CN215513938U

CN215513938U - Transport device

Info

Publication number: CN215513938U
Application number: CN202120790638.5U
Authority: CN
Inventors: 文洁
Original assignee: Shenzhen Yushanfang Intelligent Technology Co Ltd
Current assignee: Shenzhen Yushanfang Intelligent Technology Co Ltd
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2022-01-14
Anticipated expiration: 2031-04-16

Abstract

The application discloses conveyer includes: the body is convexly provided with a movable pin; the driving mechanism comprises a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly are symmetrically arranged on two sides of the body; the first driving assembly and the second driving assembly respectively comprise a driving piece and a driving wheel, and the driving pieces are connected with the driving wheel; the navigation mechanism is used for navigating the body; the obstacle detection mechanism comprises an infrared detection assembly and an ultrasonic detection assembly, and the infrared detection assembly and the ultrasonic detection assembly are both arranged on the body; the anti-collision mechanism is used for preventing the body and the barrier from colliding; and the control system is electrically connected with the driving mechanism, the navigation mechanism, the obstacle detection mechanism and the anti-collision mechanism respectively. The technical scheme of this application can detect direction of advance and barrier all around to avoid colliding with the barrier.

Description

Transport device

Technical Field

The application relates to the technical field of automatic transportation equipment, in particular to a transportation device.

Background

Agvs (automated Guided vehicles), which are named as automated Guided vehicles or automated Guided vehicles in chinese, refer to vehicles equipped with electromagnetic or optical automated guiding devices, which can travel along a predetermined guiding path, and which have safety protection and various transfer functions.

When being applied to food transportation with AGV, because the environment of food delivery is complicated, and there are various barriers in the way of food delivery, if AGV can't in time discern the barrier and bump with the barrier, lead to food to scatter easily, influence the food delivery, in addition, lead to AGV's damage when AGV and barrier bump easily, influence life.

SUMMERY OF THE UTILITY MODEL

The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a conveying device which can detect the advancing direction and the surrounding obstacles so as to avoid collision with the obstacles.

The transportation device according to the embodiment of the application comprises:

the food container comprises a body, wherein a movable pin is convexly arranged on the body and used for fixing the container filled with food;

the driving mechanism comprises a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly are symmetrically arranged on two sides of the body; the first driving assembly and the second driving assembly respectively comprise a driving piece and a driving wheel, the driving piece is connected with the driving wheel, and the driving piece is used for driving the driving wheel to rotate so as to drive the body to move;

the navigation mechanism is arranged on the body and used for navigating the body;

the obstacle detection mechanism comprises an infrared detection assembly and an ultrasonic detection assembly, and the infrared detection assembly and the ultrasonic detection assembly are both arranged on the body; the infrared detection assembly is used for detecting the distance of the obstacles in the advancing direction of the body, and the ultrasonic detection assembly is used for detecting the positions of the obstacles around the body;

the anti-collision mechanism is arranged on the body and used for preventing the body and the barrier from colliding;

and the control system is electrically connected with the driving mechanism, the navigation mechanism, the obstacle detection mechanism and the anti-collision mechanism respectively.

According to the transportation device of the embodiment of the application, at least the following beneficial effects are achieved: compared with the technical scheme in the prior art, the transportation device comprises a body, wherein a movable pin is arranged on the body and used for fixing a container filled with food; the body is also provided with a driving mechanism, a navigation mechanism, an obstacle detection mechanism and an anti-collision mechanism which are respectively and electrically connected with the control system; the driving mechanism comprises a first driving assembly and a second driving assembly which are symmetrically arranged on two sides of the body, the first driving assembly and the second driving assembly respectively comprise a driving piece and a driving wheel, the driving pieces are connected with the driving wheels, and the driving pieces are used for driving the corresponding driving wheels to rotate so as to drive the body to move; the navigation mechanism is used for navigating the body; the obstacle detection mechanism comprises an infrared detection assembly and an ultrasonic detection assembly, the infrared detection assembly is used for detecting the distance of obstacles in the advancing direction of the body, and the ultrasonic detection assembly is used for detecting the positions of the obstacles around the body; the anti-collision mechanism is used for preventing the body and the barrier from colliding; the control system can respectively control each mechanism so that each mechanism can work cooperatively, and the control on the body is facilitated; the conveyer among this technical scheme can detect direction of advance and barrier all around to avoid colliding with the barrier.

