CN115258001A - Conveying device and conveying method - Google Patents

Abstract

The application discloses a carrying device and a carrying method, and belongs to the technical field of automatic guided transportation. The carrying device comprises a vehicle body, a carrying arm and a floating connecting assembly, wherein the carrying arm is movably connected with the vehicle body, the carrying arm can slide in a first direction relative to the vehicle body, the first direction is the extending direction of the carrying arm, the floating connecting assembly is respectively connected with the vehicle body and the carrying arm, the carrying arm can move in a second direction relative to the vehicle body through the floating connecting assembly, and the second direction is the height direction of the vehicle body; the carrying arm is rotatably provided with a driving wheel which drives the carrying arm to slide in a first direction relative to the vehicle body. So set up, under the inconsistent condition of the roughness on ground, the automobile body motion on the direction of height of automobile body relatively can be carried to drive wheel and transport arm to make the position change of drive wheel, with the ground of adaptation unevenness, guarantee drive wheel and ground and continue the contact, avoid the drive wheel to skid and the unable circumstances of driving the motion of transport arm, avoid influencing handling of handling device.

Description

Conveying device and conveying method

Technical Field

The application belongs to the technical field of automatic guided transportation, and particularly relates to a carrying device and a carrying method.

Background

In the related art, the carrying device includes a vehicle body and a carrying arm disposed on the vehicle body, the carrying arm includes an arm body and a lifting mechanism disposed on the arm body, and the carrying arm can extend out from the vehicle body to lift the goods by the lifting mechanism, so that the goods are placed on the vehicle body and transported to a destination by the vehicle body.

Moreover, the bottom of the carrying arm is provided with a driving wheel, the carrying arm is driven to slide relative to the vehicle body through the driving wheel, and the driving wheel needs to be in continuous contact with the ground in the process. However, because the flatness of the ground is inconsistent, some road surfaces have uneven conditions, so that the driving wheels are not easy to contact with the ground, and the driving wheels slip, so that the driving wheels cannot drive the carrying arms to normally move, and the normal carrying process of the carrying device is hindered.

Disclosure of Invention

The embodiment of the application aims to provide a conveying device and a conveying method, and the problem that in the related art, due to inconsistent ground flatness, a driving wheel of the conveying device slips and the conveying process is obstructed can be solved.

In a first aspect, an embodiment of the present application provides a carrying device, including:

the carrying arm is movably connected with the vehicle body and can slide in a first direction relative to the vehicle body, and the first direction is the extending direction of the carrying arm;

the floating connecting assembly is respectively connected with the vehicle body and the carrying arm, and the carrying arm can move in a second direction relative to the vehicle body through the floating connecting assembly, wherein the second direction is the height direction of the vehicle body;

the carrying arm is rotatably provided with a driving wheel, and the driving wheel drives the carrying arm to slide in the first direction relative to the vehicle body.

Optionally, the floating connection assembly comprises a first connection member and a second connection member, the first connection member is connected with the carrying arm in a sliding manner along the first direction, one of the first connection member and the vehicle body is connected with the second connection member in a sliding manner along the second direction, and the other of the first connection member and the vehicle body is connected with the second connection member in a rotating manner.

Optionally, the axis of rotation of the carrying arm relative to the vehicle body is parallel to the width direction of the carrying arm.

Optionally, the number of the floating connection assemblies is at least two, the carrying arm has a first side and a second side opposite to each other in the width direction of the carrying arm, and the at least two floating connection assemblies are respectively disposed on the first side and the second side.

Optionally, the automobile body includes car body and first wheelset, first wheelset includes first wheel body, second wheel body, first connecting axle, second connecting axle and connecting rod, wherein:

the first connecting bridge and the second connecting bridge are provided with a first connecting portion, a second connecting portion and a third connecting portion, the second connecting portion is located between the first connecting portion and the third connecting portion, the first connecting portion of the first connecting bridge is rotatably connected with the first wheel body, the first connecting portion of the second connecting bridge is rotatably connected with the second wheel body, the second connecting portion of the first connecting bridge and the second connecting portion of the second connecting bridge are rotatably connected with the vehicle body, the third connecting portion of the first connecting bridge is rotatably connected with the first end of the connecting rod, and the third connecting portion of the second connecting bridge is rotatably connected with the second end of the connecting rod.

Optionally, the vehicle body includes a vehicle body and a second wheel set, the second wheel set includes a third wheel body, a fourth wheel body and a third connecting bridge, wherein:

the third is connected the bridge with the car body rotates and is connected, just the third connect the bridge with the junction of car body is located between the first end and the second end of third connection bridge, the third wheel body with the first end of third connection bridge rotates and is connected, the fourth wheel body with the second end of third connection bridge rotates and is connected.

Optionally, the carrying arm includes supporting baseplate, supporting roof and lifting mechanism, supporting baseplate with automobile body swing joint, lifting mechanism locates supporting baseplate with between the supporting roof, just lifting mechanism's both ends respectively with supporting baseplate with the supporting roof links to each other when lifting mechanism contracts or extends, supporting baseplate with the supporting roof is close to each other or is kept away from.

Optionally, the vehicle body is provided with a first positioning portion, the carrying arm is provided with a second positioning portion, and the first positioning portion and the second positioning portion are in positioning fit in the second direction when the carrying arm is in the retracted state.

Optionally, one of the first positioning portion and the second positioning portion is provided with a positioning projection, and the other is provided with a positioning groove, and the positioning projection is in positioning fit with the positioning groove in the second direction when the carrying arm is in the retracted state.

Optionally, the first positioning portion and the second positioning portion are magnetically engaged with each other when the carrying arm is in the retracted state.

Optionally, the number of the first positioning portions and the second positioning portions is at least two, and the first positioning portions and the second positioning portions correspond to each other one to one, the carrying arm has a first side and a second side that are opposite to each other in the width direction of the carrying arm, and the at least two second positioning portions are respectively disposed on the first side and the second side.

Optionally, the carrying arm includes an arm body, the carrying device further includes a first guide rail, the first guide rail is connected to the vehicle body in a sliding manner along the first direction, and the arm body is connected to the first guide rail in a sliding manner along the first direction.

