 is a schematic structural diagram of the support portion of the lift mechanism in the embodiment shown in FIG. 8 that supports the top plate on the vehicle body;

FIG. 13 is a schematic side view of the structure of the support portion of the lift mechanism in which the top plate is supported on the vehicle body in the embodiment shown in FIG. 8;

Figure 14 is a schematic diagram of the carrying arm suspended from the ground in Figure 13;

15 is a schematic flowchart of a cargo handling method according to an embodiment of the application;

Figure 16 is a schematic diagram of the state in which the vehicle body runs to a position close to the predetermined position of the cargo, and the carrying arm extends from the vehicle body to the bottom of the cargo;

Figure 17 is a schematic diagram of the state in which the lifting mechanism lifts the tray from a low position to a high position;

Figure 18 is a schematic diagram of the state in which the transport arm transports the goods to just above the vehicle body;

Figure 19 is a schematic diagram of the lifting mechanism doing a retracting action and placing the lifted tray on the vehicle body;

Figure 20 is a schematic structural diagram of the lifting mechanism placing the lifted pallet on the vehicle body, and the carrying arm is suspended from the ground after climbing;

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

Detailed ways

The embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be clear that the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Referring to FIG. 1 , the carrying device 10 according to the embodiment of the present application includes: a car body 20 and a carrying arm 30 , the carrying arm 30 is provided in the car body 20 ; the carrying arm 30 includes an arm body 301 , and in the The arm body 301 is provided with a lifting mechanism 303 ; the carrying arm 30 can extend from the vehicle body 20 in a horizontal direction to lift the goods through the lifting mechanism 303 and return to the vehicle body 20 middle.

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

In this embodiment, the handling device may also be referred to as an automatic guided handling device, a handling robot, a handling AGV, or an Automated Guided Vehicle (AGV). AGV refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can travel along a prescribed guidance path, and has safety protection and various transfer functions. In addition to pallets, the handling device can handle various types of goods, racks and loads, as long as there is space 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. The sensing unit can use sensors such as laser, vision, infrared, and photoelectricity. The omnidirectional walking unit can realize various walking modes such as straight line, diagonal line and arc, and can also be replaced with other walking units to realize different walking modes.

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

Two carrying arm accommodating slots 201 may be arranged in parallel on the vehicle body 20 , each carrying arm accommodating slot 201 is provided with a carrying arm 30 , and the two carrying arms 30 can work together.

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

The lifting mechanism 303 is used to lift the goods, or to lift the pallets containing the goods. Referring to FIG. 4 , in an example, when the lift mechanism 303 lifts the tray 100 from a low position to a high position, the top of the lift mechanism 303 returns to the vehicle body toward the carrying arm 30 in the horizontal direction 20, the direction indicated by the arc arrow in FIG. 4 indicates the direction in which the lifting mechanism 303 lifts the tray 100 from a low position to a high position, and the direction indicated by the horizontal arrow is the return of the carrying arm 30 to the vehicle body. 20 directions.

In this embodiment, after the carrying arm 30 is extended from the vehicle body 20 in the horizontal direction, after the lift mechanism 303 lifts the goods, the lift mechanism 303 lifts the goods from a low position to a high position , the top of the lifting mechanism 303 (that is, the lifted goods) moves in the horizontal direction toward the direction in which the carrying arm 30 returns to the vehicle body 20 , that is, the lifting mechanism 303 lifts During the lifting action, the top of the lifting mechanism 303 runs along a curved trajectory, and has two displacement components, vertical and horizontal. Move to the direction that the carrying arm 30 returns to the vehicle body 20, so that during the lifting process of the lifting mechanism 303, the lifting of the goods and the transportation of the goods towards the direction of the vehicle body 20 can be realized at the same time, It can improve the handling efficiency of the cargo by the handling arm.

The lifting mechanism 303 may be lifted along a predetermined curve trajectory, which may be a lifting mechanism with driving forces in the vertical direction and the horizontal direction, respectively, while the lifting mechanism 303 is lifted in the vertical direction, the horizontal direction is applied The driving force on to push the lifting mechanism 303 to move in the horizontal direction. The lifting mechanism 303 may be a screw-type nut lifting mechanism, a multi-link lifting mechanism, a scissor-type lifting mechanism, or the like.

In order to make the lifting mechanism 303 have a more compact structure in the non-lifting state, so that it can be easily folded into the vehicle body 20, the lifting mechanism 303 can be a foldable lifting mechanism. Specifically, in some embodiments, the The lift mechanism 303 may include a lift drive mechanism and a foldable lift actuator; the lift actuator is connected to the lift drive mechanism;

When the lift driving mechanism drives the lift actuator to perform a retracting action, the lift actuator can be folded and retracted toward the carrying arm 30 in a direction protruding from the vehicle body 20 in the horizontal direction. on the arm body 301 of the arm 30, so that when the lift driving mechanism drives the lift actuator to perform the lifting and stretching action, the top of the lift actuator can return to the carrying arm 30 in the horizontal direction move in the direction of the vehicle body 20 .