According to some embodiments of the application, the navigation mechanism comprises a visual navigation mechanism or a magnetic navigation mechanism.

According to some embodiments of the application, the magnetic navigation mechanism comprises a magnetic navigation sensor disposed on the body, the magnetic navigation sensor and the control system being electrically connected; the magnetic navigation sensor is used for being matched with a preset magnetic strip so that the body moves along the magnetic strip.

According to some embodiments of the present application, the magnetic navigation mechanism further comprises a landmark sensor disposed on the body, the landmark sensor and the control system being electrically connected; the landmark sensor is used for identifying landmark card information around the body so as to position the body.

According to some embodiments of the application, anticollision institution includes the anticollision and touches the limit, the anticollision touch the limit set up in on the lateral surface of body, the anticollision touches the limit and is used for preventing the below of body and the direct emergence collision of barrier.

According to some embodiments of the present application, the anti-collision mechanism further includes a plurality of photoelectric sensors, each of the photoelectric sensors is disposed on the body, and each of the photoelectric sensors is electrically connected to the control system; each photoelectric sensor is used for sensing an obstacle so as to prevent the collision between the upper part of the body and the obstacle.

According to some embodiments of the application, the anticollision mechanism further comprises a plurality of anti-balance wheels, each anti-balance wheel is arranged on the body, each anti-balance wheel protrudes out of the body, and the anti-balance wheels are used for preventing the body and the obstacle from directly colliding.

According to some embodiments of the application, the infrared detection component comprises a radar disposed on the body, the radar being configured to distance detect obstacles in the forward direction of the body.

According to some embodiments of the application, the body is further provided with a driving support, the first driving assembly and the second driving assembly are respectively arranged on two sides of the driving support, and the first driving assembly and the second driving assembly are respectively connected with the driving support in a rotating mode through a swing rod.

According to some embodiments of the present application, at least one swing link is respectively disposed at both sides of the first driving assembly and the second driving assembly; a first fulcrum shaft and a second fulcrum shaft are arranged on one side, opposite to the first driving assembly, of the driving bracket and one side, opposite to the second driving assembly, of the driving bracket, the first fulcrum shaft and the second fulcrum shaft are arranged in parallel up and down, and two ends of the second fulcrum shaft are respectively and vertically connected with the two swing rods; a plurality of guide rods are arranged between the first fulcrum shaft and the second fulcrum shaft, one ends of the guide rods are rotatably connected with the first fulcrum shaft, the other ends of the guide rods are slidably connected with the second fulcrum shaft, and springs are sleeved on the guide rods.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a transport device according to an embodiment of the present application;

FIG. 2 is a bottom view of a transport device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a transport device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a driving mechanism and a driving bracket in a transportation device according to an embodiment of the application.

Reference numerals:

a body 100; a movable pin 110; a drive support plate 120; a drive bracket 130; a fixed bracket 131; a driving member 132; a drive wheel 133; a swing link 134; a first spindle 135; a second fulcrum 136; a guide bar 137; a spring 138; a magnetic navigation sensor 141; a landmark sensor 142; a bump contact edge 151; a photosensor 152; anti-wobble wheel 153; a radar 160; a universal wheel 170; a battery 180; a horn 190.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, and the like, referred to as positional or positional relationships, are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.

Referring to fig. 1 to 4, a transportation apparatus according to an embodiment of the present application includes: the food container comprises a body 100, wherein a movable pin 110 is convexly arranged on the body 100, and the movable pin 110 is used for fixing the container filled with food; the driving mechanism comprises a first driving component and a second driving component, and the first driving component and the second driving component are symmetrically arranged at two sides of the body 100; the first driving assembly and the second driving assembly respectively comprise a driving part 132 and a driving wheel 133, the driving part 132 is connected with the driving wheel 133, and the driving part 132 is used for driving the driving wheel 133 to rotate so as to drive the body 100 to move; the navigation mechanism is arranged on the body 100 and used for navigating the body 100; the obstacle detection mechanism comprises an infrared detection assembly and an ultrasonic detection assembly, and the infrared detection assembly and the ultrasonic detection assembly are both arranged on the body 100; the infrared detection assembly is used for detecting the distance of the obstacles in the advancing direction of the body 100, and the ultrasonic detection assembly is used for detecting the positions of the obstacles around the body 100; the anti-collision mechanism is arranged on the body 100 and is used for preventing the body 100 and an obstacle from colliding; and the control system is electrically connected with the driving mechanism, the navigation mechanism, the obstacle detection mechanism and the anti-collision mechanism respectively.