In a second aspect, an embodiment of the present application further provides a carrying method, including:

controlling the driving wheel to contact with the ground;

controlling at least one of a carrying arm and a vehicle body to move along the extension direction of the carrying arm so that at least part of the carrying arm extends out of the accommodating groove and is inserted below the goods;

controlling the lifting mechanism of the carrying arm to extend so that the supporting top plate of the carrying arm lifts the goods;

controlling at least one of the carrying arm and the vehicle body to move along the extending direction of the carrying arm so as to retract the carrying arm into the accommodating groove;

and controlling the lifting mechanism to contract so that the supporting top plate moves downwards in the height direction of the vehicle body until goods are placed on the vehicle body.

Optionally, the controlling the driving wheel is in contact with the ground, comprising:

controlling the first positioning part of the vehicle body and the second positioning part of the carrying arm to be in positioning fit and controlling the lifting mechanism to be contracted so as to enable the driving wheel to be in a suspended state;

controlling the lifting mechanism to extend so that the driving wheel moves downwards in the height direction of the vehicle body until the driving wheel is in contact with the ground;

and controlling the lifting mechanism to extend continuously so as to separate the first positioning part and the second positioning part.

Optionally, after the carrying arm is retracted to the receiving slot, the carrying method further comprises:

controlling the lifting mechanism to contract until goods are placed on the vehicle body and the first positioning part of the vehicle body is matched with the second positioning part of the carrying arm in a positioning way;

and controlling the lifting mechanism to continuously contract so that the support bottom plate of the carrying arm and the driving wheel move upwards in the height direction of the vehicle body until the driving wheel is recovered to a suspended state.

In this application embodiment, because transport arm and drive wheel can for the automobile body in the direction of height of automobile body motion, if the roughness on ground is inconsistent, the height position on ground is uneven promptly, drive wheel and transport arm accessible float coupling assembling and move certain distance in the direction of height of automobile body relative to the automobile body to make the position change of drive wheel, in order to adapt to the ground of unevenness, guarantee that drive wheel and ground keep in contact with, avoid the drive wheel to skid and can't drive the condition that transport arm moved, avoid influencing handling device's handling process.

Drawings

Fig. 1 is a schematic structural view of a carrying device when a carrying arm is in a retracted state according to an embodiment of the present application;

FIG. 2 is a front view of the handling apparatus with the handling arm in a retracted state as disclosed in an embodiment of the present application;

FIG. 3 is a schematic structural view of the carrying device according to the embodiment of the present application when the carrying arm extends out of the accommodating slot;

FIG. 4 is a side view of the handling apparatus with the handling arm extended out of the receiving well as disclosed in an embodiment of the present application;

FIG. 5 is a schematic view of a connection structure of a floating connection assembly and a vehicle body according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a transfer arm in a retracted state of a lifting mechanism disclosed in an embodiment of the present application;

FIG. 7 is a schematic illustration of a transfer arm in an extended position of a lift mechanism according to an embodiment of the present disclosure;

fig. 8 is a schematic structural view of a first positioning portion disclosed in an embodiment of the present application;

FIG. 9 is a schematic view of a partial structure of a vehicle body according to an embodiment disclosed herein;

fig. 10 is a schematic view of a partial structure of a vehicle body disclosed in an embodiment of the present application from another perspective.

Description of reference numerals:

100-a vehicle body;

110-a vehicle body; 111-a receiving tank;

120-a first wheel group; 121-a first wheel body; 122-a second wheel; 123-a first connecting bridge; 124-a second connecting bridge; 125-connecting rod;

130-a second wheel set; 131-a third wheel body; 132-a fourth wheel; 133-a third connecting bridge;

200-a handling arm;

210-an arm body; 211-a support floor; 212-supporting the top plate; 213-a lifting mechanism;

220-a drive wheel;

300-a floating connection assembly;

310-a first connector;

320-a second connector; 321-a first slider; 322-rotating the base;

410-a first positioning portion; 411-a positioning groove; 412-magnetic attraction;

420-a second positioning portion; 421-positioning protrusions;

500-a first guide rail;

600-second guide rail.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.

The conveying device provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.

Referring to fig. 1 to 10, a carrying device disclosed in an embodiment of the present application includes a vehicle body 100, a carrying arm 200 and a floating connecting assembly 300, wherein the vehicle body 100 is movable relative to the ground, the carrying arm 200 is movably connected to the vehicle body 100, and specifically, the carrying arm 200 is slidable relative to the vehicle body 100 in a first direction, which is an extending direction of the carrying arm 200. In the present embodiment, the vehicle body 100 is provided with a receiving slot 111, and during the process of sliding the carrier arm 200 relative to the vehicle body 100 in the first direction, the carrier arm 200 can extend into the receiving slot 111 or extend from the receiving slot 111.

The floating link assembly 300 is connected to the vehicle body 100 and the transfer arm 200, respectively, and the transfer arm 200 is movable in a second direction, which is a height direction of the vehicle body 100, and in which the entire structure of the transfer arm 200 is moved, with respect to the vehicle body 100 by means of the floating link assembly 300. Alternatively, the floating link assembly 300 may include a guide-fitting guide rail and a guide block, the guide rail being disposed along the second direction, one of the guide rail and the guide block being connected to the vehicle body 100 and the other being connected to the carrier arm 200, the carrier arm 200 being slidable in the second direction with respect to the vehicle body 100, so that the movement of the carrier arm 200 in the second direction with respect to the vehicle body 100 can be achieved through the sliding process of the carrier arm 200 in the second direction; the floating connection assembly 300 may also include a shaft sleeve and a cylinder, the shaft sleeve is sleeved outside the cylinder, the shaft sleeve is rotatably matched with the cylinder, one of the shaft sleeve and the cylinder is connected to the vehicle body 100, and the other is connected to the carrying arm 200, so that the carrying arm 200 may also rotate relative to the vehicle body 100, and the movement of the carrying arm 200 relative to the vehicle body 100 in the second direction can also be realized through the rotation process of the carrying arm 200; of course, the carrier arm 200 may both slide in the second direction relative to the vehicle body 100 and rotate relative to the vehicle body 100. In any case, the movement of the transfer arm 200 in the second direction with respect to the vehicle body 100 may be achieved.