In some embodiments, the lift actuator may include a link mechanism and a pull rod; the bottom end of the link mechanism is hinged on the arm body 301 ; the first end of the pull rod is connected to the lift drive mechanism The second end is hinged with the link mechanism; the lift drive mechanism pulls the pull rod, and the pull rod pulls the link mechanism to perform a retracting action; the lift drive mechanism pushes the pull rod, The pull rod pushes the link mechanism to perform a stretching and lifting action.

Referring to FIG. 3, in one example, the link mechanism includes a lift top plate 3031, a first link 3032 and a second link 3033, the bottom end of the first link 3032 is hinged with the arm body 301, and the top end is connected with the lift The lift top plate 3031 is hinged, the bottom end of the second link 3033 is hinged with the arm body 301, and the top end is hinged with the lift top plate 3031; A parallel four-bar linkage is formed between them. The lift top plate 3031 is used to lift goods.

In order to make the lifting of the top plate 3031 more stable and the supporting force stronger, referring to FIG. 3, 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, Two second connecting rods 3033 are arranged in parallel, and the lifting top plate 3031 is supported at four corners by four connecting rods.

The drawbar can be one. One end of the pull rod is hinged with the lift drive mechanism, and the other end is hinged with the first link 3032 .

3 and 4 , in some embodiments, the number of pull rods is two, including a first pull rod 3034 and a second pull rod 3035, the first end of the first pull rod 3034 is hinged with the lift drive mechanism, and the second end It is hinged with the first end of the second pull rod 3035 , and the second end of the second pull rod 3035 is hinged with the first link 3032 . When the number of the first links 3032 is two, each of the first links 3032 corresponds to two pull rods respectively.

Referring to FIG. 5 , when the link mechanism is in the maximum contraction state, the first pull rod 3034 is horizontally supported on the arm body 301, and there is a predetermined angle between the second pull rod 3035 and the first pull rod 3034, and the range of the predetermined angle can be It is greater than or equal to 150 degrees and less than or equal to 180 degrees. In this way, it is convenient for the lift drive mechanism to apply a lifting force to the link mechanism, and the link mechanism can be pushed from the retracted state to the extension lift with a small thrust. state.

A first limit block (not shown in the figure) may be provided at the second end of the first pull rod 3034 , and a second limit block (not shown in the figure) may be disposed at the first end of the second pull rod 3035 . After the first pull rod 3034 and the second pull rod 3035 push the link mechanism from the maximum retracted state to a predetermined height, the first limit block and the second limit block abut, so that the first pull rod 3034 and the second pull rod 3035 are in contact with each other. The fixed angle is kept constant, so as to push the linkage mechanism along the curved track to perform stable extension and lifting.

Referring to FIG. 3 , in some embodiments, the lift drive mechanism may include a lift drive motor 304 , a power transmission mechanism 305 connected to the lift drive motor 304 , and a slider 360 connected to the power transmission mechanism 305 The slider 360 is arranged on the arm body 301 and is hinged with the first end of the first pull rod 3034; the lift drive motor 304 can drive the slider 360 through the power transmission mechanism 305 The arm body 301 moves back and forth along the length direction of the arm body 301, thereby driving 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 rotates around the hinge point with the arm body 301.

The power transmission mechanism 305 shown in FIG. 3 includes a lead screw, the slider 360 includes a nut, and the nut is threadedly connected with the lead screw to form a lead screw nut pair. In other embodiments, the power transmission mechanism 305 can also be a chain transmission mechanism or a rack and pinion transmission mechanism.

When the slider 360 pushes the first pull rod 3034, the hinge point between the slider 360 and the first pull rod 3034 can always move in the horizontal direction. Referring to FIG. 3 , a long chute 370 extending in the horizontal direction may be provided on the side of the arm body 301 of the carrying arm 30 , and one end of the hinge shaft 308 between the slider 360 and the first pull rod 3034 is provided in the chute 370 In the middle, the sliding slot 370 limits the hinge point between the slider 360 and the first pull rod 3034, so that it can always move in the horizontal direction.

When the hinge point between the slider 360 and the first pull rod 3034 moves in the horizontal direction, the hinge point between the slider 360 and the first pull rod 3034 can be supported on the arm body 301 of the support arm, so that the lifting mechanism 303 Provide stable support.

In order to facilitate the hinged connection between the slider 360 and the first pull rod 3034 , a support block 309 can be provided on the side of the slider 360 , and the first end of the first pull rod 3034 can be hinged with the support block 309 . When two first pull rods 3034 are provided on both sides of the arm body 301 , support blocks 309 can be respectively provided on both sides of the sliding block 360 .

In some embodiments, the vehicle body 20 is provided with a suspension assist mechanism for assisting the carrying arm 30 to be suspended from the ground.

