CN214734175U - Carrying device - Google Patents
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- CN214734175U CN214734175U CN202023344756.8U CN202023344756U CN214734175U CN 214734175 U CN214734175 U CN 214734175U CN 202023344756 U CN202023344756 U CN 202023344756U CN 214734175 U CN214734175 U CN 214734175U
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- 230000008602 contraction Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
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- 230000008569 process Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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Abstract
The embodiment of the application discloses a carrying device, relates to the technical field of automatic guide transportation, and aims to improve the transmission efficiency of driving power conveniently. The carrying device comprises a vehicle body and a carrying arm, wherein the vehicle body is provided with a carrying arm accommodating groove extending in the horizontal direction, and the carrying arm is arranged in the carrying arm accommodating groove; the carrying arm comprises an arm body, wherein a first supporting wheel, a second supporting wheel, a walking driving mechanism and a lifting mechanism are arranged on the arm body, and the first supporting wheel and/or the second supporting wheel are/is connected with the walking driving mechanism; the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel, and the carrying arm at least partially extends out of the carrying arm accommodating groove so as to lift an article through the lifting mechanism; the walking driving mechanism reversely drives the first supporting wheel and/or the second supporting wheel, and the conveying arm extends out of the part of the conveying arm accommodating groove and returns to the conveying arm accommodating groove. This application is applicable to the transport goods.
Description
Technical Field
The application relates to the technical field of automatic guide transportation, in particular to a carrying device.
Background
The existing carrying device generally comprises a vehicle body, a carrying arm and a driving mechanism; the carrying arm driving mechanism is arranged on the vehicle body, so that the carrying arm extends out of the vehicle body, the goods are lifted by the lifting mechanism and placed on the vehicle body, and the goods are conveyed to a destination by the vehicle body.
SUMMERY OF THE UTILITY MODEL
In view of this, the present disclosure provides a conveying device, in which the transmission of the driving power of the supporting wheels is more efficient.
The embodiment of the application provides a handling device, includes: the trolley comprises a trolley body and a carrying arm, wherein the trolley body is provided with a carrying arm accommodating groove extending in the horizontal direction, and the carrying arm is arranged in the carrying arm accommodating groove; the carrying arm comprises an arm body, wherein a first supporting wheel, a second supporting wheel, a walking driving mechanism and a lifting mechanism are arranged on the arm body, and the first supporting wheel and/or the second supporting wheel are/is connected with the walking driving mechanism; the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel, and the carrying arm at least partially extends out of the carrying arm accommodating groove so as to lift an article through the lifting mechanism; the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel reversely, and the conveying arm extends out of the part of the conveying arm accommodating groove and returns to the conveying arm accommodating groove.
Optionally, a slide rail is arranged between the carrying arm accommodating groove and the carrying arm; the sliding rail is connected with the carrying arm accommodating groove in a sliding fit mode or in a rolling fit mode, and the carrying arm is connected with the sliding rail in a sliding fit mode or in a rolling fit mode.
Optionally, the first supporting wheel and the second supporting wheel are respectively arranged at two ends of the arm body; the walking driving mechanism comprises a walking driving motor arranged on the arm body and a walking transmission mechanism connected with the walking driving motor, and the walking transmission mechanism is connected with the first supporting wheel.
Optionally, the walking driving motor is arranged along the length direction of the arm body.
Optionally, the walking transmission mechanism comprises a speed reducer, the input end of the speed reducer is connected with the output end of the walking driving motor, the output shaft of the speed reducer is connected with a driving gear, the driving gear is connected with a driven gear, and the driven gear is coaxially and fixedly arranged with the first supporting wheel.
Optionally, the lifting mechanism comprises a lifting drive mechanism, a pull rod and a link mechanism; the bottom end of the connecting rod mechanism is hinged to the arm body; the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism; the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform contraction action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.
Optionally, the lifting driving mechanism includes a lifting driving motor, a lead screw connected to the lifting driving motor, and a slider in threaded connection with the lead screw; the sliding block is hinged with the first end of the pull rod.
Optionally, the pull rod includes a first pull rod and a second pull rod, a first end of the first pull rod is hinged to the lifting driving mechanism, a second end of the first pull rod is hinged to a first end of the second pull rod, and a second end of the second pull rod is hinged to the link mechanism.