As shown in fig. 2 and 4, the carrying arm 200 is rotatably provided with a driving wheel 220, and the driving wheel 220 drives the carrying arm 200 to slide in a first direction relative to the vehicle body 100. Specifically, the first driving mechanism is disposed inside the carrying arm 200, and the first driving mechanism is connected to the driving wheel 220 to drive the driving wheel 220, so that the driving wheel 220 rotates and drives the carrying arm 200 to slide relative to the vehicle body 100 along the first direction.

In the present embodiment, the transporting device is an Automated Guided Vehicle (AGV), which can be used to transport various types of goods and racks.

The carrying arm 200 can move in a second direction relative to the vehicle body 100 through the floating connection assembly 300, so that the driving wheel 220 and the carrying arm 200 can move for a certain distance in the height direction of the vehicle body 100 relative to the vehicle body 100 under the condition of inconsistent flatness of the ground, namely uneven height position of the ground, specifically, under the condition that the carrying device meets the ground with higher position, the raised ground can apply acting force to the driving wheel 220, so as to drive the carrying arm 200 to move upwards in the height direction of the vehicle body 100, and the driving wheel 220 moves upwards in the height direction of the vehicle body 100 along with the carrying arm 200, so that the driving wheel 220 is in continuous contact with the raised ground; in the case where the carrying device encounters a ground surface at a low position, since the ground surface is depressed downward, the carrying arm 200 can move downward in the height direction of the vehicle body 100 by its own weight, and the driving wheel 220 moves downward in the height direction of the vehicle body 100 along with the carrying arm, so that the driving wheel 220 is in continuous contact with the depressed ground surface. Therefore, the position of the driving wheel 220 is changed to adapt to uneven ground by moving the carrying arm 200 relative to the vehicle body 100 in the height direction of the vehicle body 100, so as to ensure that the driving wheel 220 is continuously contacted with the ground, avoid the situation that the carrying arm 200 cannot be driven to move due to the slipping of the driving wheel 220, and avoid the influence on the carrying process of the carrying device.

In an alternative embodiment, as shown in fig. 5, the floating link assembly 300 includes a first link 310 and a second link 320, wherein the first link 310 is slidably coupled to the transfer arm 200 in a first direction, one of the first link 310 and the vehicle body 100 is slidably coupled to the second link 320 in a second direction, and the other is rotatably coupled to the second link 320. Alternatively, the first connecting member 310 and the second connecting member 320 may be slidably connected in the second direction, and the vehicle body 100 and the second connecting member 320 may be rotatably connected; the vehicle body 100 may be slidably coupled to the second coupling member 320 in the second direction, and the first coupling member 310 may be rotatably coupled to the second coupling member 320.

Specifically, the sliding connection between the first connecting member 310 and the carrying arm 200, and between the second connecting member 320 and one of the first connecting member 310 and the vehicle body 100 can be realized by a structure in which a sliding block and a sliding rail are matched, and of course, the sliding connection can also be realized by other structures; the other of the first link 310 and the vehicle body 100 may be hinged to the second link 320, or may be rotatably connected by other structures.

With such an arrangement, the carrying arm 200 can slide in the second direction relative to the vehicle body 100 and can rotate relative to the vehicle body 100, and the carrying arm 200 enables the driving wheel 220 to better contact the ground in a sliding and rotating combined mode, so that the carrying arm has a better adaptation effect to the unevenness of the ground.

In this embodiment, as shown in fig. 5, the second connecting member 320 includes a first sliding block 321 and a rotating base 322, the vehicle body 100 is provided with a second guiding rail 600, and the first sliding block 321 is in guiding fit with the second guiding rail 600, so as to realize the sliding connection between the second connecting member 320 and the vehicle body 100; the first connecting member 310 includes a rotating shaft, the rotating base 322 has a shaft hole, the rotating shaft extends into the shaft hole, and the rotating base 322 is rotatably engaged with the rotating shaft, i.e. the rotating shaft is rotatable relative to the shaft hole, so as to realize the rotatable connection between the first connecting member 310 and the second connecting member 320.

The second guide rail 600 and the first slider 321 cooperate to guide the sliding direction of the transfer arm 200 relative to the vehicle body 100, thereby preventing the floating connection assembly 300 and the transfer arm 200 from shifting relative to the vehicle body 100.

In the present embodiment, the rotation axis of the carrier arm 200 with respect to the vehicle body 100 is parallel to the width direction of the carrier arm 200. That is, the axial directions of the shaft hole and the rotating shaft are parallel to the width direction of the transfer arm 200. Of course, in other embodiments, the rotation axis of the carrier arm 200 with respect to the vehicle body 100 may intersect the width direction of the carrier arm 200, alternatively, the rotation axis of the carrier arm 200 with respect to the vehicle body 100 may be parallel to the extending direction of the carrier arm 200.

In the width direction of the carrying arm 200, the carrying arm 200 has a first side and a second side opposite to each other, and when the rotation axis of the carrying arm 200 relative to the vehicle body 100 is parallel to the width direction of the carrying arm 200, the first side and the second side of the carrying arm 200 move in unison, so as to avoid the situation that the positions of the first side and the second side in the height direction are inconsistent and the carrying arm 200 is inclined.

Optionally, the number of the floating connection assemblies 300 is at least two, the transfer arm 200 has a first side and a second side opposite to each other in the width direction of the transfer arm 200, and at least two floating connection assemblies 300 are respectively disposed on the first side and the second side, that is, the first side and the second side of the transfer arm 200 are respectively provided with at least one floating connection assembly 300.

In this embodiment, the number of the transfer arms 200 is at least two, and the transfer arms 200 are spaced apart from each other, the first side and the second side of each transfer arm 200 are respectively provided with the floating link assemblies 300, the first link 310 of the floating link assembly 300 is slidably connected to the transfer arm 200, the first link 310 and the second link 320 are rotatably connected, and the second link 320 of the floating link assembly 300 is slidably connected to the vehicle body 100.