It can be understood that the transportation device in the embodiment of the present application includes a body 100, a movable pin 110 is disposed on the body 100, and a container capable of being connected with the movable pin 110 is used to contain food, and the container is fixed on the body 100 by the movable pin 110, so that the food can be prevented from scattering during the moving of the body 100 for delivering food; the body 100 is further provided with a driving mechanism, a navigation mechanism, a barrier detection mechanism, an anti-collision mechanism and a control system, wherein the control system is respectively and electrically connected with the driving mechanism, the navigation mechanism, the barrier detection mechanism and the anti-collision mechanism; the driving mechanism is used for driving the body 100 to move; the navigation mechanism is used for navigating the body 100; the obstacle detection mechanism is used for detecting the distance of the obstacle in the advancing direction of the body 100 and detecting the positions of the obstacles around the body 100; the collision avoidance mechanism serves to prevent the body 100 from colliding with an obstacle.

It will be appreciated that the body 100 is also provided with a proximity switch and a pin actuator, the control system being electrically connected to the proximity switch and the pin actuator, respectively, the pin actuator being connected to the movable pin 110; the proximity switch is used for sensing a container containing food, when the container is transmitted to the corresponding position of the movable pin 110 on the body 100, the proximity switch generates a signal to the control system, the pin driving piece is controlled by the control system, and the movable pin 110 can be driven to extend or shorten on the body 100, so that the container is fixedly installed on the movable pin 110.

It can be understood that the driving mechanism includes a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly are symmetrically disposed on two sides of the body 100, the first driving assembly and the second driving assembly each include a driving part 132 and a driving wheel 133, the driving parts 132 and the driving wheels 133 are disposed in a one-to-one correspondence, and the driving parts 132 and the corresponding driving wheels 133 are connected and rotate by driving the driving wheels 133 to drive the body 100 to move.

It is understood that the first drive assembly and the second drive assembly are independent of each other; the first driving assembly and the second driving assembly are respectively controlled by the control system, and the running speeds of the first driving assembly and the second driving assembly can be matched, so that the stability of the transportation device in the way of delivering meals is ensured; it will be appreciated that steering of the body 100 can be achieved by controlling operation of one of the drive assemblies and turning off the other drive assembly. It is understood that a plurality of universal wheels 170 are also provided on the body 100, and the universal wheels 170 are provided to support and guide.

It can be understood that the obstacle detection mechanism includes an infrared detection component and an ultrasonic detection component, the infrared detection component is used for detecting the obstacle in the advancing direction of the body 100 and detecting the distance of the obstacle in the advancing direction of the body 100; the ultrasonic detection assembly is used for detecting obstacles around the body 100 so as to acquire position information of the obstacles around the body 100; through the infrared detection assembly and the ultrasonic detection assembly, the obstacles in the advancing direction and around the body 100 can be detected in real time during the meal delivery of the transportation device, and the acquired distance information or position information of the obstacles is sent to the control system; the control system controls the body 100 according to the acquired distance information or position information of the obstacle, and when the obstacle is too close to the body 100, the control system controls the body 100 to suspend transportation, so that the transportation device is prevented from colliding with the obstacle during meal delivery, and the safe and reliable operation of the transportation device can be guaranteed.

It can be understood that the ultrasonic detection assembly comprises a plurality of ultrasonic sensors, each ultrasonic sensor is arranged on the body 100 and electrically connected with the control system, the ultrasonic sensors can be mutually matched and carry out position detection on the obstacles around the body 100, and the position information of the obstacles around the body 100 can be acquired.

It can be understood that, according to the position information of the obstacles around the body 100, the control system controls the body 100 during the movement of the body 100, and when the position between the obstacles around the body 100 and the body 100 is too close, the control system controls the body 100 to suspend the movement.

It can be understood that the body 100 is provided with a plurality of storage batteries 180, the storage batteries 180 are electrically connected with the control system, and each storage battery 180 is used for providing power for the control system and various mechanisms; it can be understood that the body 100 is further provided with a speaker 190, the speaker 190 is electrically connected with the control system, and voice prompt information can be output through the speaker 190.

