CN214527938U

CN214527938U - Transport vehicle

Info

Publication number: CN214527938U
Application number: CN202120037964.9U
Authority: CN
Inventors: 孙猛杰
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2021-10-29
Anticipated expiration: 2031-01-07

Abstract

The application discloses transport vechicle relates to the transportation and equips the field. A transporter, comprising: the device comprises a frame, a first walking mechanism, a second walking mechanism, a first lifting mechanism and a second lifting mechanism; the first traveling mechanism and the second traveling mechanism are respectively arranged on two sides of the frame along the front-back direction of the frame, the first lifting mechanism is at least partially arranged above the first traveling mechanism and fixed on the first traveling mechanism or the frame, and the second lifting mechanism is at least partially arranged above the second traveling mechanism and fixed on the first traveling mechanism or the frame. The problem that AGV overall layout is unreasonable can be solved at least to this application.

Description

Transport vehicle

Technical Field

The application belongs to the technical field of transportation equipment, concretely relates to transport vechicle.

Background

An agv (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can follow a predetermined guide path and has safety protection and various transfer functions, and is widely used in various fields. However, in the related art, the AGVs have unreasonable layout of their components, which results in a loose layout and a relatively large size of the AGVs, and thus is not suitable for the AGVs operating in a narrow space.

Disclosure of Invention

The purpose of the embodiment of the application is to provide a transport vehicle, which can at least solve the problems that the overall layout of an AGV is unreasonable and the like.

In order to solve the technical problem, the present application is implemented as follows:

the embodiment of the application provides a transport vechicle, this transport vechicle includes: the device comprises a frame, a first walking mechanism, a second walking mechanism, a first lifting mechanism and a second lifting mechanism;

the first traveling mechanism and the second traveling mechanism are respectively arranged on two sides of the frame along the front-back direction of the frame, the first lifting mechanism is at least partially arranged above the first traveling mechanism and fixed on the first traveling mechanism or the frame, and the second lifting mechanism is at least partially arranged above the second traveling mechanism and fixed on the first traveling mechanism or the frame.

Furthermore, a plurality of first supporting columns are arranged on the frame in the area adjacent to the first travelling mechanism, and the first lifting mechanism is arranged on the first supporting columns and is fixedly connected with the first supporting columns;

keep away from on the frame the region of first running gear one side is equipped with a plurality of second support columns, second running gear part is fixed in the second support column, be equipped with a plurality of brace tables on the second running gear, second lifting mechanism set up in on the brace table, and with brace table fixed connection.

Further, the first lifting mechanism is positioned right above the first travelling mechanism, so that the first lifting mechanism and the first travelling mechanism are arranged in a stacked mode;

and/or the second lifting mechanism is positioned right above the second travelling mechanism, so that the second lifting mechanism and the second travelling mechanism are arranged in a stacked mode.

Further, the first traveling mechanism comprises a first mounting base, a first steering wheel assembly and a first caster assembly, the first mounting base is rotatably connected to the frame, a rotation axis is arranged along the front-rear direction of the frame, and the first steering wheel assembly and the first caster assembly are respectively connected to the first mounting base and located on two sides of the rotation axis;

and/or the second travelling mechanism comprises a second mounting seat, a second steering wheel assembly and a second caster assembly, the second mounting seat is fixed on the second supporting column, and the second steering wheel assembly and the second caster assembly are respectively connected to two sides of the second mounting seat along the left and right directions of the frame.

Further, first mount pad includes first plate-shaped spare, first plate-shaped spare orientation one side of frame is equipped with first fixed block, be equipped with the perforating hole on the first fixed block, be equipped with the second fixed block on the frame, be equipped with the dabber on the second fixed block, the dabber is worn to locate in the perforating hole, the axis of dabber does the axis of rotation.

Furthermore, the second mount pad includes second plate-shaped spare, second plate-shaped spare is fixed in the second support column, be equipped with a plurality ofly on the second plate-shaped spare the brace table, second lifting mechanism with second plate-shaped spare sets up relatively, second lifting mechanism passes through the brace table is fixed on the second plate-shaped spare. Further, in the front-rear direction of the frame, a distance between the center of the frame and a plane passing through the central axis of the first caster assembly and the central axis of the first caster assembly is equal to a distance between the center of the frame and a plane passing through the central axis of the second caster assembly and the central axis of the second caster assembly;

the distance between the center of the frame and the central shaft of the first steering wheel assembly is smaller than the distance between the center of the frame and the central shaft of the first caster wheel assembly along the left-right direction of the frame;

and along the left and right directions of the frame, the distance between the center of the frame and the central shaft of the second steering wheel assembly is smaller than the distance between the center of the frame and the central shaft of the second caster wheel assembly.

Further, along the left-right direction of the frame, the rotation axis deviates from the center of the frame, and the rotation axis and the first caster assembly are located on the same side of the center of the frame, or the rotation axis and the second caster assembly are located on the same side of the center of the frame.

Further, each of the first lifting mechanism and the second lifting mechanism comprises a bottom plate, a cover plate and a lifting member, and the lifting member is connected between the bottom plate and the cover plate;

the bottom plate in the first lifting mechanism is fixed on the first supporting column, and the bottom plate in the second lifting mechanism is fixed on the supporting table.

Further, the lifting component comprises a driving assembly and a connecting rod assembly;

the connecting rod assembly comprises a first connecting rod and a second connecting rod, wherein the first end of the first connecting rod is rotatably connected with the bottom plate, the second end of the first connecting rod is slidably connected with the cover plate, the first end of the second connecting rod is rotatably connected with the cover plate, the second end of the second connecting rod is slidably connected with the bottom plate, the first end of the first connecting rod is opposite to the first end of the second connecting rod, and the middle part of the first connecting rod is rotatably connected with the middle part of the second connecting rod;

the driving assembly comprises a linear driving portion and a driving rod, the output end of the linear driving portion is rotatably connected with the driving rod, and the driving rod is rotatably connected with the first connecting rod or the second connecting rod.

Furthermore, the connecting rod assembly comprises two first connecting rods and two second connecting rods, the second ends of the two first connecting rods are connected through a connecting shaft, the first ends of the two second connecting rods are connected through a fixed shaft, the two first connecting rods are positioned at the inner sides of the two second connecting rods, the driving assembly is positioned at the inner sides of the two first connecting rods, and the first connecting rods are connected with the second connecting rods at the corresponding sides through flange shafts;

and/or, drive assembly includes the motor, the lead screw of being connected with the pivot transmission of motor, be connected with the lead screw transmission and with bottom plate sliding connection's screw-nut and rotate two of being connected with screw-nut the actuating lever, two deviating from of actuating lever the one end of screw-nut passes through the connecting rod hub connection, the connecting rod hub with first connecting rod or the second connecting rod rotates and connects.

Furthermore, the first lifting mechanism and the second lifting mechanism respectively comprise a thrust block for limiting the motion range of the screw nut, and under the condition that the screw nut is abutted to the thrust block, an obtuse angle is formed between the extending direction of the driving rod departing from the screw nut and the moving direction of the screw nut.