When carrying an item, the carrying arm 30 extends horizontally from the vehicle body 20 to the bottom of the item, lifts the item through the lifting mechanism 303, and returns to the vehicle body 20. The lifting mechanism 303 places the lifted item on the vehicle. After the main body 20 is mounted, the suspension assist mechanism on the vehicle main body 20 suspends the carrying arm 30 from the ground. In some other embodiments, after the carrying arm 30 is returned to the vehicle body 20 , the carrying arm 30 can also be suspended from the ground by the suspending auxiliary mechanism when the lifting mechanism 303 supports the object.

After the carrying arm 30 returns to the vehicle body 20, the carrying arm 30 can be suspended from the ground through the suspension auxiliary mechanism on the vehicle body 20, so that the supporting

wheels

302a and 302b of the carrying arm 30 are lifted off the ground and not in contact with the ground. In this way, during the operation of the handling device 10, only the vehicle body 20 is in contact with the ground, while the handling arm 30 is in a suspended state from the ground, which reduces the friction between the handling device 10 and the ground, so that the walking resistance of the handling device 10 is smaller and the walking is faster. .

In some embodiments, the suspension assist mechanism may be a carry arm climb assist mechanism. Specifically, the suspension assisting mechanism may include a climbing guide member provided on the vehicle body 20; accordingly, the carrying arm 30 has a climbing member capable of climbing 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 rolling body that can be rolled, or a non-rolling body, a block or a plate that can slide along the climbing guide member, and the like.

In order to push or pull the carrying arm 30 to climb along the climbing guide member, the carrying device 10 also has a power device for providing climbing power to the climbing member. The power device may include a drive motor, a deceleration mechanism connected with the drive motor, a power transmission mechanism connected with the deceleration mechanism, and the power transmission mechanism is connected with the carrying arm 30 . The power transmission mechanism may be a traction rope, a conveyor belt, a chain, a gear, and/or a rack or the like.

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

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 gradient relative to the ground; the support wheel on the carrying arm 30 may not only serve as a walking and supporting member of the carrying arm 30, but also as a climbing part.

When the support wheel is 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 support wheel climbs to the vehicle body 20 along the guide plate, so as to realize the support wheel of suspending from the ground.

5 to 7 , in order to improve the climbing efficiency of the carrying arm 30 , in some embodiments, the climbing guide member may include: a first climbing guide member 401 a provided at the first end of the vehicle body 20 and a first climbing guide member 401 a provided on the first end of the vehicle body 20 . The second climbing guide members 401b at both ends; correspondingly, the climbing members on the carrying arm 30 include: a first climbing member 304a capable of climbing along the first climbing guide member 401a, and a second climbing member 304a capable of climbing along the second climbing guide member 401b Climbing member 304b.

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

Wherein, the first climbing guide member 401a and the second climbing guide member 401b may be a guide plate, a guide block, a guide track, a guide wheel, a guide rope, and the like. The first climbing member 304a and the second climbing member 304b may be rollable rolling bodies or non-rollable, blocks or plates that can slide 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 transport arm 30 cooperate with the first climbing guide member 401a and the second climbing guide member 401b on the vehicle body 20, respectively, so that the transport arm can be mounted on the transport arm. The two different positions of the carrying arm 30 simultaneously lift the carrying arm 30 upward, which is beneficial to improve the climbing efficiency of the carrying arm 30, and the carrying arm 30 can be suspended from the ground in a short period of 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 gradient relative to the ground.

Referring to FIG. 6 , the first support wheel 302a can be used as a first climbing member 304a to climb along the guide plate 402 .

The power device is arranged on the carrying arm 30 and connected to the first support wheel 302a; in this embodiment, the power device is connected to the first support wheel 302a to provide climbing power for the first support wheel 302a. In addition to providing climbing power for the first support wheel 302a, the power device can also provide driving power for the first support wheel 302a to walk on the ground. Therefore, the power device can also serve as a power driving device for the first support wheel 302a. , that is, through the power device, the climbing power can be provided for the first support wheel 302a, and the driving power can also be provided for the first support wheel 302a to walk on the ground. Of course, the embodiment of the present application is not limited to this. The power device that provides climbing power for the first support wheel 302a and the drive device that provides driving power for the first support wheel 302a to walk on the ground may also be two sets of independent power device.

Referring to Fig. 5 , when the supporting wheel does not perform the climbing action, the bottom of the guide plate 402 can be kept at 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 with the rotating shaft 202 , and a torsion spring is installed on the rotating shaft 202 . When the support wheel 302a does not perform the climbing action, the guide plate 402 is inclined downward and has 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, providing strong support for the support wheel 302a to climb. After the support wheel 302a climbs onto the vehicle body, the guide plate 402 returns to the initial position under the action of the restoring force of the torsion spring, and the bottom of the guide plate 402 maintains a certain height from the ground.

7, after the support wheel 302a climbs onto the vehicle body 20, the rotating shaft 202 can be located behind the support wheel 302a to prevent the support wheel 302a from retreating to a certain extent, preventing the vehicle body 20 from walking due to uneven road surface or The support wheel 302a of the conveying arm 30 slips off the vehicle body 20 due to the acceleration or deceleration of the vehicle body 20, and then re-grounds.

The second climbing guide member 401b may include a rolling body capable of rolling along the length direction of the arm body 301, such as rollers, balls, rollers, and the like.