The working principle of the transportation device in the embodiment of the application is as follows:

controlling the transportation of the transportation device through a control system; when the food is finished and needs to be transported, the container with the food is placed on and fixed on the movable pin 110 of the body 100, the body 100 is driven by the driving mechanism to move, the navigation mechanism can navigate the body 100, and in addition, the obstacle in the way of delivering food of the transporting device is detected in real time through the obstacle detection mechanism.

It is understood that the navigation mechanism may adopt at least one of a visual navigation mechanism and a magnetic navigation mechanism, and thus the navigation mechanism is provided to navigate the body 100; it can be understood that the visual navigation mechanism can learn the food delivery path of the main body 100, and then recognize the advancing path of the main body 100 in a visual recognition manner to navigate the main body 100; the magnetic navigation assembly can cooperate with a pre-laid magnetic strip to navigate the body 100.

Referring to fig. 2 and 3, according to some embodiments of the present application, the magnetic navigation mechanism includes a magnetic navigation sensor 141, the magnetic navigation sensor 141 is disposed on the body 100, and the magnetic navigation sensor 141 and the control system are electrically connected; the magnetic navigation sensor 141 is configured to cooperate with a predetermined magnetic stripe so that the body 100 moves along the magnetic stripe.

It will be appreciated that the magnetic strip is mounted by being affixed to the ground or embedded in the ground.

It will be appreciated that the magnetic navigation mechanism comprises a magnetic navigation sensor 141 provided on the body 100; a sensor fixing frame is arranged on the body 100, the magnetic navigation sensor 141 is fixed on the body 100 through the sensor fixing frame, and the magnetic navigation sensor 141 is electrically connected with the control system; during the movement of the body 100, the magnetic navigation sensor 141 fixed on the body 100 can cooperate with the magnetic stripe, so that the body 100 moves along the laying direction of the magnetic stripe.

Referring to fig. 2, according to some embodiments of the present application, the magnetic navigation mechanism further includes a landmark sensor 142, the landmark sensor 142 is disposed on the body 100, and the landmark sensor 142 is electrically connected with the control system; the landmark sensor 142 is used to identify landmark card information around the body 100 to locate the body 100.

It can be understood that the body 100 is provided with the landmark sensor 142, the landmark sensor 142 is electrically connected with the control system, and the information of the preset landmark card can be identified through the landmark sensor 142.

It can be understood that the landmark card may be preset on the magnetic stripe, when the transportation device moves along the preset magnetic stripe path, the landmark card on the magnetic stripe is detected and identified by the landmark sensor 142, so that the position information of the body 100 can be acquired and fed back to the control system, and the control system controls the body 100 to execute corresponding control instructions, wherein the control instructions include different control instructions such as turning, stopping, accelerating, decelerating and the like; it is understood that the landmark sensor 142 may employ a CK-G06 landmark sensor.

Referring to fig. 1 and 2, according to some embodiments of the present application, the body 100 further includes an anti-collision mechanism, the anti-collision mechanism includes an anti-collision contact edge 151, the anti-collision contact edge 151 is disposed on an outer side surface of the body 100, and the anti-collision contact edge 151 is used for preventing a lower side of the body 100 from directly colliding with an obstacle.

It is understood that the body 100 is navigated by the navigation mechanism and moves in one direction; an anti-collision contact edge 151 is arranged on the outer side surface of one end of the body 100 close to the advancing direction, and the anti-collision contact edge 151 is arranged below the body 100; when the body 100 collides with an obstacle, the body 100 can be buffered by the arranged anti-collision contact edge 151, so that the lower part of the body 100 is prevented from directly colliding with the obstacle, and the food on the body 100 can be prevented from scattering and damaging the body 100.

Referring to fig. 1 and 3, according to some embodiments of the present application, the anti-collision mechanism further includes a plurality of photoelectric sensors 152, each photoelectric sensor 152 is disposed on the body 100, and each photoelectric sensor 152 is electrically connected to the control system; each of the photo sensors 152 is used to sense an obstacle to prevent the collision between the upper side of the body 100 and the obstacle.

It can be understood that, one end of the body 100 close to the advancing direction is provided with a plurality of photoelectric sensors 152, each photoelectric sensor 152 is arranged above the body 100, and each photoelectric sensor 152 is electrically connected with the control system; each photoelectric sensor 152 can sense an obstacle in the forward direction of the body 100, so that the upper part of the body 100 can be prevented from directly colliding with the obstacle; it is understood that the photosensor 152 may be a CX-422 photosensor.