In this application embodiment, set up first lifting mechanism at least part above first running gear for first lifting mechanism and first running gear at least part stack the setting, thereby reduced the shared space of first lifting mechanism on the frame horizontal direction, likewise, set up second lifting mechanism at least part above the second running gear, make second lifting mechanism and second running gear at least part stack the setting, thereby reduced the shared space of second lifting mechanism on the frame horizontal direction. Based on the above arrangement, the layout of the first travelling mechanism, the second travelling mechanism, the first lifting mechanism and the second lifting mechanism on the frame is more compact and reasonable, and the lifting mechanisms in each group can still be reasonably arranged in the horizontal direction of the frame without occupying too much space, so that the size of the frame in the horizontal direction, particularly the size in the front-back direction, is reduced, the size of the whole transport vehicle is reduced, and the transport vehicle can be suitable for the use conditions of special narrow space working conditions.

Drawings

Fig. 1 is a schematic view of an entire transporter disclosed in an embodiment of the present application;

FIG. 2 is a schematic layout of a caster wheel assembly and a caster wheel assembly of a transporter according to an embodiment of the present disclosure;

FIG. 3 is an exploded view of a transport vehicle as disclosed in an embodiment of the present application at a first travel mechanism;

FIG. 4 is an exploded view of a transport vehicle disclosed in an embodiment of the present application at a second travel mechanism;

FIG. 5 is an exploded view of the transporter disclosed in an embodiment of the present application;

FIG. 6 is a schematic view of a transporter as a whole as disclosed in other embodiments of the present application;

FIG. 7 is a schematic layout of a caster wheel assembly and a caster wheel assembly of a transporter as disclosed in other embodiments of the present application;

FIG. 8 is an exploded view of a transport vehicle as disclosed in other embodiments of the present application at a first travel mechanism;

FIG. 9 is an exploded view of a transport vehicle disclosed in other embodiments of the present application at a second travel mechanism;

FIG. 10 is an exploded view of the transporter disclosed in other embodiments of the present application as a whole;

FIG. 11 is a schematic view of a first lifting mechanism or a second lifting mechanism disclosed herein;

FIG. 12 is a schematic view of the internal structure of the first or second lifting mechanism disclosed herein;

FIG. 13 is a schematic view of a lead screw pair of the first or second lifting mechanisms disclosed herein;

fig. 14 is a partial schematic view of a first lifting mechanism or a second lifting mechanism as disclosed herein.

Description of reference numerals:

100-a frame; 110-a second fixed block; 120-clamping plate; 130-a mandrel; 141-a first support column; 142-a second support column; 143-third support columns; 150-a flange member; 160-a mounting area; 170-a first avoidance hole; 180-a second avoidance hole; 190-a third avoidance hole; 1100-a fourth avoidance hole;

200-a first travel mechanism; 210-a first mount; 211-a first plate-shaped element; 212-a first fixed block; 2121-a through hole; 220-a first steering wheel assembly; 230-a first caster assembly;

300-a second running gear; 310-a second mount; 311-a second plate-shaped member; 3111-a support table; 312-a third plate; 313-a fourth plate; 320-a second steering wheel assembly; 330-a second caster assembly;

400-a first lifting mechanism; 410-a bottom plate; 411-first briquetting; 412-a first support base; 413-a second bearing block; 420-cover plate; 421-second pressing block; 430-a drive assembly; 431-a motor; 432-a coupling; 433-a screw rod; 434-screw nut; 4341-mounting post; 435-driving rod; 436-connecting rod shaft; 440-connecting rod assemblies; 441-a first link; 442-a connecting shaft; 443-a second link; 444-fixed shaft; 445-flange shaft; 446-reinforcing rods; 450-nylon sliders;

500-second lifting mechanism.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

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 "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The wearable device provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

Referring to fig. 1 to 14, the disclosed embodiment discloses a transportation vehicle including a frame 100, a first traveling mechanism 200, a second traveling mechanism 300, a first lifting mechanism 400, and a second lifting mechanism 500.

The frame 100 is a mounting base member of the transportation vehicle, the frame 100 provides a mounting base for the first traveling mechanism 200, the second traveling mechanism 300, the first lifting mechanism 400, the second lifting mechanism 500, and the like, and the first traveling mechanism 200 and the second traveling mechanism 300 are disposed on both sides of the frame 100 in the front-rear direction of the frame 100. In a specific embodiment, the first traveling mechanism 200 is provided on the front side of the frame 100 as a front axle traveling member, and the second traveling mechanism 300 is provided on the rear side of the frame 100 as a rear axle traveling member. Alternatively, the frame 100 may be a frame-type frame that is integrally welded from standard rectangular steel and sheet metal to be stable against deformation when subjected to heavy loads.

The first and second traveling

mechanisms

200 and 300 are traveling members of a transportation vehicle, and in general, the first and second traveling

mechanisms

200 and 300 may be wheel-type mechanisms. The entire transport vehicle can be moved by the first and second traveling

mechanisms

200 and 300 to transport the goods.

The first lifting mechanism 400 and the second lifting mechanism 500 are members of the transportation vehicle for carrying and lifting goods, and in general, the first lifting mechanism 400 and the second lifting mechanism 500 can do lifting movement to lift goods at a lower position to a higher position, and certainly can also lower goods at a higher position to a lower position. In some optional embodiments, the first lifting mechanism 400 is at least partially disposed above the first traveling mechanism 200, and the first lifting mechanism 400 may be fixedly connected to the first traveling mechanism 200 and may also be fixedly connected to the vehicle frame 100, so that both the fixed installation of the first lifting mechanism 400 is achieved, and the space occupied by the first lifting mechanism 400 in the horizontal direction of the vehicle frame 100 is reduced to a certain extent by at least partially stacking the first lifting mechanism 400 and the first traveling mechanism 200, so that the vehicle frame 100 may be reduced in size when being designed and manufactured, and further, the overall size of the transportation vehicle may be reduced. Similarly, at least a part of the second lifting mechanism 500 is disposed above the second traveling mechanism 300, and the second lifting mechanism 500 can be fixedly connected to the second traveling mechanism 300 and can also be fixedly connected to the vehicle frame 100, so that not only is the fixed installation of the second lifting mechanism 500 realized, but also the second lifting mechanism 500 and the second traveling mechanism 300 are at least partially stacked, and the space occupied by the second lifting mechanism 500 in the horizontal direction of the vehicle frame 100 is reduced to a certain extent, therefore, when the vehicle frame 100 is designed and manufactured, the size of the vehicle frame 100 can be reduced, and further the overall size of the transportation vehicle is reduced. Based on the above arrangement, the overall size of the transport vehicle is reduced, the transport vehicle can conveniently operate under a special and narrow working condition, and the flexibility of the transport vehicle operation is improved.