Referring to FIG. 6 , the second climbing member 304b is a support block 350 disposed outside the arm body 301 , and the bottom of the support block 350 has an inclined surface that supports and cooperates with the second climbing guide member 401b.

In other embodiments, the second climbing member 304b may be a rolling body such as a roller, a ball or a roller, which is provided on the outer side of the arm body 301 .

In other embodiments, the first climbing guide member 401a may include a first set of guide plates disposed on both sides of the first end of the carrying arm accommodating groove 201; The second group of guide plates on both sides of the two ends; the first group of guide plates and the second group of guide plates have guiding inclined surfaces; The first group of support blocks on both sides; the second climbing member 304b on the carrying arm 30 is the second group of support blocks arranged on both sides of the second end of the arm body 301 of the carrying arm 30; the first group of support blocks and the second group of support blocks The bottom of the support block has inclined surfaces matched with the guiding inclined surfaces of the first group of guide plates and the second group of guide plates.

When the first group of support blocks are close to the first group of guide plates, and at the same time when the second group of support blocks are close to the second group of guide plates, the power device provides climbing power for the carrying arm 30, and the first group of support blocks climbs along the first group of guide plates, At the same time, the second group of support blocks climbs along the second group of guide plates, so that the

support wheels

302a and 302b of the carrying arm 30 can be suspended from the ground.

4 and 6 , in some embodiments, in order to make the extension stroke of the carrying arm 30 longer, a sliding rail 50 is provided between the carrying arm accommodating groove 201 and the carrying arm 30 .

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

The slide rail 50 can move laterally (horizontally) telescopically relative to the carrying arm accommodating slot 201 , and the carrying arm 30 can move horizontally along the slide rail 50 . The slide rail 50 may also be referred to as the secondary rail of the carry arm 30 .

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

6, in some embodiments, a vertical guide structure 204 is provided on the side of the carrying arm accommodating slot 201; the slide rail guide and support structure 203 may include: a base and a guide and support connected to the base, the base and the vertical The guide structure 204 is slidably fitted up and down or rolled up and down; the guide and support parts are matched with the slide rail 50 to provide lateral guidance and vertical support for the slide rail 50 .

In one example, the vertical guide structure 204 is a vertical guide groove, and the base can move up and down in the vertical guide groove. In another example, the vertical guide structure is a vertical guide rail, the base is provided with a sliding groove, and the base is slidably fitted with the vertical guide rail through the sliding groove.

In some embodiments, the suspension assist mechanism may also adopt a lift-type suspension assist mechanism. Specifically, the suspension assist mechanism may include a support portion provided on the vehicle body 20; wherein the lift mechanism includes a lift drive mechanism and a lift execution mechanism. The lift actuator is connected with the lift drive mechanism; the lift actuator can be supported on the support portion on the vehicle body 20, after the lift actuator is supported on the support portion on the vehicle body 20, the lift drive mechanism The driving lift actuator continues to do the retraction action, and the support wheel lifts off the ground.

In this embodiment, when the carrying arm 30 is in the vehicle body 20, the lift drive mechanism drives the lift mechanism to perform a retracting action, the lift actuator can be supported on the support portion on the vehicle body 20, and the lift drive mechanism drives the lift The actuator continues to contract, and the support 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 made more compact.

The support part on the vehicle body 20 may be a support groove provided on the vehicle body 20. The support groove can not only support the lifting actuator, but also support the lifting mechanism (ie, the carrying arm 30). To the limit function, the transport arm 30 can be prevented from shaking back and forth on the vehicle body 20 due to uneven road surface or during the acceleration or deceleration of the vehicle body 20 .

The lift actuator includes a telescopic lift mechanism and a lift top plate on the top of the telescopic lift mechanism; the lift drive mechanism drives the lift actuator to shrink to a predetermined position, and the lift top plate is supported on the vehicle body 20 On the upper part; the lift drive mechanism drives the lift actuator to continue the retracting action, and the

support wheels

302a and 302b are lifted off the ground.

The lift top plate is supported on the support part on the vehicle body 20, the lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheels are lifted off the ground, so that the lift actuator can be in a retracted state as much as possible, so that The overall height dimension of the lifting mechanism is relatively small, so that the height of the vehicle body 20 is relatively low, the center of gravity is lower, and the operation is more stable.

In this embodiment, the lift drive mechanism drives the lift actuator to retract to a predetermined position, and the lift top plate is supported on the support portion on the vehicle body 20 . In some other embodiments, the lift drive mechanism drives the lift actuator to retract to a predetermined position, or the lift actuator is supported on a support portion on the vehicle body 20, for example, the lift actuator can be provided on the side of the lift actuator. Structures such as protrusions are supported on the support portion on the vehicle body 20 .