By means of the at least two floating attachment assemblies 300, the vehicle body 100 provides both a sliding support function and a rotational support function for both sides of the handling arm 200, ensuring stability during movement of the handling arm 200 in the second direction.

In the solution of the present application, as shown in fig. 10, the vehicle body 100 includes a vehicle body 110 and a first wheel set 120, the first wheel set 120 includes a first wheel body 121, a second wheel body 122, a first connecting bridge 123, a second connecting bridge 124 and a connecting rod 125, and each of the first connecting bridge 123 and the second connecting bridge 124 has a first connecting portion, a second connecting portion and a third connecting portion. The second connecting portion is located between the first connecting portion and the third connecting portion, the first connecting portion of the first connecting bridge 123 is rotatably connected to the first wheel body 121, the first connecting portion of the second connecting bridge 124 is rotatably connected to the second wheel body 122, the second connecting portion of the first connecting bridge 123 and the second connecting portion of the second connecting bridge 124 are rotatably connected to the vehicle body 110, the third connecting portion of the first connecting bridge 123 is rotatably connected to the first end of the connecting rod 125, and the third connecting portion of the second connecting bridge 124 is rotatably connected to the second end of the connecting rod 125.

In this embodiment, the length of the connection rod 125 may be less than or equal to a distance value between the second connection portion of the first connection bridge 123 and the second connection portion of the second connection bridge 124.

Specifically, the second connecting portion and the vehicle body 110, and the third connecting portion and the end of the connecting rod 125 may be hinged, or may be rotatably connected in other manners; the first connecting bridge 123 may be provided with a first slot and a first shaft hole, the first slot is communicated with the first shaft hole, the first wheel body 121 extends into the first slot, a wheel shaft of the first wheel body 121 extends into the first shaft hole, and the first wheel shaft is rotationally matched with the first shaft hole, so that relative rotation between the first wheel body 121 and the first connecting bridge 123 is realized. Similarly, the second wheel 122 and the second connecting bridge 124 may be rotatably connected to each other by other structures, such as the third wheel 131 and the third connecting bridge 133, and the fourth wheel 132 and the third connecting bridge 133.

In this embodiment, the first wheel 121 and the second wheel 122 are universal wheels, that is, the first wheel 121 is connected to the first connecting bridge 123 via a universal joint, and the second wheel 122 is connected to the second connecting bridge 124 via a universal joint. Thus, the first wheel 121 and the second wheel 122 can rotate in all directions.

The second connecting portion of the first connecting bridge 123 and the second connecting portion of the second connecting bridge 124 are fixed in position, and the second connecting portions are rotation fulcrums. When the first wheel body 121 is stressed, the first wheel body 121 rotates relative to the second connecting portion, and further drives the first connecting bridge 123 to rotate relative to the vehicle body 110, the first connecting bridge 123 drives the second connecting bridge 124 to move through the connecting rod 125, so that the second connecting bridge 124 drives the second wheel body 122 to rotate relative to the vehicle body 110, and vice versa.

Specifically, when the first wheel body 121 is lifted by the acting force of the ground, the first connecting portion of the first connecting bridge 123 is lifted, the third connecting portion is lifted, that is, the position of the first end of the connecting rod 125 is lifted, because the length of the connecting rod 125 is fixed, and the second end of the connecting rod 125 is restrained by the second connecting portion of the second connecting bridge 124, the connecting rod 125 cannot be lifted as a whole, the second end of the connecting rod 125 is lifted, that is, the third connecting portion of the second connecting bridge 124 is lifted, and then the first connecting portion of the second connecting bridge 124 is lifted, that is, the position of the second wheel body 122 is lifted. Similarly, when the second wheel 122 is lifted by the force of the ground surface, the first wheel 121 is lowered.

So set up, when automobile body 100 runs into uneven ground, one of first wheel body 121 and second wheel body 122 can rise, and another can descend to the adaptation ground condition improves automobile body 100 and to the adaptability on uneven ground, guarantees that first wheel body 121 and second wheel body 122 all continuously contact with ground, avoids first wheel body 121 and second wheel body 122 the condition of skidding to appear, keeps the stability of handling device motion in-process.

In an alternative embodiment, as shown in fig. 9, the vehicle body 100 further includes a second wheel set 130, the second wheel set 130 includes a third wheel 131, a fourth wheel 132 and a third connecting bridge 133, the third connecting bridge 133 is rotatably connected to the vehicle body 110, a connection position of the third connecting bridge 133 and the vehicle body 110 is located between a first end of the third connecting bridge 133 and a second end of the third connecting bridge 133, the third wheel 131 is rotatably connected to the first end of the third connecting bridge 133, and the fourth wheel 132 is rotatably connected to the second end of the third connecting bridge 133.

The third connecting bridge 133 and the vehicle body 110 may be rotatably connected in a hinged manner, or may be rotatably connected in other manners; the first end of the third connecting bridge 133 may be provided with a second slot and a second shaft hole, the third wheel body 131 extends into the second slot, and the wheel shaft of the third wheel body 131 extends into the second shaft hole, the wheel shaft is in running fit with the second shaft hole, so as to realize the relative rotation between the third wheel body 131 and the third connecting bridge 133. Similarly, this structure may be adopted between the fourth wheel 132 and the third connecting bridge 133, and of course, the rotational connection may be realized between the third wheel 131 and the third connecting bridge 133, or between the fourth wheel 132 and the third connecting bridge 133, by other structures. In the present embodiment, the third wheel 131 and the fourth wheel 132 may be universal wheels.

Specifically, since the position of the connection between the third connecting bridge 133 and the vehicle body 110 is fixed, and the connection is taken as a fulcrum, both the third wheel 131 and the fourth wheel 132 can rotate around the fulcrum, specifically, when the third wheel 131 rises around the fulcrum relative to the vehicle body 110, the fourth wheel 132 descends around the fulcrum relative to the vehicle body 110, and conversely, when the third wheel 131 descends around the fulcrum relative to the vehicle body 110, the fourth wheel 132 ascends around the fulcrum relative to the vehicle body 110.