Referring to fig. 1 and 3, according to some embodiments of the present application, the anticollision mechanism further includes a plurality of anti-balance wheels 153, each anti-balance wheel 153 is disposed on the body 100, each anti-balance wheel 153 protrudes from the body 100, and each anti-balance wheel 153 is configured to prevent the body 100 and an obstacle from directly colliding.

It can be understood that the anti-balance wheels 153 are arranged at four corners of the body 100, and each anti-balance wheel 153 protrudes out of the body 100; in the process of delivering meals, when the side surface of the body 100 moves tightly to the wall surface, the arranged anti-swing wheel 153 can prevent the friction or collision between the body 100 and the wall surface; it is understood that the anti-sway wheel 153 may be disposed on the top or side of the body 100.

Referring to fig. 1 and 3, according to some embodiments of the present application, the infrared detection assembly includes a radar 160, the radar 160 is disposed on the body 100, and the radar 160 is used for distance detection of an obstacle in a forward direction of the body 100.

It can be understood that a radar 160 is disposed at one end of the body 100 close to the advancing direction, and the radar 160 detects the distance of the obstacle in the advancing direction of the body 100 through infrared laser, so as to obtain the distance information between the body 100 and the obstacle in the advancing direction of the body 100; it is understood that the radar 160 may employ a TIM-310 obstacle sensor.

It can be understood that, according to the distance information between the body 100 and the obstacle acquired by the radar 160, the control system controls the body 100 during the movement of the body 100, and when the distance between the obstacle and the body 100 in the advancing direction of the body 100 is less than a preset value, the movement of the body 100 is suspended by the control system.

Referring to fig. 4, according to some embodiments of the present application, a driving bracket 130 is further disposed on the body 100, and a first driving assembly and a second driving assembly are respectively disposed at both sides of the driving bracket 130, and the first driving assembly and the second driving assembly are respectively rotatably connected to the driving bracket 130 through a swing link 134.

It can be understood that the driving bracket 130 is disposed on the driving support plate 120 of the body 100, the first driving assembly and the second driving assembly are disposed on two sides of the driving bracket 130, respectively, and both the first driving assembly and the second driving assembly are connected with the body 100 through the driving bracket 130 to be symmetrically disposed on two sides of the body 100, so as to be able to drive the body 100 to move, respectively.

It will be appreciated that the first and second drive assemblies each comprise a fixed bracket 131, a drive member 132 and a drive wheel 133; the driving member 132 is a driving motor, the driving member 132 is fixed on the fixing bracket 131, and an output shaft of the driving member 132 passes through the fixing bracket 131 and is connected with the driving wheel 133, so as to drive the driving wheel 133 to rotate.

It can be understood that the first driving assembly and the second driving assembly are respectively rotatably connected with the driving bracket 130 through the swing link 134; one end of the swing rod 134 is rotatably disposed on the fixed bracket 131 of the first driving assembly or the fixed bracket 131 of the second driving assembly, and the other end of the swing rod 134 is rotatably connected with the driving bracket 130; when the body 100 passes through the uneven ground, the swing link 134 can drive the driving wheel 133 to move up and down through the fixing bracket 131, so that the driving wheel 133 is always in contact with the ground.

Referring to fig. 4, according to some embodiments of the present application, at least one swing link 134 is respectively disposed at both sides of the first driving assembly and the second driving assembly; a first fulcrum 135 and a second fulcrum 136 are respectively arranged on one side of the driving bracket 130 opposite to the first driving component and one side of the driving bracket 130 opposite to the second driving component, the first fulcrum 135 and the second fulcrum 136 are arranged up and down in parallel, and two ends of the second fulcrum 136 are respectively and vertically connected with the two swing rods 134; a plurality of guide rods 137 are arranged between the first fulcrum shaft 135 and the second fulcrum shaft 136, one ends of the guide rods 137 are rotatably connected with the first fulcrum shaft 135, the other ends of the guide rods 137 are slidably connected with the second fulcrum shaft 136, and springs 138 are sleeved on the guide rods 137.