Referring to fig. 1 to 5, a plurality of first support columns 141 are disposed on the frame 100 in a region adjacent to the first traveling mechanism 200, and the plurality of first support columns 141 may be disposed around the first traveling mechanism 200. Specifically, the upper end of the first support column 141 is higher than the upper end of the first traveling mechanism 200 by a certain distance. The first lifting mechanism 400 is disposed on the plurality of first supporting columns 141 and supported by the plurality of first supporting columns 141, and a bottom portion (e.g., the bottom plate 410) of the first lifting mechanism 400 is fixedly connected to the first supporting columns 141, specifically, a threaded hole is formed in the first supporting column 141 and connected to the threaded hole of the first supporting column 141 through a fastening screw, so as to fix the first lifting assembly 400 to the first supporting column 141. Thus, the first lifting mechanism 400 is supported and fixed by the plurality of first support columns 141, so that the first lifting mechanism 400 and the first traveling mechanism 200 are stacked, and the space occupied by the first lifting mechanism 400 in the horizontal direction of the vehicle frame 100 is reduced.

The frame 100 is further provided with a plurality of second supporting columns 142, the plurality of second supporting columns 142 are located in a region on a side away from the first traveling mechanism 200, and the second traveling mechanism 300 is partially fixed on the plurality of second supporting columns 142, for example, the second mounting seat 310 of the second traveling mechanism 300 is fixed on the plurality of second supporting columns 142. Optionally, threaded holes are formed in the second supporting columns 142, the second traveling mechanism 300 is placed on the plurality of second supporting columns 142, so that the second traveling mechanism 300 is supported by the plurality of second supporting columns 142, and the fastening screws are matched with the threaded holes in the second supporting columns 142 to fix the second traveling mechanism 300 on the second supporting columns 142. Meanwhile, the second traveling mechanism 300 may be provided with a plurality of support tables 3111, specifically, a plurality of support tables 3111 may be provided on the upper surface of the second mount 310, and the second lifting mechanism 500 may be fixed to the plurality of support tables 3111. Alternatively, screw holes are opened in the support table 3111, and the second lift mechanism 500 is placed on the plurality of support tables 3111 so that the second lift mechanism 500 is supported by the plurality of support tables 3111, and the second lift mechanism 500 is fixed to the support tables 3111 by fitting fastening screws to the screw holes in the support tables 3111. Thus, the second lifting mechanism 500 and the second traveling mechanism 300 are stacked, which is beneficial to reducing the space occupied by the second lifting mechanism 500 in the horizontal direction of the frame 100.

In a specific embodiment, the first lifting mechanism 400 is located directly above the first traveling mechanism 200, i.e., the first lifting mechanism 400 and the first traveling mechanism 200 are in a fully stacked arrangement or a vertical distribution, when the sum of the space occupied by both the first lifting mechanism 400 and the first traveling mechanism 200 in the horizontal direction of the vehicle frame 100 is minimal. Similarly, the second lifting mechanism 500 is located right above the second traveling mechanism 300, that is, the second lifting mechanism 500 and the second traveling mechanism 300 are located in a completely stacked or vertically distributed manner, and the sum of the space occupied by the second lifting mechanism 500 and the second traveling mechanism 300 in the horizontal direction of the frame 100 is the minimum. Based on the above arrangement, the design size and the manufacturing size of the frame 100 are relatively small, and the use conditions under some special narrow space working conditions are met.

Of course, in other embodiments, the first lifting mechanism 400 and the second lifting mechanism 500 may also be disposed on the frame 100 in the area between the first traveling mechanism 200 and the second traveling mechanism 300, and the first lifting mechanism 400 is adjacent to the first traveling mechanism 200 and the second lifting mechanism 500 is adjacent to the second traveling mechanism 300, please refer to fig. 6 and 10. Specifically, the mounting region 160 is disposed in a region of the frame 100 between the first traveling mechanism 200 and the second traveling mechanism 300, and the mounting region 160 may include a first mounting region and a second mounting region, where the first mounting region is adjacent to the first traveling mechanism 200, the second mounting region is adjacent to the second traveling mechanism 300, the first mounting region and the second mounting region are respectively provided with a supporting platform, the first lifting mechanism 400 and the second lifting mechanism 500 are respectively placed on two supporting platforms and fixed by using a fastener, and the fastener may be a fastening screw or the like.

Based on the above arrangement, because the first traveling mechanism 200, the first lifting mechanism 400, the second lifting mechanism 500 and the second traveling mechanism 300 are sequentially arranged from front to back on the frame 100, the transportation vehicle realizes modular design and flat design, and the arrangement positions of the mechanisms are relatively independent and do not interfere with each other in a vertical space environment, so that a larger space is provided for device maintenance and disassembly, and the maintenance and the disassembly are more convenient.

Referring to fig. 3, in some alternative embodiments, the first traveling mechanism 200 includes a first mounting base 210, the first mounting base 210 is rotatably connected to the frame 100, an axis of the first mounting base 210 rotating relative to the frame 100 is a rotation axis, and the rotation axis is parallel to the front-back direction of the frame 100, that is, the first mounting base 210 can rotate relative to the frame 100 around the rotation axis. The first running gear 200 further includes a first steering wheel assembly 220 and a first caster assembly 230, the first steering wheel assembly 220 and the first caster assembly 230 are both connected to the first mounting base 210, and the first steering wheel assembly 220 and the first caster assembly 230 are respectively located at two sides of the rotation axis, that is, the first steering wheel assembly 220 is located at the left side or the right side of the frame 100, and correspondingly, the first caster assembly 230 is located at the right side or the left side of the frame 100.

Based on the above arrangement, in the driving process of the transportation vehicle, when the driving road surface is not flat, the first mounting seat 210 can swing left and right relative to the frame 100 around the rotation axis, so that the first steering wheel assembly 220 and the first caster wheel assembly 230 are ensured to be simultaneously grounded, the requirement of wheel pressure ratio is met, and the problem of wheel slip caused by insufficient positive pressure is effectively relieved. It should be noted that, the first steering wheel assembly 220 may include a rotating base rotating around an axis arranged along the vertical direction of the frame 100, two sets of driving wheels are arranged on two sides of the rotating base, and the turning is realized through the difference between the rotating speeds of the two sets of driving wheels, so that the first steering wheel assembly 220 not only plays a role in supporting and driving, but also can enable the transportation vehicle to turn, and realizes differential compensation during the turning, thereby ensuring the normal and stable running of the transportation vehicle, and the specific structure and the operating principle of the first steering wheel assembly 220 may refer to the related art, which will not be described in detail herein. In some embodiments, the first caster assembly 230 may include a universal wheel, and a turning process of the transportation vehicle may be implemented by the universal wheel, so that a driving track of the transportation vehicle is more flexible, and of course, the first caster assembly 230 also has a function of supporting the vehicle frame 100, and the first caster assembly 230 and the first steering wheel assembly 220 cooperate to jointly lay a foundation for the transportation vehicle to stably and flexibly drive.