When the vehicle body 100 runs into the uneven ground, the third wheel body 131 and the fourth wheel body 132 can rotate around the pivot to adapt to the ground condition, so that the adaptability of the vehicle body 100 to the uneven ground is improved, the third wheel body 131 and the fourth wheel body 132 are ensured to be continuously contacted with the ground, the slipping condition of the third wheel body 131 and the fourth wheel body 132 is avoided, and the stability of the carrying device in the moving process is kept.

Optionally, the cart body 110 is provided with a receiving groove 111, the receiving groove 111 has a notch, at least a portion of the carrying arm 200 is disposed in the receiving groove 111, and the driving wheel 220 drives the carrying arm 200 to extend into the receiving groove 111 through the notch or extend from the receiving groove 111 through the notch. The number of one of the first wheel set 120 and the second wheel set 130 is at least two, wherein two of the first wheel set 120 or two of the second wheel set 130 are respectively disposed on two sides of the accommodating groove 111, and the other of the first wheel set 120 and the second wheel set 130 is disposed on one side of the accommodating groove 111 away from the notch. In this embodiment, as shown in fig. 1, the number of the accommodating grooves 111 and the carrying arms 200 is at least two, and the two second wheel sets 130 are respectively disposed on the sides of the two accommodating grooves 111 deviating from each other, and the first wheel set 120 is disposed on the side of the accommodating groove 111 deviating from the notch.

Furthermore, the vehicle body 110 is provided with a second driving mechanism for driving the fourth wheel 132 to rotate, so the fourth wheel 132 is a driving wheel, the first wheel 121, the second wheel 122 and the third wheel 131 are driven wheels, the rotation of the fourth wheel 132 drives the vehicle body 100 to move relative to the ground, and further the vehicle body 100 drives the first wheel 121, the second wheel 122 and the third wheel 131 to rotate. In the embodiment, the fourth wheel body 132 is located between the third driving wheel 220 and the first wheel set 120, that is, the driving wheel is located at the middle position of the vehicle body 110, and compared with the driving wheel located at the edge position of the vehicle body 110, the stability of the vehicle body 100 during the movement process is better.

In this embodiment, as shown in fig. 6, the carrying arm 200 includes a supporting base plate 211, a supporting top plate 212 and a lifting mechanism 213, the supporting base plate 211 is movably connected to the vehicle body 100, specifically, the supporting base plate 211 is slidably connected to the first connecting member 310 of the floating connecting assembly 300 along a first direction, and the driving wheel 220 is rotatably disposed on the supporting base plate 211. The lifting mechanism 213 is disposed between the support base plate 211 and the support top plate 212, and two ends of the lifting mechanism 213 are respectively connected to the support base plate 211 and the support top plate 212, so that the support base plate 211 and the support top plate 212 move toward or away from each other when the lifting mechanism 213 contracts or extends. The direction in which the lift mechanism 213 contracts or expands is the height direction of the transfer arm 200.

Alternatively, the lifting mechanism 213 may be a telescopic cylinder, and both ends of the telescopic cylinder are connected to the supporting bottom plate 211 and the supporting top plate 212, respectively. Of course, as shown in fig. 6 and 7, in order to make the lifting mechanism 213 have a relatively compact structure, the lifting mechanism 213 may be of a foldable structure, and in short, the support bottom plate 211 and the support top plate 212 may be moved toward or away from each other by the telescopic action of the lifting mechanism 213 itself.

In the process that the carrying arm 200 retracts to the accommodating groove 111, the carrying arm 200 lifts and lowers the goods through the retraction and extension of the lifting mechanism 213, so that the goods effectively avoid obstacles, and the goods can be conveniently and smoothly carried to the upper end surface of the vehicle body 100. Further, the conveyance arm 200 can be accommodated in the vehicle body 100 by the contraction of the lift mechanism 213, and the occupied space is reduced.

When the carrying arm 200 is used for carrying goods, the vehicle body 100 moves to the vicinity of the goods, the driving wheel 220 drives the carrying arm 200 to extend out of the accommodating groove 111, the lifting mechanism 213 is in a contracted state, and the carrying arm 200 can be inserted into the bottom of the goods, so that the goods fall on the supporting top plate 212; then the lifting mechanism 213 is extended to lift the supporting top plate 212 and lift the cargo, the driving wheel 220 drives the carrying arm 200 to retract into the receiving slot 111, the cargo is located above the vehicle body 100, and finally the lifting mechanism 213 is retracted to lower the supporting top plate 212, so that the cargo falls on the vehicle body 100, and the vehicle body 100 can transport the cargo to the target position.

In an alternative embodiment, as shown in fig. 2 and 3, the vehicle body 100 is provided with a first positioning portion 410, the carrying arm 200 is provided with a second positioning portion 420, and the first positioning portion 410 and the second positioning portion 420 are positioned and matched in the second direction when the carrying arm 200 is in the retracted state, and the specific structure of the first positioning portion 410 and the second positioning portion 420 is not limited herein. In this embodiment, the first positioning portion 410 is disposed on the sidewall of the receiving groove 111, and the second positioning portion 420 is disposed on the supporting top plate 212. It should be noted that the retracted state of the carrying arm 200 herein refers to a state where the carrying arm 200 is located in the accommodating groove 111.

Through the positioning cooperation of the first positioning portion 410 and the second positioning portion 420, the movement of the carrying arm 200 relative to the vehicle body 100 along the height direction of the vehicle body 100 is avoided, and, under the condition that the lifting mechanism 213 is in the contracted state, the distance between the supporting bottom plate 211 and the supporting top plate 212 is reduced, and the supporting top plate 212 is fixed relative to the vehicle body 100 through the positioning cooperation structure of the second positioning portion 420 and the first positioning portion 410, therefore, the supporting bottom plate 211 moves upward relative to the vehicle body 100, and the driving wheel 220 moves upward along with the supporting bottom plate 211, so the driving wheel 220 is in a suspended state, and further, the driving wheel 220 is prevented from contacting with the ground to obstruct the movement process of the vehicle body 100.