Optionally, a horizontally extending elongated sliding groove is provided at a side portion of the arm body, and one end of a hinge shaft between the slider and the pull rod is provided in the sliding groove.
Optionally, the linkage comprises a lift top plate, a first link and a second link; the bottom end of the first connecting rod is hinged with the arm body, and the top end of the first connecting rod is hinged with the lifting top plate; the bottom end of the second connecting rod is hinged with the arm body, and the top end of the second connecting rod is hinged with the lifting top plate; and a parallel four-bar linkage mechanism is formed among the lifting top plate, the first connecting bar, the second connecting bar and the arm body.
According to the carrying device provided by the embodiment of the application, the arm body is provided with the first supporting wheel, the second supporting wheel, the walking driving mechanism and the lifting mechanism, and the first supporting wheel and/or the second supporting wheel are/is connected with the walking driving mechanism; the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel, so that at least part of the carrying arm extends out of the carrying arm accommodating groove.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a handling apparatus according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a transfer arm in an inoperative position according to an embodiment of the present application;
FIG. 3 is a schematic illustration of an embodiment of the present application showing the transfer arm in a raised position;
fig. 4 is a partial schematic structural view of a handling apparatus according to another embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an embodiment of the present disclosure with the lifting mechanism in a retracted state;
FIG. 6 is a schematic view of a carrying device lifting a tray according to an embodiment of the present application;
FIG. 7 is a schematic view of a transport device drawing a tray back to the AGV body in one embodiment of the present application;
FIG. 8 is a schematic view of a handling device placing a tray on the AGV body in one embodiment of the present application;
FIG. 9 is a schematic view of a transport returning to the AGV body in one embodiment of the present application;
FIG. 10 is a schematic view of an AGV according to yet another embodiment of the present application;
FIG. 11 is a schematic diagram of an AGV according to yet another embodiment of the present application;
FIG. 12 is a partial schematic view of a rotating body of an AGV according to one embodiment of the present application.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a carrying device according to an embodiment of the present application, fig. 2 is a schematic structural diagram of a carrying arm in an inoperative state according to an embodiment of the present application, and fig. 3 is a schematic structural diagram of a carrying arm in a lifting state according to an embodiment of the present application, as shown in fig. 1 to 3, the carrying device according to the present embodiment may include: the trolley comprises a trolley body 1 and a carrying arm 2, wherein the trolley body 1 is provided with a carrying arm accommodating groove 10 extending in the horizontal direction, and the carrying arm 2 is arranged in the carrying arm accommodating groove 10; wherein,
the carrying arm 2 comprises an arm body 20, a first supporting wheel 21, a second supporting wheel 22, a walking driving mechanism 23 and a lifting mechanism 24 are arranged on the arm body 20, and the first supporting wheel 21 is connected with the walking driving mechanism 23;
the walking driving mechanism 23 drives the first supporting wheel 21, and the carrying arm at least partially extends out of the carrying arm accommodating groove 10 so as to lift the object through the lifting mechanism 24;
the first support wheel 21 is driven in the opposite direction by the travel drive mechanism 23, and the part of the carrying arm 2 protruding out of the carrying arm receiving groove 10 is returned into the carrying arm receiving groove.
In this embodiment, the transport device may also be referred to as an automatic Guided transport device, a transport robot, a transport AGV, or an Automatic Guided Vehicle (AGV). An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. The handling device can handle various types of goods, shelves and goods except for the pallet, and only a space for the handling arm 2 to enter is left below.
The vehicle body 1 can be provided with an omnidirectional walking unit, a sensing unit, a battery, a charging unit, a control unit, an anti-collision unit, a code reading unit, a communication unit and the like. The sensing unit can adopt sensors such as laser, vision, infrared and photoelectric sensors. The omnidirectional walking unit can realize various walking modes such as straight lines, oblique lines, arc lines and the like, and can also be replaced by other walking units to realize different walking modes.
Two carrying arm accommodating grooves 10 can be arranged on the vehicle body 1 in parallel, each carrying arm accommodating groove 10 is provided with one carrying arm 2, and the two carrying arms 2 can work in cooperation.
The carrier arm 2 may extend partially through the carrier arm receiving cavity 10 or may extend entirely through the carrier arm receiving cavity 10.