Referring to fig. 4, the second traveling mechanism 300 includes a second mounting base 310, and since the frame 100 is provided with a plurality of second supporting columns 142, the second mounting base 310 is fixedly connected to the plurality of second supporting columns 142. The second running gear 300 further includes a second steering wheel assembly 320 and a second caster assembly 330, the second steering wheel assembly 320 and the second caster assembly 330 are both connected to the second mounting base 310, and the second steering wheel assembly 320 and the second caster assembly 330 are respectively located at both sides of the second mounting base 310 in the left-right direction of the frame 100, that is, the second steering wheel assembly 320 is located at the right side or the left side of the frame 100, and correspondingly, the second caster is located at the left side or the right side of the frame 100. It should be noted that the second steering wheel assembly 320 is the same as the first steering wheel assembly 310, and can both support the frame 100 and drive the transportation vehicle to turn, and implement differential compensation during turning, so as to ensure that the transportation vehicle runs normally and stably. In some embodiments, the second caster assembly 330 may include a universal wheel, and the turning process of the transportation vehicle can be realized through the universal wheel, so that the form and track of the transportation vehicle are more flexible, and of course, the second caster assembly 330 also has the function of supporting the frame 100, and the second caster assembly 330 and the second caster assembly 320 cooperate to jointly lay a foundation for the transportation vehicle to stably and flexibly run.

The carrier vehicle in the embodiment of the application adopts the arrangement form that the first travelling mechanism 200 floats relative to the frame 100 and the second travelling mechanism 300 is fixed relative to the frame 100, and the arrangement form can ensure that the basic requirement that the first steering wheel assembly 220, the first caster wheel assembly 230, the second steering wheel assembly 320 and the second caster wheel assembly 330 land simultaneously even if the carrier vehicle encounters uneven running road surfaces during running, and simultaneously meet the wheel pressure ratio requirement, so that the slipping condition caused by insufficient positive pressure is greatly relieved. Meanwhile, when the transportation vehicle travels on uneven road surface, the first steering wheel assembly 220 and the first caster assembly 230 can drive the first mounting base 210 to rotate relative to the vehicle frame 100, so that the stability of the vehicle frame 100 can be ensured to a certain extent, and the problem that the vehicle frame 100 and the goods carried thereon are inclined greatly is solved.

With continued reference to fig. 3, in some alternative embodiments, first mount 210 may include a first plate 211. Specifically, the first mount 210 may be a rectangular plate, an oblong plate, or the like, and the specific shape is not limited. In order to rotate the first mounting seat 210 relative to the frame 100, a first fixing block 212 is disposed on a side surface of the first plate-shaped member 211 facing the frame 100, and the first fixing block 212 may be welded to the first plate-shaped member 211, but the first plate-shaped member 211 and the first fixing block 212 may also be integrally formed. The first fixing block 212 is provided with a through hole 2121, and the through hole 2121 is used for penetrating a shaft member, such as the mandrel 130. Correspondingly, a second fixed block 110 is arranged on one side of the frame 100 facing the first plate-shaped member 211, a spindle 130 is arranged on the second fixed block 110, and the axis of the spindle 130 is the rotation axis. Specifically, the second fixing block 110 may be provided with a mounting hole, and an end of the mandrel 130 is inserted into the mounting hole, so as to fix the mandrel 130. Of course, it is also possible to provide a mounting groove on the upper surface of the second fixing block 110, insert the end of the mandrel 130 into the mounting groove, then place the clamping plate 120 on the second fixing block 110, and fix the clamping plate 120 on the second fixing block 110 by using a fastener, thereby fixing the mandrel 130 by the clamping plate 120 and the second fixing block 110. The spindle 130 penetrates into the through hole 2121 of the first fixing block 212, so that the first mount 210 can rotate relative to the frame 100 around the spindle 130.

In other embodiments, the axle 130 may also be fixedly connected to the first fixing block 212 and rotatably connected to the second fixing block 110, and at this time, the first mounting seat 210 can also rotate around the axle 130 relative to the frame 100.

In the embodiment of the present application, the first mounting seat 210 is located above the frame 100, and in order to enable the first steering wheel assembly 220 and the first caster assembly 230 to contact with a road surface below the frame 100, the frame 100 is provided with a first avoidance hole 170 and a second avoidance hole 180, wherein the first steering wheel assembly 220 is located in the first avoidance hole 170 and passes through the first avoidance hole 170, and the first caster assembly 230 is located in the second avoidance hole 180 and passes through the second avoidance hole 180. In this way, the first avoidance hole 170 and the second avoidance hole 180 formed in the frame 100 meet the requirement that the first steering wheel assembly 220 and the first caster assembly 230 of the first travel mechanism 200 contact the road surface.

With continued reference to fig. 4, in some alternative embodiments, the second mounting seat 310 includes a second plate-shaped member 311, which may be a rectangular plate, an oblong plate, or the like, without limitation. In order to fix the second traveling mechanism 300 to the frame 100, in the embodiment of the present invention, a plurality of second supporting columns 142 are provided on the frame 100, and threaded holes are axially formed in the second supporting columns 142, and correspondingly, through holes are formed in the second plate-shaped member 311. When installed, the second plate-shaped member 311 is laid on the support post 140, the through-hole is aligned with the threaded hole, and a fastener, such as a fastening screw, is inserted into the through-hole and threadedly coupled with the threaded hole, thereby fixing the second mount 310 to the vehicle frame 100. The second plate 311 has a plurality of support tables 3111 on its upper surface, and the support tables 3111 may be columnar structures, such as cylinders, polygonal bodies, etc., and the second lifting mechanism 500 is supported and fixed by the plurality of support tables 3111. Specifically, a screw hole is formed in the support table 3111 in the axial direction, and accordingly, a through hole is formed in the bottom of the second lifting mechanism 500. In installation, the second lifting mechanism 500 is placed on the plurality of support tables 3111, the through holes are aligned with the screw holes, and fastening members, such as fastening screws, are inserted into the through holes and screwed into the screw holes, thereby fixing the second lifting mechanism 500 to the second traveling mechanism 300.

Referring to fig. 8, in some other embodiments, the second mounting seat 310 may further include a third plate 312 and a fourth plate 313, and the third plate 312 and the fourth plate 313 are used to fix the second caster wheel assembly 330 and the second steering wheel assembly 320. Specifically, a protrusion is disposed on the frame 100, an accommodating space is formed on the protrusion, the second caster assembly 330 can be located in the accommodating space, a flange 150 is disposed on the protrusion, a threaded hole is formed on the flange 150, and a through hole is formed on the third plate 312. When installed, the third plate member 312 is placed on the flange member 150 with the through-holes aligned with the threaded holes, and fasteners, such as fastening screws or the like, are inserted into the through-holes and threadedly engaged with the threaded holes, thereby securing the third plate member 312 to the vehicle frame 100. Meanwhile, a fixing hole is formed in the third plate-shaped member 312, and a connecting column is arranged on the second caster assembly 330, so that during installation, the connecting column penetrates through the fixing hole of the third plate-shaped member 312 and then is in threaded connection with a locking member, wherein the locking member can be a locking nut, and the second caster assembly 330 is fixed on the third plate-shaped member 312.

In some alternative embodiments, a plurality of third support columns 143 are provided on the frame 100 adjacent to the protrusions, and threaded holes are axially formed in the third support columns 143, and correspondingly, through holes are formed in the fourth plate-shaped member 313. When mounting, the fourth plate 313 is placed on the third support column 143, and a fastener, such as a fastening screw, is screwed into the screw hole of the third support column 143, thereby fixing the fourth plate 313 to the vehicle frame 100. Meanwhile, a through hole is formed in the fourth plate-shaped member 313, and a threaded hole is formed in the second steering wheel assembly 320. When mounting, the second steering wheel assembly 320 is placed on the fourth plate 313 with the screw holes aligned with the through holes, and a fastening member, such as a fastening screw, is threaded through the through holes and then coupled with the screw holes, thereby fixing the second steering wheel assembly 320 to the fourth plate 313.

Referring to fig. 4 and 9, in the embodiment of the present invention, the second mounting seat 310 is located above the frame 100, and the second steering wheel assembly 320 and the second caster assembly 230 both need to contact with the road surface below the frame 100, so that a third avoiding hole 190 and a fourth avoiding hole 1100 are formed in the frame 100, wherein the second caster assembly 330 is located in the third avoiding hole 190 and passes through the third avoiding hole 190, and the second steering wheel assembly 320 is located in the fourth avoiding hole 1100 and passes through the fourth avoiding hole 1100. Therefore, the third avoidance hole 190 and the fourth avoidance hole 1100 formed in the frame 100 meet the requirement that the second steering wheel assembly 320 and the second caster assembly 330 of the second traveling mechanism 300 contact the road surface.

Based on the above arrangement, in the embodiment of the present invention, the second caster wheel assembly 330 and the second steering wheel assembly 320 are fixed together or separately, so as to select a specific arrangement form according to actual requirements.

Referring to fig. 2 and 7, in some alternative embodiments, the distance between the center of the frame 100 and the plane of the central axis of the first caster assembly 230 and the central axis of the first steering wheel assembly 220 is equal to the distance between the center of the frame 100 and the plane of the central axis of the second caster assembly 320 and the central axis of the second caster assembly 330 in the fore-aft direction of the frame 100. Specifically, the frame 100 may be symmetrical front-to-back and side-to-side, such as the frame 100 having a generally rectangular cross-section, wherein the center A of the frame 100 is the geometric center of the rectangle. The central axis of the first steering wheel assembly 220 is an axis B1 for the first steering wheel assembly 220 to rotate relative to the frame 100, and the axis B1 is arranged along the vertical direction of the frame 100; the central axis of the first caster assembly 230 is the axis C1 of the first caster assembly 230 rotating relative to the frame 100, and the axis C1 is disposed along the vertical direction of the frame 100, such that the axis B1 and the axis C1 are parallel to each other and are disposed along the vertical direction of the frame 100. When the frame 100 is in a horizontal state, the axis B1 and the axis C1 are both arranged along the vertical direction, and at the moment, a plane D1 passing through the axis B1 and the axis C1 is a plane perpendicular to the front-back direction of the frame 100; the distance from the center a of the vehicle frame 100 to the plane D1 is designed to be L1.

Similarly, the central axis of the second steering wheel assembly 320 is the axis B2 of the second steering wheel assembly 320 rotating relative to the frame 100, and the axis B2 is arranged along the up-down direction of the frame 100; the central axis of the second caster assembly 330 is the axis C2 of the second caster assembly 330 rotating relative to the frame 100, and the axis C2 is arranged along the vertical direction of the frame 100; thus, the axis B2 and the axis C2 are parallel to each other and are both disposed along the vertical direction of the vehicle body frame 100. When the frame 100 is in a horizontal state, the axis B2 and the axis C2 are both arranged along the vertical direction, and at the moment, a plane D2 passing through the axis B2 and the axis C2 is a plane perpendicular to the front-back direction of the frame 100; the distance from the center a of the vehicle frame 100 to the plane D2 is designed to be L2.

In the embodiment of the application, based on the setting that L1 is L2, when the transport vehicle travels, it can be ensured that the approach angle and the departure angle of the transport vehicle are basically consistent when the transport vehicle moves forward, backward and transversely, and the trafficability characteristic of the whole transport vehicle in the processes of moving forward, backward and transversely is further ensured to be the same, thereby improving the applicability of the transport vehicle.

With continued reference to fig. 2 and 7, in some alternative embodiments, the distance between the center a of the frame 100 and the central axis of the first caster assembly 220 in the left-right direction of the frame 100 is less than the distance between the center of the frame 100 and the central axis of the first caster assembly 230. Specifically, a component of the distance from the axis B1 to the center a in the left-right direction of the vehicle frame 100 is E1, and a component of the distance from the axis C1 to the center a in the left-right direction of the vehicle frame 100 is E2. In the embodiment of the present application, since the rotation radius of the first caster assembly 220 is greater than that of the first caster assembly 230, in order to ensure the stability of the entire transporter, the first caster assembly 230 is appropriately externally arranged to fully utilize the space of the frame 100 to arrange the positions of the first caster assembly 220 and the first caster assembly 230, so that E1 is smaller than E2.

Referring to fig. 2 and 7 again, the distance between the central axis of the frame 100 and the central axis of the second caster assembly 320 is smaller than the distance between the central axis of the frame 100 and the central axis of the second caster assembly 330 in the left-right direction of the frame 100. Specifically, a component of the distance from the axis B2 to the center a in the left-right direction of the vehicle frame 100 is F1, and a component of the distance from the axis C2 to the center a in the left-right direction of the vehicle frame 100 is F2. In the embodiment of the present application, since the turning radius of the second caster assembly 320 is greater than that of the second caster assembly 330, in order to ensure the stability of the entire transportation vehicle, the second caster assembly 330 is appropriately externally disposed to fully utilize the space of the vehicle frame 100 to arrange the positions of the second caster assembly 320 and the second caster assembly 330, and thus F1 is smaller than F2.

In a specific embodiment, E1 ═ F1 and E2 ═ F2, that is, the distances from the first steering wheel assembly 220 and the second steering wheel assembly 320 to the bilateral symmetry plane of the frame 100 are equal, and the distances from the first caster 230 and the second caster 330 to the bilateral symmetry plane of the frame 100 are equal, so that the stability of the transportation vehicle is ensured to some extent.