In an alternative embodiment, one of the first positioning portion 410 and the second positioning portion 420 is provided with a positioning protrusion 421, and the other is provided with a positioning slot 411, and the positioning protrusion 421 is in positioning fit with the positioning slot 411 in the second direction when the carrying arm 200 is in the retracted state. Alternatively, the first positioning portion 410 may be provided with a positioning protrusion 421, and the second positioning portion 420 may be provided with a positioning groove 411; as shown in fig. 8, the first positioning portion 410 may be provided with a positioning groove 411, and the second positioning portion 420 may be provided with a positioning protrusion 421. The specific structures of the positioning protrusion 421 and the positioning slot 411 are not limited here, and the shape of the positioning protrusion 421 and the positioning slot 411 are the same.

In the present embodiment, as shown in fig. 8, the positioning slot 411 and the positioning protrusion 421 are formed in an inverted cone shape, so that the notch area of the positioning slot 411 is larger, and the positioning protrusion 421 is easier to align with the positioning slot 411 and extend into the positioning slot 411.

Through the cooperation of positioning slot 411 and positioning protrusion 421, the relative positions of first positioning portion 410 and second positioning portion 420 are limited, and then the carrying arm 200 is limited, so that the carrying arm 200 is prevented from swinging relative to the vehicle body 100.

Alternatively, the first positioning portion 410 and the second positioning portion 420 are magnetically engaged with each other when the carrier arm 200 is in the retracted state. Specifically, the first positioning portion 410 and the second positioning portion 420 may be both magnetic parts, and the first positioning portion 410 and the second positioning portion 420 are directly magnetically coupled; the first positioning portion 410 and the second positioning portion 420 may be respectively provided with a magnetic portion 412, and the two magnetic portions 412 can be magnetically coupled.

Through the magnetic attraction and the cooperation of the first positioning portion 410 and the second positioning portion 420, the attraction force between the first positioning portion 410 and the second positioning portion 420 can be increased, the relative positions of the first positioning portion 410 and the second positioning portion 420 can be further kept fixed, and the stability between the first positioning portion 410 and the second positioning portion 420 can be improved. Also, the magnetic attraction facilitates automatic alignment between the first and second positioning portions 410 and 420.

Optionally, the number of the first positioning portions 410 and the second positioning portions 420 is at least two, and the first positioning portions and the second positioning portions are in one-to-one correspondence, in the width direction of the carrying arm 200, the carrying arm 200 has a first side and a second side which are opposite to each other, the at least two second positioning portions 420 are respectively disposed on the first side and the second side, that is, the first side and the second side are respectively provided with at least one second positioning portion 420. Moreover, at least two first positioning portions 410 are respectively provided on two side walls of the accommodating groove 111 opposing in the width direction.

In the present embodiment, each of the transfer arms 200 has at least two second positioning portions 420 on the first side and the second side, the second positioning portions 420 on the first side or the second side are spaced apart from each other along the first direction, and similarly, the first positioning portions 410 on the same sidewall of the accommodating groove 111 are spaced apart from each other along the longitudinal direction of the accommodating groove 111. Moreover, the first positioning portion 410 and the second positioning portion 420 corresponding to each group are in positioning fit with each other through the positioning protrusion 421 and the positioning groove 411, and meanwhile, the first positioning portion 410 and the second positioning portion 420 corresponding to each group are in magnetic attraction fit with each other.

At this time, the first side and the second side of the carrying arm 200 are both positioned and engaged with the vehicle body 100 by the first positioning portion 410 and the second positioning portion 420, so that the movement of any one of the first side and the second side relative to the vehicle body 100 along the height direction is avoided, and the stability of the carrying arm 200 in the suspended state is improved.

In an alternative embodiment, as shown in fig. 3 and 4, the transfer arm 200 includes an arm body 210, the transfer device further includes a first guide rail 500, the first guide rail 500 is slidably connected with the vehicle body 100 along a first direction, and the arm body 210 is slidably connected with the first guide rail 500 along the first direction. Specifically, the first guide rail 500 is slidably connected to the first connecting member 310, wherein the first connecting member 310 may be a sliding block, and the first guide rail 500 is in guiding fit with the sliding block; furthermore, the arm body 210 comprises the supporting top plate 212, the supporting bottom plate 211 and the lifting mechanism 213, the supporting bottom plate 211 is slidably connected with the first guide rail 500, wherein the edge of the supporting bottom plate 211 can be matched with the first guide rail 500 in a guiding way.

Of course, in other embodiments, the support base 211 of the arm 210 may be directly slidably connected to the first connecting member 310.

By adding the first guide rail 500, the sliding stroke of the arm body 210 in the first direction can be prolonged, and the carrying arm 200 can extend out enough length to contact with goods, so that the normal carrying process of the goods is ensured.

Based on the carrying device disclosed by the application, the embodiment of the application further discloses a carrying method, and the carrying method comprises the following steps:

s100, controlling the driving wheel 220 to contact with the ground.

And S200, controlling at least one of the carrying arm 200 and the vehicle body 100 to move along the extending direction of the carrying arm 200, so that at least part of the carrying arm 200 extends out of the accommodating groove 111 and is inserted below the goods. Alternatively, the carrier arm 200 may be controlled to slide in the extending direction thereof, and the position of the vehicle body 100 with respect to the ground may be controlled to be constant; the vehicle body 100 can be controlled to move along the extending direction of the carrying arm 200, and the position of the carrying arm 200 relative to the ground is controlled to be unchanged; it is also possible to control both the carrier arm 200 and the vehicle body 100 to move in the extending direction of the carrier arm 200, and the sliding direction of the carrier arm 200 is opposite to the moving direction of the vehicle body 100.