8-11 , in some embodiments, the support portion on the vehicle body 20 may include a first support portion 206 provided on the first side of the vehicle body 20 and a second support provided on the second side of the vehicle body 20 part 207; both sides of the lifting top plate 308 have first bumps 306 supporting and matching with the first support part 206, and second bumps 307 supporting and matching with the second support part 207; see FIG. 12 and FIG. 13 , the lift drive mechanism drives the lift actuator to shrink to a predetermined position, the first bump 306 is supported on the first support portion 206, and the second bump 307 is supported on the second support portion 207; refer to FIG. 14, the lift drive The mechanism drives the lifting actuator to continue the retracting action, 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 first bump 306 and the second bump The number of 307 may also be two or more, respectively.

The first support portion 206 and the second support portion 207 can be respectively support blocks or support grooves. In addition to supporting the lifting mechanism 303, the support grooves can also be used for the lifting mechanism 303 (that is, for carrying the lifting mechanism 303). The arm 30 ) plays a limiting role to prevent the transport arm 30 from shaking back and forth on the vehicle body 20 during the acceleration or deceleration of the vehicle body 20 due to uneven road surface.

In some embodiments, a magnetic attraction component (such as a magnet) may be provided on the first support portion 206 and/or the second support portion 207 , and a magnetic component (such as a magnet) may be provided on the first bump 306 and/or the second bump 307 (for example, on the first bump 306 and/or the second bump 307 ). The bottoms of a bump 306 and a second bump 307) are provided with corresponding magnetic attraction parts. The magnetic attraction member provided on the first support portion 206 and/or the second support portion 207 can be magnetically attracted together with the magnetic attraction member provided on the first bump 306 and/or the second bump 307, so that in the first When a bump 306 and a second bump 307 are to be supported on the first support portion 206 and the second support portion 207 , the automatic alignment between the bump and the support portion can be achieved by magnetic attraction components. In addition, after the protrusion and the support portion are magnetically attracted together by the magnetic attraction member, the protrusion (ie, the conveying arm 30 ) can be further limited in position.

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

S100, the vehicle body runs to a position close to the predetermined position of the cargo, and the carrying arm extends from the vehicle body to the bottom of the cargo.

Referring to FIG. 16 , the vehicle body 20 runs to a predetermined position close to the pallet 100 , and the carrying arm 30 extends from the vehicle body to the bottom of the pallet 100 .

S102, the lifting mechanism of the carrying arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body;

In some embodiments, in the step S102, during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo is returned to the transport arm in the horizontal direction to a position in the vehicle body. direction move.

In Figure 17, the lifting mechanism lifts the pallet from a low position to a high position; in Figure 18, the transport arm transports the goods to the top of the vehicle body.

S104, the lifting mechanism performs a retracting action to place the lifted cargo on the vehicle body.

FIG. 19 is a schematic diagram of the lifting mechanism performing a retracting action and placing the lifted tray on the vehicle body.

In this embodiment, the carrying arm extends from the vehicle body to the bottom of the cargo. After the cargo is lifted by the lifting mechanism, the lifting mechanism lifts the cargo from a low position to a high position. The top of the lifting mechanism (that is, the lifted goods) moves in the horizontal direction to the direction in which the carrying arm returns to the vehicle body, that is, when the lifting mechanism performs the lifting action, the top of the lifting mechanism (such as the top plate) runs along a curved trajectory, and has two displacement components, vertical and horizontal. 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 is the return to the conveying arm in the horizontal direction. In this way, during the lifting process of the lifting mechanism, the lifting of the goods and the transportation of the goods towards the vehicle body can be carried out at the same time, and the carrying arm can be raised to lift the goods to the vehicle body. Handling efficiency.

Referring to FIG. 4 and FIG. 17 , in the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo moves in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body, which can Including: when the lifting driving mechanism drives the lifting actuator to perform the lifting and stretching action, the goods lifted on the top of the lifting actuator are returned to the transport arm in the horizontal direction in the vehicle body. direction move.

In some embodiments, the lift actuator includes a link mechanism and a pull rod, the bottom end of the link mechanism is hinged on the arm body; the first end of the pull rod is hinged with the lift drive mechanism , the second end is hinged with the link mechanism. Wherein, the lifting and driving mechanism driving the lifting actuator to perform the lifting and stretching action includes: the lifting driving mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action.

In one example, the link mechanism includes a lift top plate, a first link and a second link, the bottom end of the first link is hinged with the arm body, the top end is hinged with the lift top plate, and the second link is hinged with the arm body. The bottom end is hinged with the arm body, and the top end is hinged with the lifting top plate; a parallel four-link mechanism is formed between the lifting top plate, the first link, the second link and the arm body.

In some embodiments, a lift drive mechanism may include a lift drive motor, a power transmission mechanism connected to the lift drive motor, and a slider connected to the power transmission mechanism. The lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action, including: the lift drive motor drives the slider to move through the power transmission mechanism, and the slider pushes the pull rod , the pull rod pushes the link mechanism to perform the stretching and lifting action.

Among them, the lifting drive motor drives the slider to move through the power transmission mechanism, which may include: the lifting drive motor drives the lead screw to rotate, the lead screw drives the slider (nut) on the lead screw to move through the lead screw nut pair, and the slider pushes the The pull rod pushes the link mechanism to perform a stretching and lifting action.