In some alternative embodiments, the axis of rotation H is offset from the center a of the frame 100 in the left-right direction of the frame 100, and the axis of rotation H and the first caster assembly 230 or the second caster 330 are on the same side of the center a of the frame 100. Referring to fig. 2 and 7, the rotation axis H is disposed along the front-rear direction of the frame 100, the rotation axis H and the first caster assembly 230 are both located on the left side of the center line of the left-right direction of the frame 100, and the rotation axis H has a certain distance from the center line of the left-right direction of the frame 100, so that the first caster assembly 220 is closer to the center line of the left-right direction of the frame 100 than the first caster assembly 230. Therefore, when carrying goods on the transport vechicle, the center of gravity of the assumed goods is located same vertical plane with the center line of the left and right directions of the frame 100, at this moment, the load that the goods distributes in the left and right sides of the frame 100 is the same, because first steering wheel assembly 220 compares in first caster assembly 230 more closely to the center line of the left and right directions of the frame 100, that is, the arm of force of first steering wheel assembly 220 department is littleer, thereby, under the condition of equal moment, the effort that bears on first steering wheel assembly 220 is greater than the effort that bears on first caster assembly 320, and then, the grip of first steering wheel assembly 220 has been promoted, make first steering wheel assembly 220 not skid. Similarly, the acting force borne by the second caster wheel assembly 320 is greater than the acting force borne by the second caster wheel assembly 330, so as to improve the grip of the second caster wheel assembly 320, and prevent the second caster wheel assembly 320 from slipping. Based on the above arrangement, the first steering wheel assembly 220 and the second steering wheel assembly 320 do not slip during the running process of the transport vehicle, so that the first steering wheel assembly 220 and the second steering wheel assembly 320 have sufficient driving force to drive the transport vehicle to smoothly run.

In some alternative embodiments, the relative positions of the first caster wheel assembly 220 and the first caster wheel assembly 230 are opposite to the relative positions of the second caster wheel assembly 320 and the second caster wheel assembly 330 in the fore-aft direction of the frame 100. Specifically, in the first travel mechanism 200, the first caster assembly 220 is located in a right region of the frame 100, and the first caster assembly 230 is located in a left region of the frame 100; in the second traveling mechanism 300, the second caster assembly 330 is disposed on the right side of the frame 100 and the second steering wheel assembly 320 is disposed on the left side of the frame 100. Because the turning radius of each steering wheel subassembly is greater than the turning radius of corresponding truckle subassembly, based on above-mentioned setting, can guarantee that the transport vechicle has good stability when turning to topple over when preventing the transport vechicle to, because first steering wheel subassembly 220 and second steering wheel subassembly 320 set up the position and scatter more, be favorable to the transport vechicle to turn in a flexible way. In addition, when first steering wheel assembly 220 and second steering wheel assembly 320 are the drive wheel, can also disperse drive power, be favorable to promoting the ground ability of grabbing of transport vechicle to alleviate the problem of skidding.

In the embodiment of the present application, the specific structures of the first lifting mechanism 400 and the second lifting mechanism 500 are substantially the same, and the first lifting mechanism 400 will be described in detail as an example. Referring to fig. 11 to 14, the first lifting mechanism 400 includes a bottom plate 410, a cover plate 420, and a lifting member connected between the bottom plate 410 and the cover plate 420, and the cover plate 420 can be moved toward or away from the bottom plate 410 by the lifting member to lift and lower the cargo.

In some alternative embodiments, the base plate 410 of the first lifting mechanism 400 is fixed to the first support column 141 by a fastening member, such as a fastening screw, etc., so as to fix the first lifting mechanism 400 and to enable the first lifting mechanism 400 to be stacked on the first traveling mechanism 200, thereby reducing the space occupied by the first lifting mechanism 400 on the horizontal plane of the vehicle frame 100. The bottom plate 410 of the second lifting mechanism 500 is fixed on the support table 3111 by fasteners, such as fastening screws, etc., so that the second lifting mechanism 500 is fixed, and the second lifting mechanism 500 and the second traveling mechanism 300 are stacked, thereby reducing the space occupied by the second lifting mechanism 500 on the horizontal plane of the vehicle frame 100.

In some optional embodiments, the lifting member includes a driving assembly 430 and a linkage assembly 440, the linkage assembly 440 includes a first link 441 and a second link 443, and middle portions of the first link 441 and the second link 443 are rotatably connected such that the first link 441 and the second link 443 can be regarded as being shaped like a scissors. The first end of the first link 441 is rotatably connected to the bottom plate 410, specifically, a first pressing block 411 is disposed on the bottom plate 410, the first end of the first link 441 is rotatably connected to the first pressing block 411 through a shaft, the second end of the first link is slidably connected to the cover plate 420, and the first end of the second link 443 is rotatably connected to the cover plate 420, specifically, a second pressing block 421 is disposed on the cover plate 420, the first end of the second link 443 is rotatably connected to the second pressing block 421 through a shaft (e.g., a fixed shaft 444), the second end of the second link is slidably connected to the cover plate 420, and the first end of the first link 441 and the first end of the second link 443 are located on the same side of the cover plate 420 or the bottom plate 410, that is, disposed oppositely, so that when the first link 441 rotates relative to the second link 443, the cover plate 420 and the bottom plate 410 can be driven to approach or separate from each other.

The driving assembly 430 includes a linear driving portion and a driving rod 435, the linear driving portion may be an air cylinder, a hydraulic cylinder, an electric push rod, a motor screw rod assembly, etc., an output end of the linear driving portion is rotatably connected with a first end of the driving rod 435, and a second end of the driving rod 435 is rotatably connected with the first connecting rod 441 or the second connecting rod 443, so that when the driving rod 435 moves through the output end of the linear driving mechanism, the driving rod 435 drives the first connecting rod 441 or the second connecting rod 443 to move, thereby enabling the cover plate 420 and the bottom plate 410 to approach or move away from each other.

In a specific embodiment, the link assembly 440 includes two first links 441 and two second links 443, wherein the second ends of the two first links 441 are connected by the connecting shaft 442, and thus, the two first links 441 and the connecting shaft 442 constitute a first frame structure. The first ends of the two second links 443 are coupled by the fixing shaft 444, and the fixing shaft 444 is fixed to the cover plate 420, so that the two second links 443 and the fixing shaft 444 constitute a second frame structure. In order to improve the stability of the second frame structure, a reinforcing bar 446 is connected between the two second links 443, and the reinforcing bar 446 is connected to the inner sides of the two second links 443 and is fixedly connected thereto by a fastener. In order to rotatably connect the first connecting rod 441 and the second connecting rod 443, the first frame structure is disposed inside the second frame structure, and the first connecting rod 441 and the second connecting rod 443 on the corresponding side are connected by a flange shaft 445, which may be a diamond-shaped flange shaft 445, so that the first frame and the second frame are rotatably connected together by the flange shaft 445, thereby forming a scissor-shaped link assembly 440.