After at least a portion of the transporting arm 200 extends out of the receiving slot 111, since the lifting mechanism 213 is in an extended state, the transporting arm 200 cannot be directly inserted under the cargo due to an excessively large dimension in the height direction, so that the lifting mechanism 213 needs to be controlled to contract to reduce the dimension of the transporting arm 200 in the height direction, and then at least one of the transporting arm 200 and the vehicle body 100 needs to be controlled to continue to move along the extending direction of the transporting arm 200, so that the transporting arm 200 is inserted under the cargo.

S300, the lifting mechanism 213 of the transfer arm 200 is controlled to extend so that the supporting top plate 212 of the transfer arm 200 lifts the cargo. Thus, the goods are lifted by a certain height, so that the subsequent goods can be conveniently placed on the upper end surface of the vehicle body 100.

And S400, controlling at least one of the carrying arm 200 and the vehicle body 100 to move along the extending direction of the carrying arm 200 so as to retract the carrying arm 200 into the accommodating groove 111. Alternatively, the carrying arm 200 may be controlled to slide in the self-extending direction, and the position of the vehicle body 100 with respect to the ground is controlled to be unchanged, where the sliding direction of the carrying arm 200 is opposite to the sliding direction of the carrying arm 200 in step S200; the vehicle body 100 can be controlled to move along the extending direction of the carrying arm 200, and the position of the carrying arm 200 relative to the ground is controlled to be unchanged, wherein the moving direction of the vehicle body 100 is opposite to the moving direction of the vehicle body 100 in the step S200; it is also possible to control both the carrier arm 200 and the vehicle body 100 to move in the extending direction of the carrier arm 200, and the sliding direction of the carrier arm 200 is opposite to the moving direction of the vehicle body 100.

S500, controlling the lifting mechanism 213 to contract to move the supporting roof 212 downward in the height direction of the vehicle body 100 until the cargo is placed on the vehicle body 100.

In an alternative embodiment, controlling drive wheel 220 to contact the ground comprises:

s110, controlling the first positioning portion 410 of the vehicle body 100 and the second positioning portion 420 of the carrying arm 200 to be positioned and engaged, and controlling the lifting mechanism 213 of the carrying arm 200 to be retracted, so that the driving wheel 220 is suspended. In this case, when the carrying arm 200 is not in use, as shown in fig. 1 and 2, the driving wheel 220 is not in contact with the ground, and the driving wheel 220 is prevented from being in contact with the ground to hinder the movement of the vehicle body 100 in the subsequent movement of the vehicle body 100.

And S120, controlling the vehicle body 100 to move to the target position. Optionally, the bottom of the vehicle body 100 is provided with a first wheel set 120 and a second wheel set 130, and the vehicle body 100 is driven to move to the target position by driving the first wheel set 120 and the second wheel set 130 to move.

S130, the lifting mechanism 213 is controlled to extend, and the first positioning portion 410 and the second positioning portion 420 are positioned and engaged, so that the position of the supporting top plate 212 relative to the vehicle body 100 in the height direction of the vehicle body 100 is not changed, and the supporting bottom plate 211 and the driving wheel 220 move downward in the height direction of the vehicle body 100 until the driving wheel 220 contacts the ground.

S140, the lifting mechanism 213 is controlled to extend continuously, and since the driving wheel 220 contacts the ground and the position of the supporting bottom plate 211 is not changed, the supporting top plate 212 moves upward in the height direction of the vehicle body 100 until the lifting mechanism 213 stops extending when the first positioning portion 410 and the second positioning portion 420 are separated. Since the first positioning portion 410 and the second positioning portion 420 are released from the positioning engagement, the first positioning portion 410 and the second positioning portion 420 no longer hinder the subsequent sliding of the carrying arm 200 relative to the vehicle body 100 in the extending direction of the carrying arm 200.

In an alternative embodiment, after the carrying arm 200 is retracted to the receiving slot 111, the carrying method further comprises:

and S500, controlling the lifting mechanism 213 to contract until the goods are placed on the vehicle body 100 and the first positioning part 410 of the vehicle body 100 is in positioning fit with the second positioning part 420 of the carrying arm 200. Specifically, in the process of lowering the supporting roof 212, the cargo is first placed on the upper end surface of the vehicle body 100, and then the first positioning portion 410 and the second positioning portion 420 are in positioning engagement.

And S600, controlling the lifting mechanism 213 to continuously contract so that the support base plate 211 and the driving wheel 220 move upwards in the height direction of the vehicle body 100 until the driving wheel 220 returns to the suspended state. After the first positioning portion 410 and the second positioning portion 420 are positioned and matched, the position of the supporting top plate 212 relative to the vehicle body 100 in the height direction is fixed, so that the supporting bottom plate 211 moves upward when the lifting mechanism 213 is retracted, the driving wheel 220 moves upward along with the supporting bottom plate 211 until the driving wheel 220 is separated from the ground, at this time, the carrying arm 200 is restored to the unused state, and when the goods are carried again next time, the steps S100-S600 are repeated.

With the above arrangement, by adopting the above transportation method, the transportation arm 200 and the driving wheel 220 change the position in the height direction of the vehicle body 100 according to the condition of the ground, so as to adapt to uneven ground, ensure the driving wheel 220 to be continuously contacted with the ground, and avoid the condition that the driving wheel 220 slips and cannot drive the transportation arm 200 to move; moreover, in the moving process of the vehicle body 100, the driving wheel 220 can be in a suspended state, so that the driving wheel 220 is prevented from contacting the ground to hinder the moving process of the vehicle body 100.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (15)

1. A handling device, comprising:

the conveying arm (200) is movably connected with the vehicle body (100), the conveying arm (200) can slide relative to the vehicle body (100) in a first direction, and the first direction is the extending direction of the conveying arm (200);

a floating linkage assembly (300), the floating linkage assembly (300) being connected to the vehicle body (100) and the handling arm (200), respectively, the handling arm (200) being movable relative to the vehicle body (100) by the floating linkage assembly (300) in a second direction, the second direction being a height direction of the vehicle body (100);

the carrying arm (200) is rotatably provided with a driving wheel (220), and the driving wheel (220) drives the carrying arm (200) to slide in the first direction relative to the vehicle body (100).