In some embodiments, the lifting mechanism of the transport arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body, including: performing a lifting action on the lifting mechanism of the transport arm. In the lifting action, during the process of lifting the cargo, the carrying arm moves into the vehicle body.

In this embodiment, during the lifting action of the lifting mechanism of the conveying arm to lift the goods, the top of the lifting mechanism (that is, the lifted goods) moves upward in the horizontal direction. The conveying arm moves in the direction of returning to the vehicle body, and at the same time, the conveying arm also moves into the vehicle body, which can further improve the conveying efficiency of the conveying arm in carrying the goods to the vehicle body.

Referring to FIG. 21, in some embodiments, after the carrying arm returns to the predetermined position in the vehicle body, the lifting mechanism performs a retracting action, and after placing the lifted goods on the vehicle body, the following steps may be included: S106, the carrying arm The supporting wheel is suspended from the ground.

In this embodiment, after the carrying arm returns to the predetermined position in the car body, the lifted goods are placed on the car body, and the supporting wheel of the carrying arm is suspended from the ground and does not contact the ground. In this way, the carrying device is in operation during operation. In the middle, only the car body is in contact with the ground, and the transport arm is in a suspended state from the ground, which reduces the friction with the ground, makes the walking resistance of the transport device smaller, and travels faster.

In some embodiments, the vehicle body runs to a position close to the predetermined position of the goods, and the carrying arm extends from the vehicle body to the bottom of the goods ( S100 ), including: the vehicle body runs to a predetermined position close to the goods, and the support wheels of the carrying arm are suspended from the air After the state falls to contact the ground, the carrying arm extends from the vehicle body to the bottom of the cargo.

In this embodiment, when the vehicle body is carrying the goods, the support wheels of the transport arm are in a suspended state; when the vehicle body runs close to the predetermined position of the goods, the support wheels of the transport arm fall from the suspended state to contact with the ground. The carrying arm extends from the vehicle body to the bottom of the cargo.

In some embodiments, the supporting wheel of the transport arm falls from a suspended state to contact with the ground, including: the travel drive mechanism of the transport arm is actuated, so that the supporting wheel of the transport arm falls to a predetermined distance after the vehicle body travels a predetermined distance in a predetermined direction. contact with the ground.

In this embodiment, the supporting wheel of the transport arm travels a predetermined distance on the vehicle body in a predetermined direction and then falls to contact the ground, which is opposite to the process in which the supporting wheel of the transport arm climbs onto the vehicle body in the aforementioned transport device embodiment.

In some embodiments, the supporting wheel of the carrying arm falls from a suspended state to contact with the ground, including: the lifting mechanism is in a retracted state, the lifting mechanism is supported on the vehicle body, and the supporting wheel of the carrying arm is in a suspended state; The mechanism performs a lifting action, and the support wheel of the carrying arm falls down to contact with the ground.

In some embodiments, the support wheels of the transport arm are suspended from the ground, including: the transport arm continues to walk in the vehicle body, climbs onto the vehicle body, and the support wheels of the transport arm are suspended from the ground.

In other embodiments, the supporting wheel of the carrying arm is suspended from the ground, including: the lifting mechanism continues to perform a retracting action until it is supported on the vehicle body, and the lifting mechanism further performs a retracting action to lift the supporting wheel off the ground.

In some embodiments, 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, including: the carrying arm continues to walk in the vehicle body, and the supporting wheel at the first end of the carrying arm moves along the vehicle body. The first climbing guide member at the first end of the body climbs, while the climbing member on the second end side of the carrying arm climbs upward along the second climbing guide member on the second end side of the vehicle body.

In some embodiments, the support wheel at the first end of the transport arm climbs along the first guide member at the first end of the vehicle body, including: the support wheel at the first end of the transport arm has a predetermined distance relative to the ground along the bottom of the first end of the vehicle body. The guide plate of the slope climbs; the climbing member on the side of the second end of the transport arm climbs up along the second climbing guide member on the side of the second end of the vehicle body, including: climbing the bottom of the support block on the side of the second end of the transport arm The guide surface climbs upward along the rolling body on the side of the second end of the vehicle body.

In this embodiment, the supporting wheel of the conveying arm falls to contact the ground, and the process of hanging off the ground is two opposite action processes.

Referring to FIG. 21 , after the supporting wheel of the carrying arm is suspended from the ground, the carrying method further includes the step: S108 , the vehicle body walks to carry the goods to the destination.

The cargo handling method of this embodiment can be applied to the foregoing embodiments of the cargo handling device, and the implementation manner and the beneficial effects that can be achieved are basically the same, and are not repeated here.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Furthermore, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or apparatus comprising a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such process, method, goods or equipment. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Each embodiment in this specification is described in a related manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments.

In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for related parts.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the technical field disclosed in the present application can easily think of changes or substitutions. All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A carrying device, characterized in that it comprises: a car body and a carrying arm, wherein the carrying arm is arranged in the car body;

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

The carrying arm can extend from the vehicle body in a horizontal direction to lift the goods through the lifting mechanism and return to the vehicle body.
The transport device according to claim 1, wherein during the process of lifting the lifting mechanism from a low position to a high position, the top of the lifting mechanism returns to the vehicle toward the transport arm in a horizontal direction The direction of the body moves.
The handling device according to claim 1, wherein the lift mechanism comprises a lift drive mechanism and a foldable lift actuator; the lift actuator is connected to the lift drive mechanism;

When the lift driving mechanism drives the lift actuator to perform a retracting action, the lift actuator is folded and retracted toward the direction in which the carrying arm extends horizontally from the vehicle body;

When the lift driving mechanism drives the lift actuator to perform a lift and extension action, the top of the lift actuator moves in a horizontal direction toward the direction in which the carrying arm returns to the vehicle body.
The handling device according to claim 3, wherein the lifting actuator comprises a link mechanism and a pull rod;

The bottom end of the link mechanism is hinged on the arm body;

The first end of the pull rod is hinged with the lift drive mechanism, and the second end is hinged with the link mechanism;

The lift driving mechanism pulls the pull rod, and the pull rod pulls the link mechanism to perform a contraction action; the lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform an extension and lift action.
The handling device according to claim 4, wherein the pull rod comprises a first pull rod and a second pull rod, a first end of the first pull rod is hinged with the lift driving mechanism, and a second end is connected with the lift drive mechanism. The first end of the second pull rod is hinged, and the second end of the second pull rod is hinged with the link mechanism;

A first limit block is provided at the second end of the first pull rod, and a second limit block is disposed at the first end of the second pull rod; After the link mechanism is pushed up to a predetermined height from the maximum retracted state, the first limit block and the second limit block abut.
The handling device according to claim 4, wherein the lift drive mechanism comprises a lift drive motor, a power transmission mechanism connected to the lift drive motor, and a slider connected 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 lift drive motor can drive the sliding block on the arm body through the power transmission mechanism, Move back and forth along the length of the arm body.
The handling device according to claim 6, wherein the power transmission mechanism comprises a lead screw, the sliding block comprises a nut, and the nut is threadedly connected with the lead screw to form a lead screw nut pair.
The transport device according to claim 1, wherein the vehicle body is provided with a suspension assist mechanism for assisting the transport arm to be suspended from the ground, and a support wheel is provided on the arm body.
The transport device according to claim 8, wherein the suspension assisting mechanism comprises a climbing guide member provided on the vehicle body;

Wherein, the carrying arm has a climbing member capable of climbing along the climbing guide member;

The carrying arm and/or the vehicle body is provided with a power device for providing climbing power to the climbing member.
The transport device according to claim 9, wherein the climbing guide member comprises a guide plate provided at the bottom of the vehicle body and having a predetermined gradient relative to the ground;

The climbing member on the carrying arm is the supporting wheel.
The transport device according to claim 9, wherein the climbing guide member comprises: a first climbing guide member provided at the first end of the vehicle body and a second climbing guide member provided at the second end of the vehicle body part;

The climbing member on the carrying arm includes: 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 to the first climbing member and/or the second climbing member.
The conveying device according to claim 11, wherein the first climbing guide member comprises a guide plate arranged at the bottom of the vehicle body and having a predetermined gradient relative to the ground;

The support wheel includes a first support wheel and a second support wheel spaced along the length direction of the arm body; the power device is arranged on the carrying arm and connected with the first support wheel;

the first climbing component is the first support wheel;

The first support wheel climbs along the first climbing guide member, and at the same time, the second climbing member climbs along the second climbing guide member, so that the first support wheel and the second support wheel are lifted. off the ground.
The conveying device according to claim 11, wherein the second climbing guide member comprises a rolling body capable of rolling along the length direction of the arm body;

The second climbing part is a support block arranged on the outer side of the arm body, and the bottom of the support block has an inclined surface which is supported and matched with the second climbing guide part.
The transport device according to claim 8, wherein the suspension auxiliary mechanism comprises a support portion provided on the vehicle body;

Wherein, the lift mechanism includes a lift drive mechanism and a lift actuator; the lift actuator is connected to the lift drive mechanism;

The lift actuator is supported on the support portion on the vehicle body, the lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheel is lifted off the ground.
The handling device according to claim 14, wherein the lift actuator comprises a telescopic lift mechanism, and a lift top plate provided on the top of the telescopic lift mechanism;

The lift drive mechanism drives the lift actuator to shrink to a predetermined position, and the lift top plate is supported on the support portion on the vehicle body; the lift drive mechanism drives the lift actuator to continue to do The retraction action lifts the support wheel off the ground.
The transport device according to claim 14, wherein the support portion comprises 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;

Both sides of the lift top plate are provided with first protrusions supported and matched with the first support portion, and second protrusions supported with the second support portion;

The lift driving mechanism drives the lift actuator to shrink to a predetermined position, the first protrusion is supported on the first support portion, the second protrusion is supported on the second support portion, The lift drive mechanism drives the lift actuator to continue to perform the retracting action, and the support wheel is lifted off the ground.
The carrying device according to claim 8, wherein the vehicle body has a carrying arm accommodating groove extending in a horizontal direction, and the carrying arm is provided in the carrying arm accommodating groove;