It can be understood that two swing rods 134 are respectively arranged on two sides of the first driving assembly and the second driving assembly, the first driving assembly and the second driving assembly are both connected with the driving bracket 130 through four swing rods 134, and the two swing rods 134 arranged on one side of the first driving assembly and the two swing rods 134 arranged on the other side of the first driving assembly are arranged in a one-to-one correspondence manner; the two swing rods 134 arranged on one side of the second driving component and the two swing rods 134 arranged on the other side of the second driving component are arranged in a one-to-one correspondence manner; one end of the swing rod 134 is rotatably connected to the first driving assembly or the second driving assembly, and the other end of the swing rod is rotatably connected to the driving bracket 130.

It can be understood that a side of the driving bracket 130 opposite to the first driving component and a side of the driving bracket 130 opposite to the second driving component are both provided with a first fulcrum 135 and a second fulcrum 136, and the first fulcrum 135 and the second fulcrum 136 are arranged up and down in parallel; two ends of the second fulcrum 136 are respectively and vertically connected with two correspondingly arranged swing rods 134; a guide rod 137 is further arranged between the first fulcrum 135 and the second fulcrum 136, the first fulcrum 135 penetrates through one end of the guide rod 137 and is rotatably connected with the guide rod 137, a U-shaped groove is formed in the other end of the guide rod 137, the other end of the guide rod 137 is clamped on the second fulcrum 136 through the groove, the second fulcrum 136 can slide in the groove, and a spring 138 is further arranged on the guide rod 137.

It is understood that the guide rods 137 are provided with one or more; when the body 100 passes through the rugged ground, the swing link 134 can swing up and down and pass through the spring 138 on the compression guide rod 137, so that the vibration is buffered, the driving bracket 130 and the driving support plate 120 are in a stable state, and the stable transportation of food is ensured.

The transportation device in the embodiment of the present application is described in detail as one specific embodiment with reference to fig. 1 to 4.

A transportation device, comprising:

a control system;

the food container comprises a body 100, wherein a movable pin 110 is convexly arranged on the body 100, and the movable pin 110 is used for being fixed with a container filled with food; the body 100 is further provided with a driving support plate 120, and the driving support plate 120 is provided with a driving bracket 130;

the driving mechanism comprises a first driving component and a second driving component, and the first driving component and the second driving component are respectively arranged at two sides of the driving bracket 130; the first driving assembly and the second driving assembly respectively comprise a fixed bracket 131, a driving piece 132 and a driving wheel 133, the fixed bracket 131, the driving piece 132 and the driving wheel 133 are arranged in a one-to-one correspondence manner, the driving piece 132 is a driving motor, the driving piece 132 is fixed on the corresponding fixed bracket 131, an output shaft of the driving piece 132 penetrates through the fixed bracket 131 and then is connected with the corresponding driving wheel 133, and the driving piece 132 of the first driving assembly and the driving piece 132 of the second driving assembly are respectively electrically connected with a control system;

two swing rods 134 are arranged on two sides of each fixed bracket 131, the swing rods 134 arranged on one side of the fixed bracket 131 and the swing rods 134 arranged on the other side of the fixed bracket 131 are arranged in a one-to-one correspondence manner, one end of each swing rod 134 is rotatably connected with the fixed bracket 131, and the other end of each swing rod 134 is rotatably connected with the driving bracket 130;

a first fulcrum 135 and a second fulcrum 136 are arranged on one side of the driving bracket 130 opposite to the first driving assembly and one side of the driving bracket 130 opposite to the second driving assembly, and the first fulcrum 135 and the second fulcrum 136 are arranged up and down in parallel; two ends of the second fulcrum 136 are respectively and vertically connected with two corresponding swing rods 134;

a plurality of guide rods 137 are arranged between the first fulcrum shaft 135 and the second fulcrum shaft 136, the first fulcrum shaft 135 is arranged in one end of each guide rod 137 in a penetrating manner and is connected with the guide rods 137 in a rotating manner, a U-shaped groove is formed in the other end of each guide rod 137, the other end of each guide rod 137 is clamped on the second fulcrum shaft 136 through the groove, the second fulcrum shaft 136 can slide in the groove, and a spring 138 is further arranged on each guide rod 137;