The arm body 20 is provided with a first support wheel 21 and a second support wheel 22, and the first support wheel 21 and the second support wheel 22 can be respectively arranged at the bottoms of the two ends of the arm body 20 to support the carrying arm 2. When carrying goods, the two ends of the arm 20 can be supported on the ground by the first support wheel 21 and the second support wheel, wherein the first support wheel 21 is driven by the traveling driving mechanism 23, and the second support wheel 22 can be a caster wheel without driving power, but the second support wheel 22 can also be a driving wheel with driving power.
The travel drive mechanism 23 may be used to drive the first support wheel 21 to move the carrying arm.
The lifting mechanism 24 is used to lift the goods or to lift the trays containing the goods. The lifting mechanism 24 can lift along a vertical direction or along a predetermined curved track, and the lifting mechanism 24 can be a screw rod type lifting mechanism or a scissor type lifting mechanism, etc.
Before lifting the goods, the first support wheel 21 is driven by the travel drive mechanism 23, so that the carrying arm 2 at least partially protrudes from the carrying arm accommodating slot 10, so as to lift the goods by the carrying arm 2. When the goods are lifted, the first supporting wheel 21 is reversely driven by the traveling driving mechanism, and the part of the carrying arm 2 extending out of the carrying arm accommodating groove 10 returns to the carrying arm accommodating groove 10, so that the goods are placed on the vehicle body.
In the embodiment, the vehicle body is provided with a carrying arm accommodating groove extending in the horizontal direction, the carrying arm is arranged in the carrying arm accommodating groove and comprises an arm body, the arm body is provided with a first supporting wheel, a second supporting wheel, a walking driving mechanism and a lifting mechanism, and the first supporting wheel and/or the second supporting wheel are/is connected with the walking driving mechanism; because the walking drive mechanism is arranged in the carrying arm, the distance from the first supporting wheel and/or the second supporting wheel is more, the first supporting wheel and/or the second supporting wheel can be directly provided with driving power, the power loss in the driving process is less, and the transmission of the driving power is more efficient. In addition, greater power can be provided for the carrying arm, and the efficiency of carrying articles is further improved conveniently.
As an alternative, in some examples, the walking driving mechanism 23 is connected to the second supporting wheel 22, and the first supporting wheel 21 may be a caster wheel without driving power, and of course, the second supporting wheel 22 may also be a driving wheel with driving power; in other examples, the travel drive mechanism 23 may be coupled to the first support wheel 21 and the second support wheel 22, respectively.
Referring to fig. 4, in some embodiments, to make the extension stroke of the carrier arm 2 longer, a slide rail 3 is provided between the carrier arm accommodating groove 10 and the carrier arm 2; the slide rail 3 and the carrying arm accommodating groove 10, and the carrying arm 2 and the slide rail 3 can be connected in a sliding fit manner, and can also be connected in a rolling fit manner.
A slide rail guide and support structure 12 is arranged at the side part of the carrying arm accommodating groove 10, and the slide rail guide and support structure 12 is matched with the slide rail 3 to provide transverse guide and vertical support for the slide rail 3; the slide rail 3 can be extended and retracted laterally (horizontally) relative to the carrying arm accommodating groove 10, and the carrying arm 2 can be horizontally moved along the slide rail 3.
Referring to fig. 2 and 3, a carrying device according to another embodiment of the present application is substantially the same as the above-mentioned embodiment, except that a first supporting wheel 21 and a second supporting wheel 22 are respectively disposed at two ends of an arm 20; the travel driving mechanism 23 includes a travel driving motor 230 provided on the arm body 20 and a travel transmission mechanism (not shown) connected to the travel driving motor, and the travel transmission mechanism is connected to the first support wheel.
The first support wheel 21 and the second support wheel 22 are provided at both ends of the arm body 20, respectively, and support the transfer arm 2.
The travel driving motor 230 may be a dc driving motor or an ac driving motor. In order to reduce the width of the carrier arm 2, the length of the motor is usually greater than the diameter of the motor, and in some embodiments, a travel drive motor is provided along the length of the arm body.
The walking transmission mechanism can be a chain transmission mechanism, a belt transmission mechanism and a gear transmission mechanism.