2. A handling device according to claim 1, characterised in that said floating connection assembly (300) comprises a first link (310) and a second link (320), said first link (310) being slidingly connected to said handling arm (200) along said first direction, one of said first link (310) and said vehicle body (100) being slidingly connected to said second link (320) along said second direction and the other being rotatably connected to said second link (320).

3. A handling device according to claim 2, characterized in that the axis of rotation of the handling arm (200) relative to the vehicle body (100) is parallel to the width direction of the handling arm (200).

4. Handling device according to claim 1, wherein the number of floating attachment assemblies (300) is at least two, the handling arm (200) having a first and a second side facing away from each other in the width direction of the handling arm (200), at least two floating attachment assemblies (300) being provided on the first and second side, respectively.

5. Handling device according to claim 1, wherein the vehicle body (100) comprises a vehicle body (110) and a first wheel set (120), the first wheel set (120) comprising a first wheel body (121), a second wheel body (122), a first connecting bridge (123), a second connecting bridge (124) and a connecting rod (125), wherein:

first connecting bridge (123) with second connecting bridge (124) all have first connecting portion, second connecting portion and third connecting portion, the second connecting portion are located first connecting portion with between the third connecting portion, first connecting portion of first connecting bridge (123) with first wheel body (121) rotate to be connected, first connecting portion of second connecting bridge (124) with second wheel body (122) rotate to be connected, the second connecting portion of first connecting bridge (123) with the second connecting portion of second connecting bridge (124) all with car body (110) rotate to be connected, just the third connecting portion of first connecting bridge (123) with the first end of connecting rod (125) rotates to be connected, the third connecting portion of second connecting bridge (124) with the second end of connecting rod (125) rotates to be connected.

6. Handling device according to claim 1, wherein said vehicle body (100) comprises a vehicle body (110) and a second wheel set (130), said second wheel set (130) comprising a third wheel body (131), a fourth wheel body (132) and a third connecting bridge (133), wherein:

the third is connected bridge (133) with car body (110) rotates and is connected, just third connect bridge (133) with the junction of car body (110) is located between the first end and the second end of third connection bridge (133), third wheel body (131) with the first end of third connection bridge (133) rotates and is connected, fourth wheel body (132) with the second end rotation of third connection bridge (133) is connected.

7. The conveying apparatus according to claim 1, wherein the conveying arm (200) comprises a support base plate (211), a support top plate (212) and a lifting mechanism (213), the support base plate (211) is movably connected to the vehicle body (100), the lifting mechanism (213) is disposed between the support base plate (211) and the support top plate (212), and two ends of the lifting mechanism (213) are respectively connected to the support base plate (211) and the support top plate (212), and when the lifting mechanism (213) is contracted or extended, the support base plate (211) and the support top plate (212) approach or move away from each other.

8. The carrying device according to claim 1, characterized in that the vehicle body (100) is provided with a first positioning portion (410), the carrying arm (200) is provided with a second positioning portion (420), and the first positioning portion (410) and the second positioning portion (420) are positioned in engagement in the second direction with the carrying arm (200) in the retracted state.

9. The handling device according to claim 8, wherein one of the first positioning portion (410) and the second positioning portion (420) is provided with a positioning projection (421), and the other is provided with a positioning slot (411), and the positioning projection (421) is in positioning engagement with the positioning slot (411) in the second direction with the handling arm (200) in the retracted state.

10. The transfer device according to claim 8, wherein the first positioning portion (410) and the second positioning portion (420) are magnetically engaged with each other when the transfer arm (200) is in the retracted state.

11. The conveying device according to claim 8, wherein the number of the first positioning portions (410) and the second positioning portions (420) is at least two, and the first positioning portions and the second positioning portions correspond to each other, the conveying arm (200) has a first side and a second side which are opposite to each other in the width direction of the conveying arm (200), and at least two of the second positioning portions (420) are respectively provided on the first side and the second side.

12. The handling device according to claim 1, wherein the handling arm (200) comprises an arm body (210), the handling device further comprising a first guide rail (500), the first guide rail (500) being in sliding connection with the vehicle body (100) in the first direction, the arm body (210) being in sliding connection with the first guide rail (500) in the first direction.

13. A conveying method is characterized by comprising the following steps:

controlling the drive wheel (230) to contact the ground;

controlling at least one of a carrying arm (200) and a vehicle body (100) to move along the extension direction of the carrying arm (200) so that at least part of the carrying arm (200) extends out of a containing groove (111) and is inserted into the lower part of the goods;

controlling the lifting mechanism (213) of the carrying arm (200) to extend so that the supporting top plate (212) of the carrying arm (200) lifts the goods;

controlling at least one of the carrier arm (200) and the vehicle body (100) to move along the extension direction of the carrier arm (200) so as to retract the carrier arm (200) into the accommodating groove (111);

controlling the lifting mechanism (213) to contract so that the supporting roof (212) moves downwards in the height direction of the vehicle body (100) until goods are placed on the vehicle body (100).

14. The handling method according to claim 13, wherein said controlling the driving wheel (220) in contact with the ground comprises:

controlling the first positioning part (410) of the vehicle body (100) and the second positioning part (420) of the conveying arm (200) to be in positioning fit and controlling the lifting mechanism (213) to contract so as to enable the driving wheel (220) to be in a suspended state;

controlling the lifting mechanism (213) to extend so that the driving wheel (220) moves downwards in the height direction of the vehicle body (100) until the driving wheel (220) contacts with the ground;

controlling the lifting mechanism (213) to continue to elongate to separate the first positioning portion (410) and the second positioning portion (420).

15. A handling method according to claim 14, wherein after retraction of the handling arm (200) to the receiving slot (111), the handling method further comprises:

controlling the lifting mechanism (213) to contract until goods are placed on the vehicle body (100) and the first positioning part (410) of the vehicle body (100) is matched with the second positioning part (420) of the carrying arm (200) in a positioning way;

and controlling the lifting mechanism (213) to continuously contract so as to enable the supporting bottom plate (211) of the carrying arm (200) and the driving wheel (220) to move upwards in the height direction of the vehicle body (100) until the driving wheel (220) returns to a suspended state.

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