the navigation mechanism comprises a magnetic navigation mechanism, the magnetic navigation mechanism comprises a magnetic navigation sensor 141 and a landmark sensor 142, the magnetic navigation sensor 141 and the landmark sensor 142 are both arranged on the body 100, and the magnetic navigation sensor 141 and the landmark sensor 142 are respectively and electrically connected with the control system; the magnetic navigation sensor 141 is used for cooperating with a preset magnetic strip so as to enable the body 100 to move along the laying direction of the magnetic strip; the landmark sensor 142 is used for identifying landmark card information, acquiring the position information of the body 100, and feeding back the position information of the body 100 to the control system, so that the control system can control the body 100 to execute a corresponding control instruction in real time;

the obstacle detection mechanism comprises an infrared detection assembly and an ultrasonic detection assembly, and the infrared detection assembly and the ultrasonic detection assembly are both arranged on the body 100; the infrared detection assembly includes a radar 160 for performing distance detection on an obstacle in the forward direction of the body 100; the ultrasonic detection assembly is used for detecting the positions of obstacles around the body 100;

the anti-collision mechanism comprises an anti-collision contact edge 151, a plurality of anti-swing wheels 153 and a photoelectric sensor 152, wherein the anti-collision contact edge 151 is arranged on the outer side surface of the body 100, and each anti-swing wheel 153 is convexly arranged on the body 100; the anti-collision contact edge 151 is used for preventing the collision between the lower part of the body 100 and an obstacle, the photoelectric sensors 152 are provided with a plurality of photoelectric sensors 152, each photoelectric sensor 152 is electrically connected with the control system and used for sensing the obstacle so as to prevent the collision between the upper part of the body 100 and the obstacle, and the anti-balance wheel 153 is used for preventing the collision between the side surface of the body 100 and the obstacle.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "specifically," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and alterations to these embodiments may be made without departing from the principles and spirit of this application, and are intended to be included within the scope of this application.

Claims

1. A transportation device, comprising:

2. The transport device of claim 1, wherein: the navigation mechanism comprises a visual navigation mechanism or a magnetic navigation mechanism.

3. The transport device of claim 2, wherein: the magnetic navigation mechanism comprises a magnetic navigation sensor, the magnetic navigation sensor is arranged on the body, and the magnetic navigation sensor is electrically connected with the control system; the magnetic navigation sensor is used for being matched with a preset magnetic strip so that the body moves along the magnetic strip.

4. A transportation device according to claim 3, characterized in that: the magnetic navigation mechanism further comprises a landmark sensor, the landmark sensor is arranged on the body, and the landmark sensor is electrically connected with the control system; the landmark sensor is used for identifying landmark card information around the body so as to position the body.

5. The transport device of claim 1, wherein: anticollision institution touches the limit including the anticollision, the anticollision touch the limit set up in on the lateral surface of body, the anticollision touches the limit and is used for preventing the below and the barrier of body directly bump.

6. The transport device of claim 5, wherein: the anti-collision mechanism further comprises a plurality of photoelectric sensors, each photoelectric sensor is arranged on the body, and each photoelectric sensor is electrically connected with the control system; each photoelectric sensor is used for sensing an obstacle so as to prevent the collision between the upper part of the body and the obstacle.

7. The transport device of claim 6, wherein: the anti-collision mechanism further comprises a plurality of anti-collision wheels, each anti-collision wheel is arranged on the body, each anti-collision wheel protrudes out of the body, and the anti-collision wheels are used for preventing the body and the barrier from directly colliding.

8. The transport device of claim 1, wherein: the infrared detection assembly comprises a radar, the radar is arranged on the body, and the radar is used for detecting the distance of the obstacle in the advancing direction of the body.

9. The transport device of claim 1, wherein: the body is further provided with a driving support, the first driving assembly and the second driving assembly are respectively arranged on two sides of the driving support, and the first driving assembly and the second driving assembly are respectively in rotating connection with the driving support through a swing rod.

10. The transport device of claim 9, wherein: at least one swing rod is arranged on each of two sides of the first driving assembly and the second driving assembly; a first fulcrum shaft and a second fulcrum shaft are arranged on one side, opposite to the first driving assembly, of the driving bracket and one side, opposite to the second driving assembly, of the driving bracket, the first fulcrum shaft and the second fulcrum shaft are arranged in parallel up and down, and two ends of the second fulcrum shaft are respectively and vertically connected with the two swing rods; a plurality of guide rods are arranged between the first fulcrum shaft and the second fulcrum shaft, one ends of the guide rods are rotatably connected with the first fulcrum shaft, the other ends of the guide rods are slidably connected with the second fulcrum shaft, and springs are sleeved on the guide rods.