In order to improve the working stability of the carrying arm, in some examples, the walking transmission mechanism comprises a speed reducer, an input end of the speed reducer is connected with an output end of the walking driving motor, an output shaft of the speed reducer is connected with a driving gear, the driving gear is connected with a driven gear, and the driven gear and the first supporting wheel are coaxially and fixedly arranged.
The reducer can be an independent component consisting of a gear drive, a worm drive and a gear-worm drive which are enclosed in a rigid shell, is commonly used as a reduction drive and can play a role in matching rotating speed and transmitting torque.
The driving gear is driven by the walking driving motor 230 through the walking transmission mechanism to rotate, and drives the driven gear connected with the driving gear to rotate.
In order to make the lifting mechanism 24 have a more compact structure in the non-lifting state for being folded in the vehicle body 1, the lifting mechanism 24 may be a foldable lifting mechanism, and specifically, referring to fig. 3, in some embodiments, the lifting mechanism 24 includes a lifting driving mechanism 240, a pull rod 242 and a link mechanism 244; the bottom end of the link mechanism 244 is hinged on the arm body 20; the first end of the pull rod 242 is hinged with the lifting driving mechanism 240, and the second end is hinged with the link mechanism 242; the lifting driving mechanism 240 pulls the pull rod 242, and the pull rod 242 pulls the link mechanism 244 to perform contraction; the lift driving mechanism 240 pushes the pull rod 242, and the pull rod 242 pushes the link mechanism to perform an extending and lifting action.
In one example, the lift driving mechanism 240 includes a lift driving motor 240a, a lead screw 240b connected to the lift driving motor 240a, and a slider 240c threadedly connected to the lead screw; the slider 240c is hinged to a first end of a pull rod 242.
The slider 240c includes a nut that is threadably connected to the lead screw to form a lead screw nut pair.
The lifting driving motor 240a rotates to drive the screw 240b to rotate, and further, the slider 240c screwed with the screw moves along the length direction of the screw 240b, so as to drive the first end of the pull rod 242 to move, so as to drive the pull rod 242 to move.
During the process that the sliding block 240c pushes the pull rod 242, the hinge point between the sliding block 240c and the pull rod 242 can always move in the horizontal direction. Referring to fig. 3, a horizontally extending elongated slide groove 201 is provided at a side portion of the arm body 20, and one end of the hinge shaft 25 between the slider 240c and the pull rod 242 is provided in the slide groove 201.
The sliding groove 201 limits the hinge point between the sliding block 240c and the pull rod 242 so that the sliding block can move in the horizontal direction all the time.
When the hinge point between the slider 240c and the pull rod 242 moves in the horizontal direction, the hinge point between the slider 240c and the pull rod 242 can be supported on the arm 20, which can provide stable support for the lifting mechanism 24.
In some embodiments, the number of tie rods may be one. Referring to fig. 3, in other embodiments, the number of the pull rods 242 is two, and the pull rods 242 include a first pull rod 242a and a second pull rod 242b, wherein a first end of the first pull rod 242a is hinged to the lifting driving mechanism 240, a second end of the first pull rod 242 is hinged to a first end of the second pull rod 242b, and a second end of the second pull rod 242b is hinged to the linkage mechanism.
Referring to fig. 5, when the link mechanism is in the maximum contraction state, the first pull rod 242a is horizontally supported on the arm body 20, and the second pull rod 242b and the first pull rod 242a have a predetermined included angle therebetween, which may range from greater than 150 degrees to less than 180 degrees. Therefore, the lifting driving mechanism can apply lifting driving force to the connecting rod mechanism conveniently, and the connecting rod mechanism can be pushed and lifted from the contraction state to the extension lifting state by small pushing force.
Referring to fig. 3, in one example, the link mechanism 244 includes a top lift plate 244a, a first link 244b and a second link 244c, a bottom end of the first link 244b is hinged to the arm body 20, a top end of the first link 244b is hinged to the top lift plate 244a, a bottom end of the second link 244c is hinged to the arm body 20, and a top end of the second link 244c is hinged to the top lift plate 244 a; a parallel four-bar linkage is formed between the lift top plate 244a, the first link 244b, the second link 244c, and the arm body 20.
The lifting top plate 244a is used to lift the cargo.