A slide rail is provided 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 guide and support structure, and the slide rail guide and support structure cooperates with the slide rail to provide lateral guidance and vertical support for the slide rail; The rail guide and support structure can support the sliding rail to move up and down.
The conveying device according to claim 17, wherein a vertical guide structure is provided on the side of the conveying arm accommodating groove;

The slide rail guide and support structure includes: a base part and a guide and support part connected with the base part, the base part and the vertical guide structure are in sliding fit or rolling fit up and down; The slide rails cooperate to provide lateral guidance and vertical support for the slide rails.
A cargo handling method, comprising:

The car body runs to a position close to the predetermined position of the cargo, and the carrying arm extends from the car body to the bottom of the cargo;

The lifting mechanism of the carrying arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body;

The lifting mechanism performs a retracting action to place the lifted cargo on the vehicle body.
The cargo handling method according to claim 19, wherein, during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo returns to the transport arm in a horizontal direction. The direction of the car body moves.
The cargo handling method according to claim 20, wherein during the process of lifting the cargo from a low position to a high position by the lifting mechanism, the cargo returns to the transport arm in a horizontal direction The direction of the car body moves, including:

When the lift drive mechanism drives the lift actuator to perform the lifting and extending action, the goods lifted on the top of the lift actuator move in the horizontal direction toward the direction in which the carrying arm returns to the vehicle body.
The cargo handling method according to claim 21, wherein the lift actuator comprises a link mechanism and a pull rod;

Wherein, the lifting drive mechanism drives the lifting actuator to perform lifting and stretching actions, including:

The lift drive mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform a stretching and lifting action.
The cargo handling method according to claim 22, wherein the lift driving mechanism pushes the pull rod, and the pull rod pushes the link mechanism to perform a stretching and lifting action, comprising:

The lift drive motor drives the slider to move through the power transmission mechanism, the slider pushes the pull rod, and the pull rod pushes the link mechanism to perform the stretching and lifting action.
The cargo handling method according to claim 19, wherein the lifting mechanism of the transport arm performs a lifting action to lift the cargo and return it to a predetermined position in the vehicle body, comprising:

In the process of lifting the cargo by the lifting mechanism of the transport arm, the transport arm moves into the vehicle body.
The cargo handling method according to claim 19, wherein the truck body runs to a position close to the predetermined position of the cargo, and the transport arm extends from the truck body to the bottom of the cargo, comprising:

The vehicle body runs to a predetermined position close to the cargo, and after the supporting wheel of the transport arm falls from the suspended state to contact with the ground, the transport arm extends from the vehicle body to the bottom of the cargo.
The cargo handling method according to claim 25, wherein the supporting wheel of the handling arm falls from a suspended state to contact with the ground, comprising:

The walking driving mechanism of the carrying arm moves, so that the supporting wheel of the carrying arm falls to contact the ground after the vehicle body travels a predetermined distance in a predetermined direction;

or,

The lifting mechanism is in a retracted state, the lifting mechanism is supported on the vehicle body, and the support wheel of the transport arm is in a suspended state; the lifting mechanism performs a lifting action, and the transport arm supports The wheel drops to contact with the ground.
The cargo handling method according to claim 19, wherein after the lifting mechanism performs a retracting action and the lifted cargo is placed on the vehicle body, the method further comprises:

The supporting wheel of the carrying arm is suspended from the ground;

The vehicle body travels and transports the cargo to the destination.
The cargo handling method according to claim 27, wherein the supporting wheel of the handling arm is suspended from the ground, comprising:

The carrying arm continues to walk in the vehicle body, climbs to the vehicle body, and the supporting wheel of the carrying arm is suspended from the ground;

or,

The lifting mechanism continues to perform the retracting action until it is supported on the vehicle body, the lifting mechanism further performs the retracting action, and the supporting wheel is lifted off the ground.
The cargo handling method according to claim 28, wherein the handling arm continues to walk in the vehicle body and climbs onto the vehicle body, and the support wheels of the handling arm are suspended from the ground, comprising:

The carrying arm continues to walk in the vehicle body, the support wheel at the first end of the carrying arm climbs along the first climbing guide member at the first end of the vehicle body, and at the same time the side part of the second end of the carrying arm climbs The climbing member climbs upward along the second climbing guide member on the side of the second end of the vehicle body.
The cargo handling method according to claim 29, wherein the supporting wheel at the first end of the conveying arm climbs along the first guide member at the first end of the vehicle body, comprising:

The support wheel at the first end of the carrying arm climbs along the guide plate with a predetermined slope relative to the ground at the bottom of the first end of the vehicle body;

The climbing member on the side of the second end of the carrying arm climbs upward along the second climbing guide member on the side of the second end of the vehicle body, including: a climbing guide at the bottom of the support block on the side of the second end of the carrying arm The lead surface climbs up along the rolling body on the side of the second end of the vehicle body.