Referring to fig. 12 and 13, the driving assembly 430 is disposed inside the first frame structure, the driving assembly 430 includes a motor 431, a lead screw 433, a lead screw nut 434 and two driving rods 435, the motor 431 is fixed on the bottom plate 410, a rotating shaft of the motor 431 is in transmission connection with the lead screw 433 through a coupling 432, two ends of the lead screw 433 are respectively in rotational connection with the first supporting seat 412 and the second supporting seat 413, the first supporting seat 412 and the second supporting seat 413 are disposed on the bottom plate 410 at intervals, and bearings are disposed on the first supporting seat 412 and the second supporting seat 413, respectively, so as to facilitate the rotation between the lead screw 433 and the two supporting seats. The screw nut 434 is sleeved on the screw 433, and the screw nut 434 can reciprocate along the axial direction of the screw 433 as the screw 433 is driven by the motor 431. The opposite two sides of the feed screw nut 434 are respectively provided with a mounting column 4341, correspondingly, the driving rod 435 is provided with a mounting trepan boring, and the driving rod 435 and the feed screw nut 434 are rotatably connected through the matching of the mounting columns 4341 and the mounting trepan boring. The other end of the driving rod 435 is connected through a connecting rod shaft 436, and both ends of the connecting rod shaft 436 are respectively rotatably connected with the two first connecting rods 441 or the two second connecting rods 443, so that the driving rod 435 moves under the driving action of the lead screw nut 434, and drives the first connecting rod 441 or the second connecting rod 443 through the connecting rod shaft 436, so that the connecting rod assembly 440 moves, and the connecting rod assembly 440 drives the cover plate 420 to approach or depart from the bottom plate 410.

In a specific embodiment, the two ends of the link shaft 436 are respectively rotatably connected to the two first links 441, and since the first ends of the first links 441 are rotatably connected to the bottom plate 410, the power is directly transmitted to the first links 441 through the link shaft 436 to facilitate the movement of the link assemblies 440, thereby facilitating the lifting operation of the lifting mechanism 400.

Based on the above arrangement, the driving assembly 430 is arranged inside the connecting rod assembly 440 in the shape of a scissors fork, so that the whole lifting mechanism 400 is more compact in structure, and the purpose of saving space is achieved; in addition, the driving rod 435 is driven to move by the lead screw nut 434, and the angle between the driving rod 435 and the bottom plate 410 is increased to a certain extent due to the relatively large stroke of the lead screw nut 434, so that the power lifting angle of the whole lifting mechanism 400 is larger, and the lifting process is more labor-saving.

Referring to fig. 14, in order to improve the stability of the sliding between the second end of the first connecting rod 441 and the cover plate 420 and reduce the mutual frictional resistance, in the embodiment of the present application, a nylon slider 450 is disposed at an end of the connecting shaft 442, a through hole is formed in the nylon slider 450, the end of the connecting shaft 442 is inserted into the through hole and fastened, and the connecting shaft 442 can rotate relative to the nylon slider 450, and accordingly, a sliding slot is disposed on a side surface of the cover plate 420 facing the bottom plate 410, and the nylon slider 450 is disposed in the sliding slot and can move in the sliding slot. In this way, when the first link 441 is driven by the driving rod 435 to rotate relative to the bottom plate 410, the second end of the first link 441 slides along the sliding slot of the cover plate 420 through the nylon sliding block 450, so that the cover plate 420 moves relative to the bottom plate 410, and simultaneously the frictional resistance between the first link 441 and the cover plate 420 is reduced, thereby facilitating the movement of the first link 441 relative to the cover plate 420, and simultaneously alleviating the problem of abrasion caused by direct contact between the first link 441 and the cover plate 420.

In the embodiment of the present application, the nylon slider 450 is disposed at the second end of the second link 443, and specifically, a shaft member is disposed at the second end of the second link 443 and is inserted into the through hole of the nylon slider 450, so that the second end of the second link 443 can rotate relative to the nylon slider 450. Meanwhile, a sliding groove is provided on a side of the bottom plate 410 facing the cover plate 420, and the nylon slider 450 is disposed in the sliding groove and can move therein. In this manner, when the second link 443 moves relative to the base plate 410, by providing the nylon slider 450, the frictional resistance between the second link 443 and the base plate 410 can be reduced, thereby facilitating the movement of the second link 443 relative to the base plate 410 while alleviating the problem of abrasion caused by direct contact between the second link 443 and the base plate 410.

In the embodiment, when the lifting mechanism 400 is in the lifting state, the driving rod 435 and the lead screw nut 434 are disposed along the up-down direction of the frame 100. It should be noted here that after the lifting is completed, the driving rod 435 is vertical or close to vertical within a certain angle range relative to the lead screw nut 434, and the load of the lifting mechanism 400 is borne by the driving rod 435 and the lead screw nut 434, at this time, the lead screw 433 is hardly subjected to axial force, radial force is borne by the lead screw 433 slide block, and one face of the lead screw 433 is subjected to radial force to cause bending damage, so that the lead screw pair composed of the lead screw 433 and the lead screw nut 434 can be protected to the greatest extent, and the service life of the lead screw pair is prolonged.

In some alternative embodiments, the lifting mechanism 400 can further include a thrust block (not shown) disposed in the path of movement of the lead screw nut 434. When the screw nut 434 moves to approach the thrust block, in a lifting completion state, if the motor 431 fails to perform an internal contracting brake, the screw nut 434 will continue to move forward under the action of a load on the cover plate 420, and finally abuts against the thrust block to stop moving, so as to prevent the screw nut 434 from moving excessively to cause the driving rod 435 to continue moving, thereby causing the lifting mechanism 400 to be damaged, and further playing a role in protecting the whole lifting mechanism 400. When the lead screw nut 434 abuts against the thrust block, an included angle between the driving member and the moving direction of the lead screw nut 434 is an obtuse angle, which may specifically include 91 °, 95 °, 100 °, 102 °, 105 °, and the like, and may also include other degrees. Thus, the screw pair cannot move under the condition of no power, so that the driving rod 435 cannot move, and therefore, the self-locking of the whole lifting mechanism 400 is realized, and the whole lifting mechanism 400 is safer and more reliable.

In some optional embodiments, lifting bolts are installed on the bottom plate 410 of the lifting mechanisms 400, and specifically, lifting bolts are respectively installed at four corners of the bottom plate 410 of each lifting mechanism 400, so as to facilitate the lifting process of the lifting mechanisms 400 in the assembly shop.

To sum up, the transport vechicle disclosed in the embodiment of the present application can realize all-round motion all around, can be suitable for the delivery demand of longer goods or great goods, is applicable to various routes and operating mode basically, can cover the scene wider, also can regard as the chassis of commonality robot. For some special applicable scenes, such as the narrow running environment, the requirement of heavy-load carrying capacity and omnidirectional movement capacity is still needed, in the implementation of the application, the first lifting mechanism 400 and the first walking mechanism 200 are arranged in a stacked mode, and the second lifting mechanism 500 and the second walking mechanism 300 are arranged in a stacked mode, so that the transportation vehicle is compact in whole, small in whole size, capable of meeting the actual requirement, and capable of filling the blank for some projects and using working conditions.

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

1. A transportation vehicle, comprising: the device comprises a frame (100), a first walking mechanism (200), a second walking mechanism (300), a first lifting mechanism (400) and a second lifting mechanism (500);

the first traveling mechanism (200) and the second traveling mechanism (300) are arranged on two sides of the frame (100) respectively along the front-back direction of the frame (100), the first lifting mechanism (400) is at least partially arranged above the first traveling mechanism (200) and fixed on the first traveling mechanism (200) or the frame (100), and the second lifting mechanism (500) is at least partially arranged above the second traveling mechanism (300) and fixed on the first traveling mechanism (200) or the frame (100).

2. The transportation vehicle of claim 1, wherein a plurality of first supporting columns (141) are arranged on the frame (100) in the area adjacent to the first travelling mechanism (200), and the first lifting mechanism (400) is arranged on the first supporting columns (141) and is fixedly connected with the first supporting columns (141);

keep away from on frame (100) the region of first running gear (200) one side is equipped with a plurality of second support columns (142), second running gear (300) part is fixed in second support column (142), be equipped with a plurality of brace tables (3111) on second running gear (300), second lifting mechanism (500) set up in on brace table (3111), and with brace table (3111) fixed connection.

3. The transporter according to claim 2, wherein the first lifting mechanism (400) is located directly above the first travelling mechanism (200) such that the first lifting mechanism (400) is arranged on top of the first travelling mechanism (200);

and/or the second lifting mechanism (500) is positioned right above the second travelling mechanism (300), so that the second lifting mechanism (500) and the second travelling mechanism (300) are arranged in a stacked manner.

4. The transporter according to claim 2, wherein the first traveling mechanism (200) comprises a first mounting base (210), a first steering wheel assembly (220) and a first caster assembly (230), the first mounting base (210) is rotatably connected to the frame (100) and a rotation axis is arranged along a front-rear direction of the frame (100), and the first steering wheel assembly (220) and the first caster assembly (230) are respectively connected to the first mounting base (210) and located at both sides of the rotation axis;

and/or the second walking mechanism (300) comprises a second mounting seat (310), a second steering wheel assembly (320) and a second caster assembly (330), the second mounting seat (310) is fixed on the second supporting column (142), and the second steering wheel assembly (320) and the second caster assembly (330) are respectively connected to two sides of the second mounting seat (310) along the left and right directions of the frame (100).

5. The transportation vehicle of claim 4, wherein the first mounting seat (210) comprises a first plate-shaped member (211), a first fixing block (212) is disposed on a side of the first plate-shaped member (211) facing the frame (100), a through hole (2121) is disposed on the first fixing block (212), a second fixing block (110) is disposed on the frame (100), a spindle (130) is disposed on the second fixing block (110), the spindle (130) is inserted into the through hole (2121), and an axis of the spindle (130) is the rotation axis.

6. Transport vehicle according to claim 4, characterized in that the second mounting seat (310) comprises a second plate-shaped member (311), the second plate-shaped member (311) is fixed to the second support column (142), a plurality of support tables (3111) are provided on the second plate-shaped member (311), the second lifting mechanism (500) is arranged opposite to the second plate-shaped member (311), and the second lifting mechanism (500) is fixed to the second plate-shaped member (311) through the support tables (3111).

7. Carriage as in claim 4, characterized in that the distance between the centre of the frame (100) and the plane passing through the central axis of the first steering wheel assembly (220) and the central axis of the first caster assembly (230) in the fore-aft direction of the frame (100) is equal to the distance between the centre of the frame (100) and the plane passing through the central axis of the second steering wheel assembly (320) and the central axis of the second caster assembly (330);

the distance between the center of the frame (100) and the central axis of the first steering wheel assembly (220) is smaller than the distance between the center of the frame (100) and the central axis of the first caster assembly (230) along the left-right direction of the frame (100);

the distance between the center of the frame (100) and the central axis of the second steering wheel assembly (320) is smaller than the distance between the center of the frame (100) and the central axis of the second caster assembly (330) along the left-right direction of the frame (100).

8. The transporter according to claim 4, wherein the axis of rotation is offset from the center of the frame (100) in a left-right direction of the frame (100) and is on the same side of the center of the frame (100) as the first caster assembly (230) or is on the same side of the center of the frame (100) as the second caster assembly (330).

9. Transport carriage as claimed in any of the claims 2-8, characterized in that the first lifting mechanism (400) and the second lifting mechanism (500) each comprise a floor (410), a cover plate (420) and a lifting member connected between the floor (410) and the cover plate (420);

the bottom plate (410) of the first lifting mechanism (400) is fixed to the first support column (141), and the bottom plate (410) of the second lifting mechanism (500) is fixed to the support table (3111).

10. The transporter according to claim 9, wherein the lifting member comprises a drive assembly (430) and a linkage assembly (440);

the connecting rod assembly (440) comprises a first connecting rod (441) and a second connecting rod (443), a first end of the first connecting rod (441) is rotatably connected with the bottom plate (410), a second end of the first connecting rod (441) is slidably connected with the cover plate (420), a first end of the second connecting rod (443) is rotatably connected with the cover plate (420), a second end of the second connecting rod (443) is slidably connected with the bottom plate (410), a first end of the first connecting rod (441) is opposite to a first end of the second connecting rod (443), and a middle part of the first connecting rod (441) is rotatably connected with a middle part of the second connecting rod (443);

the driving assembly (430) comprises a linear driving part and a driving rod (435), wherein the output end of the linear driving part is rotatably connected with the driving rod (435), and the driving rod (435) is rotatably connected with the first connecting rod (441) or the second connecting rod (443).

11. Carriage as in claim 10, characterized in that said connecting rod assembly (440) comprises two said first connecting rods (441) and two said second connecting rods (443), the second ends of the two first connecting rods (441) being connected by a connecting shaft (442), the first ends of the two second connecting rods (443) being connected by a fixed shaft (444), the two first connecting rods (441) being located inside the two second connecting rods (443), said driving assembly (430) being located inside the two first connecting rods (441), the first connecting rods (441) being connected with the corresponding side of the second connecting rods (443) by a flange shaft (445);

and/or the driving assembly (430) comprises a motor (431), a screw rod (433) in transmission connection with a rotating shaft of the motor (431), a screw nut (434) in transmission connection with the screw rod (433) and in sliding connection with the bottom plate (410), and two driving rods (435) in rotation connection with the screw nut (434), wherein one ends of the two driving rods (435) departing from the screw nut (434) are connected through a connecting rod shaft (436), and the connecting rod shaft (436) is in rotation connection with the first connecting rod (441) or the second connecting rod (443).

12. Transport carriage according to claim 11, characterized in that the first lifting mechanism (400) and the second lifting mechanism (500) each comprise a thrust block for limiting the range of movement of the spindle nut (434), and in that the extension of the drive rod (435) away from the spindle nut (434) forms an obtuse angle with the direction of movement of the spindle nut (434) with the spindle nut (434) abutting against the thrust block.