In order to make the lifting of the lifting top plate 244a more stable and the supporting force stronger, referring to fig. 3, there may be two first connecting rods 244b, and the two first connecting rods 244b are arranged in parallel; there are also two second links 244c, the two second links 244c are arranged in parallel, and the lifting top plate 244a is supported at four corners by four links.
Fig. 6 is a schematic diagram of a tray lifted by a transporting device in an embodiment of the present application, fig. 7 is a schematic diagram of a tray pulled back to an AGV body by a transporting device in an embodiment of the present application, fig. 8 is a schematic diagram of a tray placed on an AGV body by a transporting device in an embodiment of the present application, fig. 9 is a schematic diagram of a tray pulled back to an AGV body by a transporting device in an embodiment of the present application, fig. 6 to 9 show that a tray 100 is lifted by a lifting mechanism 24, a first supporting wheel 21 is driven by a travel driving mechanism 23 to move toward the AGV body, after a transporting arm reaches a predetermined position of a transporting arm accommodating groove of the AGV body, the tray is placed on the AGV body by the lifting mechanism, the lifting mechanism is contracted to an initial state, and then the transporting device moves to place the tray at a target position.
The application also provides an AGV, including the AGV body, be equipped with rotary device at the AGV body.
Referring to fig. 10 to 12, in an embodiment, the rotating device includes a power mechanism 1 and a transmission mechanism 2, wherein the power mechanism 1 includes a motor 10, a reducer 12 and a driving pulley 13, which are disposed on a mounting plate 3, and one end of the reducer 12 is connected to the motor 10, and the other end is connected to the driving pulley 13. The transmission mechanism 2 comprises a belt 20, a tension wheel 21 and a rotating body 22, wherein the rotating body 22 comprises an upper shell 22a, a lower shell 22b and a support bearing 22c, and the support bearing 22c comprises a radial bearing 22c1 and an axial bearing 22c 2.
The driving pulley 13 is connected with the rotating body 22 through a belt 20, and the tension pulley 21 is installed on the installation plate 3.
The working process and principle are as follows: 1) the rotary body is a part which directly bears weight and independently rotates, the upper shell and the lower shell of the rotary body form a cavity, and the axial bearing and the radial bearing on the mounting plate are respectively used for axial and radial positioning support to replace the slewing bearing of the traditional rotary mechanism, so that the rotary body can freely rotate relative to the mounting plate.
The motor outputs torque to the speed reducer, the speed reducer is fixedly connected with the driving belt pulley, the belt pulley drives the rotating body to do rotating motion through the belt, the tension wheel is installed on the installation plate, position adjustment can be conducted on the radial direction of the rotating body, and different belt tensions are adjusted.
In this embodiment, adopt the bearing of radial and two directions of axial to replace slewing bearing, simple structure, it is with low costs, simple to operate to, adopt belt transmission moment of rotation, the transmission is steady, simple structure, and is with low costs, and in addition, this structure need not to add lubricating oil, and the maintenance is convenient, and is with low costs.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
For convenience of description, the above devices are described separately in terms of functional division into various units/modules. Of course, the functionality of the units/modules may be implemented in one or more software and/or hardware implementations when the present application is implemented.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A handling device, comprising: the trolley comprises a trolley body and a carrying arm, wherein the trolley body is provided with a carrying arm accommodating groove extending in the horizontal direction, and the carrying arm is arranged in the carrying arm accommodating groove; wherein,
the carrying arm comprises an arm body, wherein a first supporting wheel, a second supporting wheel, a walking driving mechanism and a lifting mechanism are arranged on the arm body, and the first supporting wheel and/or the second supporting wheel are/is connected with the walking driving mechanism;
the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel, and the carrying arm at least partially extends out of the carrying arm accommodating groove so as to lift an article through the lifting mechanism;
the walking driving mechanism drives the first supporting wheel and/or the second supporting wheel reversely, and the conveying arm extends out of the part of the conveying arm accommodating groove and returns to the conveying arm accommodating groove.
2. The handling device according to claim 1, characterized in that a slide is provided between the handling arm receiving slot and the handling arm;
the sliding rail is connected with the carrying arm accommodating groove in a sliding fit mode or in a rolling fit mode, and the carrying arm is connected with the sliding rail in a sliding fit mode or in a rolling fit mode.
3. The carrier device according to claim 1, wherein the first support wheel and the second support wheel are provided at both ends of the arm body, respectively;
the walking driving mechanism comprises a walking driving motor arranged on the arm body and a walking transmission mechanism connected with the walking driving motor, and the walking transmission mechanism is connected with the first supporting wheel.
4. The conveying apparatus according to claim 3, wherein the travel driving motor is provided along a longitudinal direction of the arm body.
5. The conveying device as claimed in claim 3, wherein the walking transmission mechanism comprises a speed reducer, an input end of the speed reducer is connected with an output end of the walking driving motor, an output shaft of the speed reducer is connected with a driving gear, the driving gear is connected with a driven gear, and the driven gear is coaxially and fixedly arranged with the first supporting wheel.
6. The transfer device of claim 1, wherein the lifting mechanism comprises a lifting drive mechanism, a drawbar and a linkage mechanism;
the bottom end of the connecting rod mechanism is hinged to the arm body;
the first end of the pull rod is hinged with the lifting driving mechanism, and the second end of the pull rod is hinged with the connecting rod mechanism;
the lifting driving mechanism pulls the pull rod, and the pull rod pulls the connecting rod mechanism to perform contraction action; the lifting driving mechanism pushes the pull rod, and the pull rod pushes the connecting rod mechanism to perform stretching and lifting actions.
7. The handling device according to claim 6, wherein the lifting drive mechanism comprises a lifting drive motor, a lead screw connected with the lifting drive motor, and a slide block in threaded connection with the lead screw;
the sliding block is hinged with the first end of the pull rod.
8. The handling device of claim 7, wherein the tie rod comprises a first tie rod and a second tie rod, a first end of the first tie rod is hinged to the lift drive mechanism, a second end of the first tie rod is hinged to a first end of the second tie rod, and a second end of the second tie rod is hinged to the linkage mechanism.
9. The carrier device according to claim 7, wherein a horizontally extending elongated slide groove is provided in a side portion of the arm body, and one end of a hinge shaft between the slider and the pull rod is provided in the slide groove.
10. The handling device of claim 8, wherein the linkage mechanism comprises a lift top plate, a first link, and a second link;
the bottom end of the first connecting rod is hinged with the arm body, and the top end of the first connecting rod is hinged with the lifting top plate;
the bottom end of the second connecting rod is hinged with the arm body, and the top end of the second connecting rod is hinged with the lifting top plate; and a parallel four-bar linkage mechanism is formed among the lifting top plate, the first connecting bar, the second connecting bar and the arm body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023344756.8U CN214734175U (en) | 2020-12-31 | 2020-12-31 | Carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023344756.8U CN214734175U (en) | 2020-12-31 | 2020-12-31 | Carrying device |
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|---|---|
| CN214734175U true CN214734175U (en) | 2021-11-16 |
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| CN202023344756.8U Active CN214734175U (en) | 2020-12-31 | 2020-12-31 | Carrying device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475180A (en) * | 2021-12-31 | 2022-05-13 | 上海集度汽车有限公司 | Sliding door motion and vehicle |
| CN114772197A (en) * | 2022-05-27 | 2022-07-22 | 湖南三一快而居住宅工业有限公司 | Ferry vehicle, control method and aerated concrete production line |
| CN114906773A (en) * | 2022-06-06 | 2022-08-16 | 北京捷象灵越科技有限公司 | Forklift robot and working method |
| CN114772197B (en) * | 2022-05-27 | 2024-10-22 | 湖南三一快而居住宅工业有限公司 | Ferry vehicle, control method and aerated concrete production line |
-
2020
- 2020-12-31 CN CN202023344756.8U patent/CN214734175U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475180A (en) * | 2021-12-31 | 2022-05-13 | 上海集度汽车有限公司 | Sliding door motion and vehicle |
| CN114772197A (en) * | 2022-05-27 | 2022-07-22 | 湖南三一快而居住宅工业有限公司 | Ferry vehicle, control method and aerated concrete production line |
| CN114772197B (en) * | 2022-05-27 | 2024-10-22 | 湖南三一快而居住宅工业有限公司 | Ferry vehicle, control method and aerated concrete production line |
| CN114906773A (en) * | 2022-06-06 | 2022-08-16 | 北京捷象灵越科技有限公司 | Forklift robot and working method |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |